AUV parameter identification

Juan Carlos Cutipa Luque, Decio Crisol Donha, Ettore Apolonio De Barros

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations


An extended Kalman filter is used to tackle the problem of parameter identification of an autonomous underwater vehicle (AUV). Since a large number of parameters must be identified, two alternative sub-approaches are investigated. A classical approach seems to have a better performance in cases where a specific parameter will be identified. However, a modified approach guarantees a better identification when dealing with multiple parameters. A sway/yaw mathematical model for an AUV is obtained considering motions in the horizontal plane. Circular and zig-zag maneuvers are tested to assess the identification approaches employed. Results are presented and analysed.

Original languageEnglish
Title of host publicationProceedings of the 8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)9783902661517
StatePublished - 2009
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670

Bibliographical note

Funding Information:
This work is funded by the Brazilian Council, FAPESP.

Funding Information:
The authors express their acknowledgments to FAPESP for the financial support given to this work.


  • AUV
  • EKF
  • Kalman filter
  • Mathematical modelling
  • Parameter identification


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