The Influence of Uncertainties and Inaccuracies in the Parameters on the Underwater Vehicle Model

Abstract

The development of an underwater vehicle model is an important preparation step for potentially marine exploration. There are several complex factors that hinder the performance of this task, e.g., fluid and rigid-body physics. Moreover, real vehicles have different designs and dimensions. That fact complicates the calculations of dynamic parameters and requires the use of known approximation methods. This article discusses the research of uncertainties in the parameters of two different forms of underwater vehicle model approximations: cylindrical and rectangular prism. We simulate an underwater vehicle with several parameters, changed in the grid, and then compare the resulting paths. The mathematical models and simulation results are shown.