Modeling and Estimation of a Towed Marine System
Modeling and Estimation of a Towed Marine System
This paper addresses the modeling and state estimation of a towed marine system consisting of two autonomous surface vehicles (ASVs), umbilical cables, towfish, and a trailing loop cable. A lumped-mass modeling approach is employed for the cables and towfish to capture essential dynamics while maintaining computational tractability. Lyapunov-based analysis verifies stability and convergence. Two state estimation methods—a reduced-order observer and a perfect-measurement extended Kalman filter (PMEKF)—are proposed using only ASV onboard sensor measurements. Numerical simulations and experimental results validate the methods.
The authors present a lumped-mass modeling framework and two state estimation methods (reduced-order observer, PMEKF) for a towed marine system with ASVs, validated via numerical simulations and experiments; stability is verified through Lyapunov analysis.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org