Parameters Estimation of Damage Water for Undersurface Submarine Based on Extended State Observer

Accurate estimation information of damage water for underwater submarine could improve the efficiency of emergency maneuvering. The vertical nonlinear state space model for estimation system was established. The estimation of force and moment caused by damage water were completed based on the algorithm of extended state observer (ESO), and the simulation by using Matlab/Simulink was carried out. The simulation results indicate that extended state observer has a wide range of applications and higher estimation accuracy than extended Kalman filter (EKF). Thus, ESO can meet the requirements of emergency maneuver when underwater submarine is damaged.