Underwater glider for acquiring ocean current profile and data processing method

Abstract

The invention discloses an underwater glider for obtaining an ocean current profile and a data processing method, and belongs to the technical field of ocean exploration, the underwater glider for obtaining the ocean current profile comprises a pressure-resistant unit, a tail unit and a flow velocity profile obtaining unit, the flow velocity profile acquisition unit comprises an acoustic Doppler flow velocity profiler, an ocean current meter and a temperature-salinity-depth sensor. According to the underwater glider, ocean current information can be obtained through the integrated flow velocity sensor, but the obtained ocean current information is the relative speed relative to the motion glider platform and is not the ocean current absolute speed, and the accurate ocean current profile is obtained based on the motion information of the underwater glider and flow velocity profile observation data.

Description

Technical Field

[0001] The invention belongs to the technical field of ocean detection, and in particular relates to an underwater glider for obtaining ocean current profiles and a data processing method. Background Art

[0002] Ocean currents are a common form of seawater movement, which refers to the large-scale and relatively stable flow of seawater. Seawater moves in three dimensions in space, both horizontally and vertically. Ocean currents have an important impact on global climate change, marine engineering, facility damage, coastal erosion, and biological migration.

[0003] With the development and maturity of underwater glider technology, underwater gliders, as a new type of sensor-carrying platform, have been widely used in marine field observation, environmental protection and scientific research. Underwater gliders generate propulsion by changing net buoyancy and adjusting attitude angles, and move on a pair of fixed wings. They consume very little energy and can perform zigzag profile movements in the ocean. They have the characteristics of low power consumption and long endurance.

[0004] Underwater gliders can obtain ocean current information through integrated flow velocity sensors, but this information is the relative speed relative to the glider platform, not the absolute speed of the ocean current. How to obtain accurate absolute profile flow velocity based on the motion information of underwater gliders and flow velocity profile observation data is a scientific problem that needs to be further studied.

[0005] Therefore, designing and developing underwater gliders and data processing methods for obtaining accurate ocean current profiles to obtain high-resolution, wide-coverage, and multi-parameterized ocean current field data has far-reaching significance for promoting marine scientific research and obtaining ocean data. At present, there is still a lack of corresponding solutions in this field, so relevant technologies are urgently needed. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides an underwater glider and a data processing method for obtaining ocean current profiles, which are intended to solve the problem in the prior art that the absolute profile velocity of ocean currents cannot be accurately obtained by underwater gliders.

[0007] The present invention is implemented as follows: an underwater glider for obtaining ocean current profiles comprises a pressure-resistant unit, a tail unit and a current profile obtaining unit, wherein the current profile obtaining unit comprises an acoustic Doppler current profiler, an ocean current meter and a temperature-salinity-depth sensor.

[0008] In the above technical solution, preferably, the velocity profile acquisition unit includes a front guide cover and a secondary guide cover, and the Doppler velocity profiler, current meter and temperature-salinity-depth sensor are installed in the front guide cover.

[0009] In the above technical scheme, preferably, it includes a main connecting frame, which is fixed to the front of the pressure-resistant unit; the acoustic Doppler current profiler is installed on the main connecting frame through the acoustic Doppler current profiler clamping plate and the acoustic Doppler current profiler connecting frame; the temperature-salinity-depth sensor is installed on the main connecting frame through the temperature-salinity-depth sensor fixing frame and the temperature-salinity-depth sensor connecting frame; the current meter is installed on the main connecting frame through the current meter fixing frame and the current meter connecting frame; the main connecting frame installs the temperature-salinity-depth sensor pump through the temperature-salinity-depth sensor pump fixing frame and the temperature-salinity-depth sensor pump connecting frame.

[0010] The underwater glider of the present invention integrates a current profile acquisition unit in the head, and the unit includes an acoustic Doppler current profiler, a current meter and a temperature-salinity-depth sensor, which can acquire current profiles for a long time and over a large range. This integrated design enables the underwater glider to collect marine environmental parameters comprehensively and continuously. By integrating the current sensor, the glider can obtain ocean current information, but the traditional method can only measure the relative speed relative to the glider platform and cannot obtain the absolute speed of the ocean current. The present invention achieves accurate acquisition of ocean current profiles by combining the motion information of the glider with the current profile observation data, thus solving this problem in the prior art. In addition, it has the following specific advantages and effects, including:

[0011] 1. Multi-parameter integration: It integrates acoustic Doppler current profiler, current meter and temperature, salinity and depth sensor, which can obtain multiple key ocean parameters and realize comprehensive environmental monitoring.

