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CougUV_SystemID

This project performs system identification to determine the dynamics parameters for the CougUV, a torpedo-type underwater vehicle developed by the BYU FRoSt Lab.

Files

  • coug.py: Implementation of vehicle dynamics. Based on Thor Fossen's model in "Marine Craft Hydrodynamics and Control".
  • system_id.py: Performs system identification to estimate dynamics parameters.
  • pose_plotter.py: Plots poses over iterations to visualize the optimization process.
  • helper_functions.py: functions for common computations in the dynamics.
  • test_coug.py: Unit tests for the dynamics.
  • test_system_id.py: unit tests for the system ID process.
  • run_history_27.npy: history of states across iterations for the run estimating 27 parameters.
  • results_27.txt: numerical results for run with 27 parameters