This paper experimentally evaluates various hydrodynamic damping models for streamlined tail-controlled autonomous underwater vehicles (AUVs). We seek damping models that can be used to accurately predict the motion of a streamlined AUV, but do not possess unnecessary complexity. Additionally, we investigate the efficacy of estimating forces and moments due to control surfaces with the same data from which damping parameters are estimated. We then directly compare the results of estimated control surface forces and moments with that obtained using high-fidelity software tools. We use an offline least-squares method and an adaptive identifier method to approximate model coefficients from data attained from field trials. Field trials were conducted using two AUVs, and the experimental results are presented. The overall goal of this paper is to determine the form of a dynamic model that can be identified from data acquired during field trials.

中文翻译：

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自主水下航行器的水动力参数估计

本文通过实验评估了流线型尾控自主水下航行器 (AUV) 的各种流体动力学阻尼模型。我们寻求可用于准确预测流线型 AUV 运动但不具有不必要的复杂性的阻尼模型。此外，我们研究了估计由控制面引起的力和力矩的有效性，这些数据来自于估计阻尼参数的相同数据。然后，我们直接将估计的控制面力和力矩的结果与使用高保真软件工具获得的结果进行比较。我们使用离线最小二乘法和自适应标识符方法从现场试验获得的数据中近似模型系数。使用两个 AUV 进行了现场试验，并提供了实验结果。