中文摘要：

为实现无人水面艇运动模型参数的在线辨识，通过z形操舵和定常回转的实船操纵性试验及其数据分析，利用递推最小二乘法对水面无人艇操纵运动响应型数学模型及舵机响应模型的参数进行辨识，设计并实现一种无人水面艇操纵运动模型参数在线辨识试验平台。基于所建立的数学模型和辨识的模型参数搭建无人水面艇操纵运动仿真系统。通过与实船试验数据进行对比分析，证明模型参数在线辨识试验平台设计的正确性和合理性。

英文摘要：

The recursive-least-square based online identification of the motion model parameters of the Unmanned Surface Vehicle （USV） is introduced. The process identifies the maneuver response model and ruder gear response model following the maneuverability tests, such as zigzag tests and turning motion tests. The test facility for online identification of the USV motion model parameter is designed and built. The ship handling operation simulation system for the USV is developed based on the identification output. The comparison between the simulation outputs and sea trial results is presented, which shows that they agree with each other quite well, indicating that the model identification is dependable.