Underwater glider course correction method for periodically updating and estimating ocean current speed

Abstract

The invention provides an underwater glider course correction method for periodically updating and estimating ocean current speed. The method comprises an ocean current estimation stage and a course correction stage. In the ocean current estimation stage, a fixed gliding pitch angle is set for multi-cycle gliding motion, a single-cycle course angle, a navigation distance, navigation time and a water outlet course angle are obtained, and two equations about three unknown quantities (the underwater glider horizontal plane speed, the ocean current horizontal speed and the ocean current longitudinal speed) can be listed according to the data. When data of two or more cycles are obtained, a calculation result can be solved and iteratively updated. The method is low in calculation complexity, low in input quantity demand and more accurate in iteration updating result.

Description

technical field [0001] The invention belongs to the technical field of underwater glider, in particular to an underwater glider course correction method for periodically updating and estimating ocean current velocity. Background technique [0002] An underwater glider is a type of autonomous underwater vehicle (AUV) driven by buoyancy without propellers or propellers. It uses internal fuel tanks and pumps to suck and discharge seawater to control buoyancy to complete gliding motion. Existing gliders have fixed outer wings and tail, and the attitude is controlled by moving the inner mass and using outer control surfaces such as rudders. The glider completes the point-to-point route mission by connecting a series of upward and downward gliding trajectories. Typical gliding movements include up and down zigzag straight glides, turns and vertical spiral glides. Gliders have many valuable applications, especially in marine sensing and data collection, and are of great interest ...

AI Technical Summary

Problems solved by technology

Although this method does not require data information from additional sensors, it requires the controlled object system to meet observability and has high requirements for the computing power of the system.

In terms of course correction, for the case where the horizontal surface velocity of the underwater glider is lower than the ocean current velocity, the course correction method needs to consider the reasonable and achievable target course range of the feedback, which is not considered in many course correction methods at present.

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