Submersible Position Prediction Model Based on HMM and Six Degrees of Freedom Motion

The mysterious deep sea has an unrivalled attraction for scientists worldwide, and the use of submersibles provides us with a clearer view of the seafloor and helps us gather information more safely. We must monitor the position information of the submersible in real time to ensure the safety of both the diver and the submersible. In this paper, we use the six-degree-of-freedom motion model and HMM to predict the motion state of the submersible, propose to replace the complex numerical simulation process of seawater motion with a stochastic process and estimate the parameter of the HMM by using the Baum-Welch algorithm. After the data analysis, the paper verified the model's applicability in the sea area and predicted the motion position of submersibles very well as the position prediction model of submersibles in the complex oceanic situation affected. Combined with the previous research results on the motion of the submersible, this paper provides some references for the research of the submersible motion prediction model.