{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T14:09:29Z","timestamp":1772114969109,"version":"3.50.1"},"reference-count":38,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2018,6,8]],"date-time":"2018-06-08T00:00:00Z","timestamp":1528416000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the Nature Science Foundation of China","award":["51609033"],"award-info":[{"award-number":["51609033"]}]},{"name":"the Nature Science Foundation of Liaoning Province of China","award":["2015020022"],"award-info":[{"award-number":["2015020022"]}]},{"name":"the Fundamental Research Funds for the Central Universities","award":["3132014321"],"award-info":[{"award-number":["3132014321"]}]},{"name":"the Fundamental Research Funds for the Central Universities","award":["3132016312"],"award-info":[{"award-number":["3132016312"]}]},{"name":"the Fundamental Research Funds for the Central Universities","award":["3132017133"],"award-info":[{"award-number":["3132017133"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a complete scheme for research on the three degrees of freedom model and response model of the vector propulsion of an unmanned surface vehicle. The object of this paper is \u201cLanxin\u201d, an unmanned surface vehicle (7.02 m \u00d7 2.6 m), which is equipped with a single vector propulsion device. First, the \u201cLanxin\u201d unmanned surface vehicle and the related field experiments (turning test and zig-zag test) are introduced and experimental data are collected through various sensors. Then, the thrust of the vector thruster is estimated by the empirical formula method. Third, using the hypothesis and simplification, the three degrees of freedom model and the response model of USV are deduced and established, respectively. Fourth, the parameters of the models (three degrees of freedom model, response model and thruster servo model) are obtained by system identification, and we compare the simulated turning test and zig-zag test with the actual data to verify the accuracy of the identification results. Finally, the biggest advantage of this paper is that it combines theory with practice. Based on identified response model, simulation and practical course keeping experiments are carried out to further verify feasibility and correctness of modeling and identification.<\/jats:p>","DOI":"10.3390\/s18061889","type":"journal-article","created":{"date-parts":[[2018,6,8]],"date-time":"2018-06-08T11:19:31Z","timestamp":1528456771000},"page":"1889","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":47,"title":["Modeling and Identification for Vector Propulsion of an Unmanned Surface Vehicle: Three Degrees of Freedom Model and Response Model"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1955-2596","authenticated-orcid":false,"given":"Dongdong","family":"Mu","sequence":"first","affiliation":[{"name":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China"}]},{"given":"Guofeng","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7828-4902","authenticated-orcid":false,"given":"Yunsheng","family":"Fan","sequence":"additional","affiliation":[{"name":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China"}]},{"given":"Xiaojie","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3482-8100","authenticated-orcid":false,"given":"Bingbing","family":"Qiu","sequence":"additional","affiliation":[{"name":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,6,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4690","DOI":"10.1109\/ACCESS.2017.2778180","article-title":"Design and Experimental Testing of a Free-Running Ship Motion Control Platform","volume":"6","author":"Zheng","year":"2018","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1016\/j.apor.2018.02.004","article-title":"Nonparametric Identification of Nonlinear Ship Roll Motion by Using the Motion Response in Irregular Waves","volume":"73","author":"Hou","year":"2018","journal-title":"Appl. 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