Paper Title
State Estimation Based on Unscented Kalman Filter for Underwater Vehicle Dynamics

Abstract
Autonomous underwater vehicles are useful for investigating environmental condition under rivers, lakes, ponds, seas. The wide range of applications of underwater vehicles might motivate researchers to study control system design problems for autonomous underwater vehicles. In general, all the state variables of control systems are not precisely known, because those variables are observed through output sensors and limited parts of them might be only measurable. Hence, automatic control systems must incorporate some type of state estimation. It is needed to establish a state estimation method for underwater vehicle dynamics with restricted measurable state variables. For this purpose, unscented Kalman filter method is applied in this study for estimating the state variables of underwater vehicle dynamics. The objective of this paper is to propose a state estimation method using unscented Kalman filter for underwater vehicle dynamics. The effectiveness of the proposed method is verified by numerical simulations. Keywords - State Estimation, Observer Systems, Unscented Kalman Filter