Design and parameter estimation of a remotely operated underwater vehicle

摘要

The current study aims to design a remotely operated underwater vehicle (ROV) and estimate the parameters of a systematic model.The entire vehicle comprises the framework, propulsion instrument, sensor, and communication module. The systematic model is very complicated thus making it very difficult to obtain a transfer function of the entire system. Therefore, an experimental method is used to measure the acceleration of the vehicle when traversing underwater along a straight line. Moreover, the method is used to verify the transfer function of the vehicle's model for the entire system based on auto-regressive exogeneous (ARX) and auto-regressive moving average exogeneous (ARMAX ) models, and a cost function.