Modeling and Estimation of a Towed Marine System
Overview
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.
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- arXiv Robotics — research abstractsSignalModeling 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.
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