[0012] 2. Long-term and large-scale observation: It has long-term endurance and can conduct continuous observation in a wide range of sea areas to obtain long-term and large-scale velocity profile data.

[0013] 3. Low power design: Propulsion is generated by changing the net buoyancy and adjusting the attitude angle, with minimal energy consumption, making it suitable for long-term ocean observation missions.

[0014] 4. High-resolution data acquisition: Through advanced sensors and data processing technology, high-resolution velocity profile data can be obtained to provide detailed ocean current information.

[0015] 5. Absolute speed acquisition: It solves the limitation that traditional technology can only obtain relative speed. By comprehensively analyzing the glider motion information and flow profile observation data, it realizes the accurate measurement of the absolute speed of the ocean current.

[0016] 6. Promote marine scientific research: It can provide high-quality ocean flow field data, which is of great significance to climate research, marine engineering, environmental protection and other fields, and promotes the development of marine scientific research.

[0017] 7. Wide application: It is suitable for many fields such as marine field observation, environmental monitoring and scientific research, which expands the application scope of underwater gliders.

[0018] 8. Reliability and accuracy: The present invention improves the accuracy and reliability of flow velocity data, reduces measurement errors, and provides more accurate data support for scientific research and engineering applications.

[0019] In general, the underwater glider of the present invention achieves efficient and accurate acquisition of ocean current profiles through its integrated advanced sensors and innovative data processing methods. It has significant advantages such as low power consumption, long endurance, and multi-parameterization, which greatly promotes the capabilities of marine scientific research and data acquisition.

[0020] The second object of the present invention is to provide a data processing method for an underwater glider for obtaining an ocean current profile, comprising the following steps:

[0021] The raw data of the velocity profile acquisition unit are preprocessed to obtain processed data; in the process of the velocity profile acquisition unit acquiring the absolute velocity profile, an error model is constructed according to the motion trajectory of the underwater glider and the external environment in which it is located; the error model, external environmental factors and the underwater glider's own characteristics are added to the inversion matrix as additional constraints; through an adaptive weight adjustment strategy, the weights of the influencing factors corresponding to each additional constraint are dynamically adjusted to optimize the error model; the processed data and the parameters of the optimized error model are brought into the inversion algorithm to obtain accurate ocean current profiles.

[0022] In the above technical solution, preferably, the preprocessing includes gross error discrimination, threshold screening and data smoothing of the original data; the threshold screening includes velocity screening, echo intensity screening and correlation screening; data smoothing uses a sliding filter to reduce random fluctuations and noise in the original data.

[0023] In the above technical solution, preferably, the error model includes mathematical model error and system error, and the system error includes posture error, flow velocity calculation error and sound speed calculation error.

[0024] In the above technical solution, preferably, the additional constraints of the inversion matrix include depth average flow constraints, attitude error correction constraints, sound speed error constraints, data smoothing constraints and underwater glider axial velocity constraints, wherein each additional constraint has a corresponding influencing factor and a specific weight.

[0025] In the above technical solution, preferably, the adaptive weight adjustment strategy includes initializing weights, iterative optimization, terminating iteration judgment and outputting the weights of optimized influencing factors, wherein the iterative optimization method adopts a particle swarm optimization algorithm.

[0026] In the above technical solution, preferably, the input values ​​of the inversion algorithm are processed data, additional constraints of the inversion matrix, and optimized weights of influencing factors.

[0027] The absolute velocity inversion method of the present invention significantly improves the measurement accuracy of the absolute velocity of ocean currents by comprehensively considering possible error sources, conducting detailed theoretical analysis and error processing. The following are all the advantages and effects of this method:

[0028] 1. Comprehensive error analysis: This paper conducts a comprehensive theoretical analysis of the possible error sources in the absolute velocity inversion method. The effects of excessive constraints and insufficient parameters in the model error are discussed in detail, and methods to avoid these errors are proposed.

[0029] 2. Quantitative analysis of system errors: Through the error transfer formula, the sources and characteristics of attitude error, flow error and sound speed error in the system error are quantitatively analyzed. This can more accurately understand the impact of various errors on the inversion results, which helps to improve the accuracy of the data.

[0030] 3. Combining the error model with external environmental factors: The error model, external environmental factors and the axial velocity of the underwater glider are added to the inversion matrix as part of the additional constraints. This method reduces the error factors in the inversion algorithm process, makes the solution process more controlled, and thus improves the accuracy of the inversion results.

