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To address the challenges in dynamic modeling of Autonomous Underwater Vehicle (AUV), this paper proposes a black-box identification method for nonlinear systems based on deep convolutional neural networks, taking into account the nonlinear characteristics of the AUV's six-degree-of-freedom (6-DOF) motion. First, the frequency corresponding to the maximum amplitude of the rudder signal is extracted and used as a threshold for Variational Mode Decomposition (VMD) denoising. This reduces noise in the experimental data of the AUV model and resolves the issue of difficult parameter tuning in VMD decomposition. Then, a black-box model for the nonlinear system is constructed using Bidirectional Long Short-Term Memory (BiLSTM) and Attention mechanisms, with the Adam optimization algorithm employed to solve the AUV 6-DOF motion model. Finally, the AUV model data are used for model training and predictive validation, and the results are compared with modeling methods such as CNN-LSTM, CNN-BiLSTM, and CNN-LSTM-Attention to analyze the velocity, Euler angles, and trajectory of AUV motion. Experimental results show that, compared to the CNN-LSTM model, the proposed method improves the Root Mean Square Error (RMSE), the coefficient of determination (R2), and the Symmetric Mean Absolute Percentage Error (SMAPE) by 79.29%, 3.84%, and 74.41%, respectively, validating the feasibility and effectiveness of the proposed dynamic modeling approach. This method provides an alternative strategy for precise obstacle avoidance and autonomous navigation of underwater vehicles.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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