Development in Identification of Underwater Vehicles

In recent years, there have been intensive efforts toward the development of underwater vehicles. The model of underwater vehicles strongly affects the dynamic performance as well as accurate control, navigation and guidance of underwater vehicles. The coefficients of underwater vehicles model are generally obtained experimentally such as through the planar-motion-mechanism (PMM) tests; however, the tests are generally lengthy, complex and expensive. And any later changes to the underwater vehicles may reduce the usefulness of these measurements. As a consequence, the modeling and identification using only on-board sensor data without requiring PMM tests for underwater vehicles has been considered, and a great deal of identification methods has been proposed in literature. A survey about the development in identification of underwater vehicles is made herein. This paper describes several identification methods included least squares, adaptive identification, neural network , fuzzy logic and extend Kalman filters in the community of underwater vehicles.数据更新