Experimental model identification of open-frame underwater vehicles

► In this study, a hydrodynamic parameter identification procedure for remotely operated vehicles (ROVs) has been proposed. ► Such procedure is based on both data of onboard sensors and control signals of thrusters. ► A characteristic of this identification procedure is that this satisfies the requirement of identifiability of model parameters, i.e. “actual values” for the hydrodynamic parameters are obtained. ► The research provided a rich amount of reference data for comparison with other ROVs as well as for ROV dynamic simulation.