Underwater Glider Model Parameter Identification
Joshua G. Graver, Ralf Bachmayer, Naomi Ehrich Leonard and David M. Fratantoni
Proceedings 13th International Symposium on Unmanned
Untethered Submersible Technology,
Durham NH, 2003.
An underwater glider is a buoyancy-propelled, fixed-wing vehicle
with attitude controlled completely, or in part, by means of
internal mass redistribution. We have developed a physics-based
nonlinear model of the dynamics of an underwater glider and
adapted it to model the SLOCUM glider's geometry, rudder, ballast
pump and internal movable mass. In this paper we identify the
model parameters to match the steady glides in new flight test
data from the SLOCUM glider. In the process we also estimate the
buoyancy trim offset of the glider used in the flight tests.