Research on Parameter Identification Method of Four-Thruster AUSV Dynamics Model

In order to study the motion of the four-thruster Autonomous Unmanned Surface Vehicle (AUSV), an inertial reference coordinate system and an appendage reference coordinate system have been established. According to the model proposed by Fossen, the three-degree-of-freedom dynamics model of the four-thruster AUSV is simplified by ignoring the movement and external interference in the three degrees of freedom according to its actual state of motion. Using the auxiliary variable method combined with the MATLAB system identification toolbox and the three-degree-of-freedom dynamic model, we designed the model parameter identification experiments for the three degrees of freedom of swaying, swaying, and yaw, and built a four-thruster based on the MATLAB/Simulink platform. The simulation model of the ship motion model and the simulation experiment of parameter identification experiment under ideal conditions verify the feasibility of the identification scheme. In view of the navigation data measurement errors that the AUSV may face in actual navigation, it is discussed that the parameter identification experiment is feasible under the condition of how much interference the AUSV's navigation experiment is subjected to.