Wave glider actual heading prediction method

A technology of actual heading and prediction method, which is applied in the field of actual heading prediction of wave gliders, and can solve the problems of inability to change the heading of wave gliders in real time and large calculation errors.

Active Publication Date: 2018-04-20
HARBIN ENG UNIV
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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, a

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  • Wave glider actual heading prediction method
  • Wave glider actual heading prediction method

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[0013] The method for forecasting the overall course of the wave glider of the present invention is mainly used for forecasting the overall course of the wave glider. The wave glider is mainly composed of three parts, namely the floating body on the water surface, the gliding body underwater and the chain cable that is responsible for connecting these two parts. In the actual navigation process, due to the existence of factors such as waves and currents and the movement principle of the wave glider itself, the motion postures of the floating body on the wave glider and the underwater gliding body are not completely consistent. The direction of motion is not the overall direction of motion of the wave glider. But in practical applications, what we most want to obtain in many cases is the direction of motion of the wave glider at the next moment.

[0014] The wave glider itself carries GPS and magnetic compass sensors to obtain its own position information and motion attitude i...

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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...

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Application Information

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IPC IPC(8): G01P13/02G01C21/16G01S19/42
CPCG01C21/16G01P13/02G01S19/42
Inventor 张伟李晔王友康廖煜雷李一鸣王磊锋潘凯文张尉新
Owner HARBIN ENG UNIV
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