[0031] 4. Adaptive weight adjustment strategy: An adaptive weight adjustment strategy is proposed to adjust the weight according to the influencing factors of each constraint and optimize the inversion algorithm. This strategy can dynamically adjust the weight of each constraint to better reflect the absolute velocity profile in real conditions.

[0032] 5. Particle Swarm Optimization: Particle Swarm Optimization is used to perform actual optimization processing of weight adjustment. Particle Swarm Optimization is an efficient optimization algorithm that can find the optimal solution under complex constraints, thereby further improving the accuracy of the inversion results.

[0033] 6. Improve the accuracy and reliability of inversion results: Through detailed error analysis and optimization processing, the present invention can more accurately reflect the absolute velocity profile under real conditions, reduce the impact of errors on inversion results, and improve the reliability of data.

[0034] 7. Adaptability to complex marine environments: This method takes into account the influence of external environmental factors and can provide high-precision flow velocity measurement in complex and changeable marine environments, with a wide range of applications.

[0035] 8. Enhance the value of scientific research and engineering applications: High-precision flow measurement data is of great significance to marine scientific research, marine engineering, environmental protection and other fields, and can provide more accurate and reliable data support.

[0036] 9. Improve data processing efficiency: The use of advanced algorithm optimization strategies has improved data processing efficiency, enabling large-scale and long-term ocean observation data to be processed and analyzed quickly and accurately.

[0037] The solution of the present invention significantly improves the accuracy and reliability of underwater gliders in acquiring absolute flow velocity profiles through systematic error analysis and optimization processing, and plays an important role in promoting marine scientific research and engineering applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 It is a schematic diagram of the outside of the flow velocity profile acquisition unit of the present invention;

[0040] Figure 3 The flow velocity profile acquisition unit structure of the present invention is shown in FIG. Figure 1 ;

[0041] Figure 4 The flow velocity profile acquisition unit structure of the present invention is shown in FIG. Figure 2 ;

[0042] Figure 5 The pressure-resistant shell structure of the present invention is schematically shown in FIG. Figure 1 ;

[0043] Figure 6 The pressure-resistant shell structure of the present invention is schematically shown in FIG. Figure 2 ;

[0044] Figure 7 is a data processing flow chart of an embodiment of the present invention;

[0045] Figure 8 This is a case diagram of the inversion algorithm of the present invention;

[0046] Fig. 9 This is an error model impact analysis diagram of an embodiment of the present invention;

[0047] Fig.10 This is a flow chart of an adaptive weight adjustment strategy according to an embodiment of the present invention;

[0048] Fig.11 is a graph of inversion results according to an embodiment of the present invention;

[0049] Fig.12 It is an error curve diagram of the inversion result of an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] In order to solve the problem that the absolute profile velocity of ocean current cannot be accurately obtained by underwater glider in the prior art, the present invention provides an underwater glider and a data processing method for obtaining ocean current profile. In order to further illustrate the structure of the present invention, the detailed description is as follows in conjunction with the accompanying drawings:

[0052] Embodiment 1

[0053] An underwater glider for obtaining ocean current profiles, comprising a pressure unit, a tail unit and a flow velocity profile acquisition unit, wherein the pressure unit is composed of a front cover, a pressure cabin shell, a rib ring and a rear cover, and the interior of the pressure unit includes a posture adjustment unit, a main control unit and a buoyancy drive unit from front to back. The tail unit includes a communication module and a jettison unit. The pressure unit and the tail unit are existing known structures of underwater gliders. In this embodiment, specifically, the outside of the pressure unit is composed of a front cover 201, a front pressure cabin shell 202, a middle pressure cabin shell 204, a rear pressure cabin shell 205 and a rib ring 203 to form a pressure-resistant sealed cabin body, which can withstand a water depth of 1100m. Inside the pressure unit, the posture adjustment unit 207 is located in the front pressure cabin shell; the main control unit 208 is located in the middle pressure cabin shell; and the buoyancy drive unit 209 is located in the rear pressure cabin shell.

