• Free Surface-Affected Vehicles
• Lagrangian Approach

New mathematical models have been recently published for the description of the marine craft dynamics in maneuvering with fluid interactions in real-world seaway. With respect to previous models, the new trend is to try to overcome the assumption of linearization, which it limits the operational conditions for simulations.
Starting from a Lagrangian non-linear parametric unified model for maneuvering and seakeeping, the aim of this thesis is the implementation of the dynamics equations of motion for submerged vehicles in a simulator code which solves them in time domain under prescribed external flow conditions. Because of the novelty of the approach, some aspects of the parameter identification for the dynamics equations are still an open problem. In order to solve this problem, an ad-hoc strategy is followed. The result is SubBoS - Submerged Bodies Simulator.