ISSN 2075-1087, Gyroscopy and Navigation, 2017, Vol. 8, No. 3, pp. 217–225. © Pleiades Publishing, Ltd., 2017.
Original Russian Text © L.V. Kiselev, A.V. Bagnitckii, A.V. Medvedev, 2017, published in Giroskopiya i Navigatsiya, 2017, No. 1, pp. 78–92.
Identification of AUV Hydrodynamic Characteristics Using Model
and Experimental Data
L. V. Kiselev*, A. V. Bagnitckii, and A. V. Medvedev
Institute of Marine Technology Problems (IMTP) FEB RAS, Vladivostok, Russia
Received August 30, 2016
Abstract⎯The identification method of AUV hydrodynamic characteristics is presented in the paper. It uses
virtual hydrodynamics software and trajectory measurements of the state vector in various motion modes.
Quantitative estimates of hydrodynamic characteristics are given for one of the AUVs recently created in
IMTP FEB RAS.
In development of multifunctional autonomous
underwater vehicles or robots (AUVs) high require-
ments are imposed on their motion, navigation, and
dynamic features during program missions in severe
environment. Optimization of these features with
account for the specifics of a certain project is con-
nected with estimation of attainable characteristics
of all systems forming the positioning and control
complex. The goal is to construct an adequate
motion model, identify its parameters based on
experimental data, and synthesize adaptive control-
lers in case of change of vehicle interaction with the
environment. The positioning and control complex,
the structural diagram of which is given in Fig. 1, is
a functional multivariable system providing for
solution of positioning and control problems.
In real marine applications, AUV position is
determined by an integrated positioning system
(IPS) consisting of long base line or ultra short base
line acoustic positioning system (LB/USB APS),
onboard positioning system based on dead reckon-
ing principle, and GPS receiver. According to the
results of experimental work, characteristics of all
systems and devices of the positioning complex pro-
vide high-accuracy positioning in the deep and
shallow sea [1–4].
Fig. 1. Generalized structural diagram of AUV positioning and control complex. DR system—dead reckoning system, LB/USB
APS—long/ultra short base line acoustic positioning system.
Integrated positioning system (IPS):
DR system, LB/USB APS, GPS