This Github repository contains a Simulink 6DOF dynamic model of the BlueRov2 Heavy Assembly (8 thrusters) developed by Blue Robotics.
The dynamics of the BlueRov2 originates from the vectorial marine craft dynamics detailed in Handbook of Marine Craft Hydrodynamics and Motion Control [1].
[1] Fossen, T. I. (2011). Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons.
[2] Wu, C. J. (2018). 6-DoF Modelling and Control of a Remotely Operated Vehicle (Doctoral dissertation, Flinders University, College of Science and Engineering.).