Method for identifying parameters of a dynamic model of underwater robots taking into account the propulsion-steering complex

The paper presents a method for identifying the parameters of a dynamics model of an underwater vehicle. Based on the mathematical description of the dynamics model of the underwater vehicle, a vector of parameters is formed that must be identified due to the lack of the possibility of using sensors for this. For this purpose, the paper describes the forces and torques formed by the underwater vehicle depending on the speed of its movement in space and the generalized tread of the propeller. Then the dynamics model of the underwater vehicle is transformed to a form in which linear estimation methods can be used to identify the vector of unknown parameters. In the paper, the Kalman filter was used as such a method. Its use makes it possible, with a large number of unknown parameters, to accumulate missing data for a certain number of iterations, which makes it possible to estimate the vector of identifiable parameters. Also, to test the operability of the developed method, a model of the dynamics of an underwater vehicle with a model for identifying its unknown parameters was assembled in the Matlab Simulink environment. The paper presents the results of numerical modeling, which showed the operability of the developed method, which can be further tested by experiments on a real object.