arXiv:2611.12568 · v1

Modeling and Estimation of a Towed Marine System

首次提交 2026-11-09 23:30

版本更新 2026-11-09 23:30

雷达观测 2026-11-10 15:22

摘要

This paper addresses the modeling and state estimation of a towed marine system consisting of two autonomous surface vehicles (ASVs), a pair of umbilical cables, towfish, and a trailing loop cable. Inspired by the existing literature, we employ a lumped-mass modeling approach for the cables and towfish, capturing the essential dynamics while maintaining computational tractability. A Lyapunov-based analysis is conducted to verify the stability and convergence properties of the proposed model. Building on this model, we propose two state estimation methods, namely a reduced-order observer and a perfect-measurement extended Kalman filter (PMEKF), using only the measurements from the ASVs' onboard sensors. Numerical simulations and experimental results are provided to validate the effectiveness of the proposed methods.

作者备注：preprint submitted to Ocean Engineering, 23 pages (highlights + 22p manuscript), 12 figures