[0054] The velocity profile acquisition unit includes an acoustic Doppler current profiler 107, a current meter 109 and a temperature, salinity and depth sensor 105. The acoustic Doppler current profiler (ADCP) is a high-precision instrument that uses the acoustic Doppler effect to measure the velocity profile in the water body. Its working principle is based on the fact that when sound waves encounter tiny particles in the water, the frequency of the sound waves changes due to the movement of the particles. By measuring this frequency change (Doppler shift), ADCP can calculate the velocity and direction of each layer of the water body. A current meter is an instrument used to measure the speed and direction of water flow in the ocean, and is widely used in fields such as oceanographic research, environmental monitoring and marine engineering. A current meter usually consists of a sensor and a data recording system. The sensor can sense the speed and direction of the water flow in a variety of ways (such as mechanical rotors, acoustic Doppler effect, electronic magnetism, etc.). A temperature, salinity and depth sensor (CTD sensor) is a high-precision instrument used to measure temperature, salinity and depth (pressure) in the ocean or fresh water. CTD sensors provide detailed profiles of the physical properties of water by measuring its conductivity (used to calculate salinity), temperature and pressure.

[0055] Specifically, the velocity profile acquisition unit is the main part of the underwater glider for observing the ocean flow field, and is detachably fixed to the front end cover 201 in the pressure-resistant unit. The velocity profile acquisition unit includes a front shroud 102 and a secondary shroud 101. The velocity profile acquisition unit adopts a two-part shroud configuration of the front shroud 102 and the secondary shroud 101, which can improve the efficiency of the underwater glider equipment debugging stage.

[0056] The current profile acquisition unit also includes a main connecting frame 103, a temperature-salinity-depth sensor pump 104, an acoustic Doppler current profiler clamping plate 106, an acoustic Doppler current profiler connecting frame 108, a temperature-salinity-depth sensor pump fixing frame 110, a temperature-salinity-depth sensor pump connecting frame 111, a temperature-salinity-depth sensor fixing frame 112, a temperature-salinity-depth sensor connecting frame 113, a current meter fixing frame 114, and a current meter connecting frame 115.

[0057] In this embodiment, the main connecting frame 103 is connected to the front cover by M6*30mm fixing bolts. The temperature-salinity-depth sensor pump connecting frame 111, the temperature-salinity-depth sensor connecting frame 113, and the current meter connecting frame 115 are all provided with grooves and connected to the pre-set mounting holes on the main connecting frame 103 by a combination of bolts, flat washers and anti-loosening nuts.

[0058] The temperature-salinity-depth sensor pump fixing frame 110, the temperature-salinity-depth sensor fixing frame 112, and the current meter fixing frame 114 are all bolted to the corresponding sensors: the temperature-salinity-depth sensor pump 104, the temperature-salinity-depth sensor 105, and the current meter 109 by means of embracing clamping. The acoustic Doppler current profiler clamping plate 106 is connected to the acoustic Doppler current profiler 107 by bolts through the lower connection hole, and is connected to the main connection frame and the acoustic Doppler current profiler connection frame 108 by means of a combination of bolts, flat washers, and anti-loosening nuts through the upper connection hole. At the same time, the main connection frame 103 and the acoustic Doppler current profiler connection frame 108 are fixed along the axial direction of the underwater glider, so that the axis of the acoustic Doppler current profiler can be guaranteed to be parallel to the axis of the underwater glider. The above connection frame, fixing frame, and clamping plate are all made of 6061-T6 aluminum alloy.

[0059] By adjusting the relative positions among the current meter connecting frame 115, the current meter fixing frame 114 and the current meter 109, the detection hole with the same projection diameter as the outer shell of the current meter 109 preset under the front fairing 102 is extended, so that the sensor data can be obtained more accurately and the function of stabilizing the current meter by using the detection hole as the second fulcrum can be achieved at the same time.

[0060] The data processing method for underwater gliders for obtaining accurate ocean current profiles includes the following steps:

[0061] S1. Preprocessing the raw data of the velocity profile acquisition unit and obtaining processed data. The preprocessing includes gross error discrimination, threshold screening and data smoothing of the raw data.

[0062] The “3 principles” are adopted for gross error discrimination. By setting statistical boundaries, extreme deviations can be effectively distinguished from general deviations, so as to perform subsequent processing and increase the accuracy of flow velocity data. Threshold screening mainly includes velocity screening, echo intensity screening and correlation screening. Data smoothing uses sliding filters to reduce random fluctuations and noise in the data.

[0063] S2. In the process of acquiring the absolute velocity profile by the velocity profile acquisition unit, an error model is constructed according to the unique motion trajectory of the underwater glider and its external environment. The error model includes mathematical model error and system error. The system error includes attitude error, velocity calculation error and sound speed calculation error. The corresponding relationship between attitude error and velocity deviation is shown in Fig. 9 ;

[0064] S3, the error model, external environmental factors and underwater glider's own characteristics are added as additional constraints to the inversion matrix to reduce the error factors in the inversion algorithm and constrain the solution process. The additional constraints of the inversion matrix include depth average flow constraint, attitude error correction constraint, sound speed error constraint, data smoothing constraint and underwater glider axial velocity constraint, where each additional constraint has a corresponding influencing factor and a specific weight.

