Modular modeling of autonomous underwater vehicle

The kernel problem of modular dynamic modeling of autonomous underwater vehicle (AUV) which is the modularization of the hydrodynamic coefficients of the hull is studied in this paper. The hydrodynamic coefficients of the hull are transformed from the lift axis system into the normal-force axis system, where they satisfy the superposition property and can be estimated from the parameters of modular sections. The standard reference model method is proposed for the modularization of these hydrodynamic coefficients. Three different parameterized Myring hulls are used to verify the proposed standard reference model method.