A study on the hydrodynamic coefficients estimation of the 6-DOF model of an underwater vehicle with EKF

확장칼만필터를 이용한 수중운동체의 6자유도 운동을 위한 동유체력계수 추정에 관한 연구

The hydrodynamic coefficients estimation problem is important to develop an underwater vehicle and design a controller for it. In this paper, an identification theory, the Extended Kalman Filter, is applied to this parameter estimation problem. In the case that a process noise is not used, all of the parameters are almost exactly converged to the true values respectively. When a process noise is used, all of the parameters are converged to the true values, too, although some parameter estimates are slightly biased. The comparisons of the two trajectories between those generated by the true parameters and those by the estimated parameters show that the parameter estimation problem is well-solved.