Identification of the main hydrodynamic parameters of Typhoon AUV from a reduced experimental dataset

Abstract

In this research work a case study dealing with the identification of the main hydrodynamic properties of an Autonomous Underwater Vehicle (AUV) is presented. The vehicle is the Typhoon-class AUV developed by the Department of Industrial Engineering of the University of Florence, Italy. The identification of the main hull hydrodynamic parameters is very important for the tuning of an accurate dynamic model of the vehicle, which could be used for several purposes including the development of model based localization and navigation filters. The authors describe the simplified identification procedure adopted for the Typhoon AUV starting from a reduced experimental dataset obtained during some missions at sea performed in 2014 in Biograd na Moru, Croatia.