[0065] S4. Dynamically adjust the weights of the influencing factors corresponding to each constraint through the adaptive weight adjustment strategy to optimize the accuracy and stability of the model. For the adaptive weight adjustment strategy flow chart, see Fig.10 The adaptive weight adjustment strategy includes initializing weights, iterative optimization, terminating iteration judgment, and outputting the optimal influencing factor weights, wherein the iterative optimization method uses a particle swarm optimization algorithm.

[0066] S5. Bring the preprocessed data and optimized parameters into the inversion algorithm to obtain the east-north current profile. Fig.11 , the error curve can be found in Fig.12 ,pass Fig.12 It can be seen that the use of a precise current profile data inversion algorithm that takes into account the error model and additional constraints can control the error between the inversion result and the actual result within 0.05 m / s, thereby improving the accuracy of data inversion, effectively constraining the solution process, and realizing high-resolution, wide-coverage, and multi-parameterized ocean current field observation data acquisition.

[0067] The principle of the inversion algorithm is:

[0068] The data observed by ADCP are expressed as a linear equation system and then solved by the least square method; the ocean current velocity observed by ADCP on the underwater glider can be expressed as: U ADCP =U ocean +U glider , where U ADCP U is the ocean current speed observed by the ADCP onboard the underwater glider; ocean is the absolute velocity of the ocean current; U glider is the speed of the underwater glider in the geodetic coordinate system; if the formula is expressed as a linear equation system, it can be expressed as d = Gm + n. Among them, d is the instantaneous ocean current velocity profile matrix observed during the operation of the underwater glider; G is the model matrix; m is the absolute velocity of the ocean current and the speed of the underwater glider; n is the noise in the observation process; the inversion algorithm example is Figure 8 As shown in Figure 2, ADCP records four instantaneous current velocity profiles from top to bottom. Each instantaneous current velocity profile consists of three water layer units, where u 1,1 、u 1,2 etc. represent the observed velocity of the corresponding water layer unit; therefore, each matrix in this formula can be expressed as:

[0069] d=[u 1,1 u 1,2 u 1,3 u 2,1 … u 3,1 … u 8,2 u 8,3 ] T

[0070] m=[u glider,1 u glider,2 … u glider,8 |u ocean,1 u ocean,2 … u ocean,6 ] T

[0071]

[0072] Among them, the dimension of the G matrix is ​​24×14.

[0073] Therefore, it can be seen that there are 24 equations and 14 unknowns in the above system of equations, which belongs to an overdetermined linear system of equations. Using the least squares method to solve it, the corresponding solution is:

[0074] m=[G T G] -1 G T d

[0075] When there is noise interference, the robust solution is:

[0076] m=G T [GG T ] -1 d

[0077] Furthermore, the error model includes:

[0078] Mathematical model errors and system errors. Mathematical model errors include two types of problems: insufficient model parameters and too many parameters; system errors include attitude errors, flow velocity calculation errors, and sound speed calculation errors. Among them, in the model parameter error, the error equation corresponding to the original function model is d=Gm+n, and the additional additional constraints, that is, the multiple-choice parameter items, are Ex. The corresponding error equation can be written as: d=Gm+Ex+n. When additional parameters are introduced, the original parameters still have unbiased estimates, and the unit weight variance is unbiased, but the variance and accuracy change. Therefore, when introducing additional constraints, it is necessary to find appropriate factors to compensate for the accuracy. The flow error model in the system error is:

[0079] The sound velocity error model is: The attitude error model is:

[0080]

[0081] Furthermore, the additional constraints of the inversion matrix include:

[0082] Depth average flow constraint, attitude error correction constraint, sound speed error constraint, data smoothing constraint and underwater glider axial speed constraint, each of which has a corresponding influencing factor and a specific weight; its expansion matrix is:

[0083]

[0084]

[0085] Among them, w DAV is the depth average flow impact factor; w z is the attitude error influencing factor; w s is the influencing factor of data smoothing constraint; w z is the influencing factor of the underwater glider's axial velocity.

