Nonparametric and Parametric Modeling of Hydrodynamics for a Fully Appended Autonomous Underwater Vehicle
Year: 2026
Type: article
Abstract: Hydrodynamic models underpin Autonomous Underwater Vehicle (AUV) design, motion control, and performance evaluation. Existing methods face two critical bottlenecks: (1) conventional explicit CFD requires predefined trajectories, which fails to capture true motion responses under combined rudder-propeller action and creates a disconnect between simulation and real operations; (2) the widely adopted Standard Submarine Motion Equations (SSME) suffer from high parameter redundancy, while high-precision non-parametric models incur prohibitive computational costs, hindering embedded deployment. To address these gaps, this paper proposes an implicit CFD-driven framework for fully appended AUVs equipped with through-body thrusters. It requires no preset trajectories, directly coupling periodic propeller thrust and rudder angle excitations to achieve 5-degree-of-freedom (5DOF) spatial motion simulations aligned with real navigation states. Parametric and non-parametric models are identified via Least Squares (LS) and Neural Networks (NN), respectively. Sobol global sensitivity analysis reduces SSME dimensionality, yielding a Basic Submarine Motion Equation (BSME) with only 25 key parameters—cutting the parameter count by 55% with negligible accuracy loss. Validation shows the non-parametric NN model reduces prediction error by over 10% compared to its parametric counterpart, while the streamlined BSME enables real-time forecasting in low-power computing scenarios. This approach balances accuracy and efficiency for rapid hydrodynamic prediction during early AUV design and embedded controller deployment.
DOI: 10.3390/jmse14171581
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
Award: G1395154025
OpenAlex ID: W7204271831