Wave glider actual heading prediction method

Abstract

The invention provides a method for predicting the actual heading of a wave glider. The method includes the steps of (1) obtaining positions of two points of a wave glider in a short time through a GPS to obtain a motion direction of the wave glider; (2) obtaining a heading angle and a course changing angular velocity of an upper floating body and a heading angle and a course changing angular velocity of a submerged body through compasses carried by the upper floating body and the submerged body; (3) establishing an identification algorithm model of a wave glider motion system, calculating theoutput of the model at a moment k according to an estimated parameter of a previous moment, that is, an output predicted value of the identification algorithm model of the wave glider motion system,and meanwhile, calculating a prediction error; and (4) feeding back the prediction error into the identification algorithm model of the wave glider motion system, calculating a model parameter estimated value at the moment k under the criterion, updating the model parameter, and performing iterations until a criterion function thereof reaches the minimum. The calculating accuracy of the method ofthe invention is independent of the distance, the structure is clear, and the implementation is easy to achieve by writing a computer program.

Description

technical field [0001] The invention relates to a course prediction method of a wave glider. Specifically, it is an actual course prediction method of a wave glider. Background technique [0002] The wave glider is a new type of unmanned mobile observation platform at sea, with large-scale, long battery life, economical and environmentally friendly marine environment observation capabilities. The wave glider is composed of three parts: a floating body mother ship on the water surface, an underwater gliding body and a connecting chain cable connecting the two. The design principle of the wave glider is that it can rely on the ubiquitous wave energy in the ocean to convert its forward propulsion. The deck of the floating body on the water surface is equipped with solar panels to convert solar energy into electricity to power the carried instruments and sensors. The wave glider has developed rapidly abroad and has been widely used in marine scientific research. It is of grea...

AI Technical Summary

Problems solved by technology

However, this guidance is only applicable when the current position is relatively close to the target position. When the distance is far away, the calculation error is large, and this method cannot meet the requirements of changing the course of the wave glider in real time. When the nearby sea conditions are complex, it cannot meet the requirements.

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