[0086] Furthermore, the adaptive weight adjustment strategy includes:

[0087] Initialize weights, iterative optimization, terminate iteration judgment, and optimize the output of the weights of the influencing factors. The initial weights are assigned to each influencing factor at the beginning of the algorithm. (0) ,in wi is the weight of the i-th constraint. These initial weights are usually based on previous experience or are evenly distributed. Iterative optimization is to evaluate the total loss based on model performance and adjust the weights. The loss function is: C i (m) is a constraint condition based on the model. In each iteration, the model is first evaluated using the current weight combination to calculate its performance index, and then the weight is adjusted. The iterative optimization method uses the particle swarm optimization algorithm. The iterative process continues. When the maximum number of iterations is reached, the model performance improvement during the optimization process is less than a certain threshold, or the weight change is less than a certain threshold, that is, The iteration is terminated when . Among them, ò is a pre-set value used to determine whether the change in weight is small enough; finally, the final constraint weight combination is used as the optimal solution for the inversion process of accurate ocean current profile.

[0088] The input values ​​of the inversion algorithm are the processed data, additional constraints of the inversion matrix, and the optimized weights of the influencing factors.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater glider for obtaining ocean current profiles, comprising a pressure-resistant unit, a tail unit and a flow velocity profile obtaining unit, characterized in that: The current profile acquisition unit includes an acoustic Doppler current profiler, a current meter and a temperature-salinity-depth sensor.

2. The underwater glider for obtaining ocean current profiles according to claim 1, characterized in that: The velocity profile acquisition unit comprises a front flow guide cover and an auxiliary flow guide cover, and the Doppler velocity profiler, the current meter and the temperature-salinity-depth sensor are installed in the front flow guide cover.

3. The underwater glider for obtaining ocean current profiles according to claim 2, characterized in that: The invention comprises a main connecting frame, which is fixed to the front of the pressure-resistant unit; the acoustic Doppler current profiler is installed on the main connecting frame through the acoustic Doppler current profiler pressing plate and the acoustic Doppler current profiler connecting frame; the temperature-salinity-depth sensor is installed on the main connecting frame through the temperature-salinity-depth sensor fixing frame and the temperature-salinity-depth sensor connecting frame; the current meter is installed on the main connecting frame through the current meter fixing frame and the current meter connecting frame; the temperature-salinity-depth sensor pump is installed on the main connecting frame through the temperature-salinity-depth sensor pump fixing frame and the temperature-salinity-depth sensor pump connecting frame.

4. A data processing method for an underwater glider according to any one of claims 1 to 3 for obtaining ocean current profiles, comprising the following steps: The raw data of the velocity profile acquisition unit are preprocessed to obtain processed data; in the process of the velocity profile acquisition unit acquiring the absolute velocity profile, an error model is constructed according to the motion trajectory of the underwater glider and the external environment in which it is located; the error model, external environmental factors and the underwater glider's own characteristics are added to the inversion matrix as additional constraints; through an adaptive weight adjustment strategy, the weights of the influencing factors corresponding to each additional constraint are dynamically adjusted to optimize the error model; the processed data and the parameters of the optimized error model are brought into the inversion algorithm to obtain accurate ocean current profiles.

5. The method for processing underwater glider data for obtaining ocean current profiles according to claim 4, characterized in that: The preprocessing includes gross error discrimination, threshold screening and data smoothing of the original data; the threshold screening includes speed screening, echo intensity screening and correlation screening; data smoothing uses a sliding filter to reduce random fluctuations and noise in the original data.

6. The underwater glider data processing method for obtaining ocean current profiles according to claim 4, characterized in that: The error model includes mathematical model error and system error, and the system error includes attitude error, flow velocity calculation error and sound velocity calculation error.

7. The method for processing underwater glider data for obtaining ocean current profiles according to claim 4, characterized in that: The additional constraints of the inversion matrix include depth average flow constraints, attitude error correction constraints, sound speed error constraints, data smoothing constraints and underwater glider axial speed constraints, wherein each additional constraint has a corresponding influencing factor and a specific weight.

8. The method for processing underwater glider data for obtaining ocean current profiles according to claim 4, characterized in that: The adaptive weight adjustment strategy includes initializing weights, iterative optimization, terminating iteration judgment and outputting the weights of the optimal influencing factors, wherein the iterative optimization method adopts a particle swarm optimization algorithm.

9. The underwater glider data processing method for obtaining ocean current profiles according to claim 4, characterized in that: The input values ​​of the inversion algorithm are the processed data, the additional constraints of the inversion matrix, and the optimized weights of the influencing factors.

Images