확장칼만필터를 이용한 수중운동체의 유체계수식별

Hydrodynamic coefficients identification of underwater vehicle by means of an extended kalman filter

A technique for estimation of the hydrodynamic parameter of an underwater vehicle is presented. An extended, augmented Kalman Filter is used to extract the hydrodynamic parameter. Computer generated data were used for the measurement information in lieu of actual run data. The feasibility of identifying values of the hydrodynamic parameter of an underwater vehicle is studied. Computer simulation are done in order to validate the performance of the proposed algorithm.