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In this work, a methodology is proposed for the improvement of the parameter estimation efficiency of a non-linear manoeuvring model of a torpedo shaped unmanned underwater vehicle. For this purpose, data from different tests, were carried out with the aforementioned vehicle at the facilities of the CEHIPAR (Canal de Experiencias Hidrodinamicas de El Pardo), Madrid. In the proposed methodology, the following aspects are taken into account in order to improve the parameter estimation efficiency: selection of the sampling period, smoothing of the data acquired in the tests, considering a compromise between bias and variance of the smoothing filter to be applied, analysis of the classical linear regression model proposed in each trial from the statistical point of view for the estimation of the parameters. Improvements in efficiency are verified by graphical and statistical methods.

In the present article, based on a specific set of trials carried out in the CEHIPAR model basin, a parameter estimation of a torpedo-shaped underwater vehicle is performed. A complete modelling of the underwater vehicle is performed considering the dynamics of the vehicle and its actuators with data acquired in the model basin. Furthermore, it is proposed a modification of the conventional LOS method that works properly in presence of ocean currents. The modified LOS is applied to the torpedo-shaped model previously obtained and tested under realistic conditions.

This paper offers a view on how the defence world adapts to developments taking place in its environment, with as much emphasis on the development of technologies, as to the requirements and opportunities of applying those of interest to defence. It therefore highlights how the future is not only about the discovery and development of new technologies, but also about the use and application of civil developments in defence. The work of the Ministry of Defence is not only to anticipate risks and threats, but also to contribute to the improvement of technological and industrial capabilities both in defence and the dual use arena. An example of a mechanism for this adjustment is the Technology Watch and Foresight System (SOPT) located in the Under-directorate for Technology and Innovation (SDGTECIN)., Este artículo ofrece una visión sobre cómo el mundo de la defensa se adapta a la evolución existente en su entorno, tanto a la evolución de las tecnologías como a las necesidades y oportunidades de aplicación de estas a los intereses de defensa. Así, se destaca cómo el futuro ya no pasa tanto por el descubrimiento y desarrollo de nuevas tecnologías, sino por el aprovechamiento y aplicación de los desarrollos civiles para defensa. Es labor del Ministerio de Defensa, no solo anticiparse a los riesgos y amenazas, sino contribuir a la mejora de las capacidades tecnológicas e industriales para la defensa y de uso dual. Un ejemplo de mecanismo para esta adaptación es el Sistema de Vigilancia y Prospectiva Tecnológica (SOPT) ubicado en la SDGTECIN.