Estimation of hydrodynamic coefficients of a test-bed AUV-SNUUV I by motion test

Hydrodynamic coefficients strongly affect the dynamic performance of an AUV. Thus it is important to have the true values of these coefficients in order to accurately simulate the AUV's dynamic performance. Although these coefficients are obtained experimentally such as through the PMM test, the measured values are not completely reliable because of experimental difficulties and errors involved. Another approach is the observer method, which is a model-based estimation algorithm. In this paper, the hydrodynamic coefficients of the AUV- SNUUV I, which is developed at Seoul National University, are estimated using an Extended Kalman Filter.