Underwater glider adaptive observation control method and system based on effective depth

Abstract

The invention discloses an underwater glider self-adaptive observation control method and system based on effective depth, and belongs to the technical field of underwater gliders, and the method comprises the steps: S1, according to a preset diving depth, controlling a carried ocean sensor to maintain an open state and collect observation data in a diving or floating stage of an underwater glider, and completing full-depth profile observation; s2, processing the observation data according to a preset minimum effective threshold value, and determining an effective depth range of each kind of observation data; s3, calculating a section interval between two continuous full-depth section observations; and S4, controlling the working state of the ocean sensor based on the effective depth range and the section interval, and executing section observation. By deeply analyzing and processing the observation data obtained by full-depth profile observation, fine control of each type of ocean sensor is realized, the energy consumption of the ocean sensor is saved on the premise of ensuring the quality of the observation data, and the overall intelligent level of the underwater glider is effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater gliders, and particularly relates to an adaptive observation control method and system for an underwater glider based on effective depth. Background Technique

[0002] An underwater glider is an autonomous unmanned platform widely used in ocean observation. It is designed to perform long-term and large-scale monitoring tasks in the ocean. These tasks usually involve collecting various parameters in the ocean environment, including but not limited to temperature, salinity, depth (temperature-salinity-depth), chlorophyll, dissolved oxygen, pH value, and the concentrations of various nutrients. These parameters are crucial for scientists to understand the dynamic changes of the ocean, the health status of the ecosystem, and the impact of climate change. Currently, there are mainly the following two working modes for an underwater glider equipped with ocean sensors to conduct observations: Full-time sensor-on mode In this working mode, during the process of conducting profile observations, the underwater glider will keep all sensors working continuously. The advantage of this method is that it can provide continuous and complete profile data, ensuring that ocean parameters at all depths from the sea surface to the seabed can be accurately collected. However, this mode also has obvious disadvantages, namely high energy consumption and the generation of a large amount of redundant data. Especially the data collected in those invalid or meaningless depth ranges not only increases the burden of data processing but also may affect the long-term and large-scale continuous observation ability of the glider because high energy consumption will shorten its endurance time.

[0003] Preset sampling layer mode The second working mode is to preset the sampling layers at specific depths based on experience or historical data. In this mode, the underwater glider only turns on the sensors to collect data within these preset depth layers. This method optimizes the energy consumption to a certain extent, reduces unnecessary data collection, and thus extends the endurance time of the glider. However, the method of presetting sampling layers also has limitations, mainly manifested as the lack of flexibility and adaptability: due to the highly dynamic nature of the ocean environment, the preset sampling layers and depth ranges may not accurately reflect the actual situation of the current observation sea area, resulting in the possible omission of data at key depths or redundant sampling in irrelevant depth ranges, thereby affecting the effectiveness of the data and the accuracy of the observation.

[0004] Under the current technical conditions, each of these two observation modes has its own advantages and disadvantages, but neither can effectively balance energy consumption management and data acquisition efficiency. Especially in those marine environments with significant dynamic changes, how to optimize the energy consumption of the glider and extend its endurance while ensuring the effectiveness of data acquisition remains an urgent problem to be solved. In addition, due to the lack of flexibility and adaptability of the preset sampling layers, it is difficult to respond to the rapid changes in the marine environment in real time, which may miss the changes in key environmental parameters. This is also one of the major challenges faced by current marine observation technologies. Summary of the Invention

[0005] Aiming at the problems existing in the prior art, the present invention provides an adaptive observation control method and system for an underwater glider based on effective depth to improve data acquisition efficiency, optimize energy consumption management, and enhance the adaptability of the glider in a dynamic marine environment.

[0006] The technical solution adopted by the present invention is as follows: The first object of the present invention is to provide an intelligent control method for an underwater glider equipped with a marine sensor based on effective depth, including: S1. According to the preset diving depth, when the underwater glider is in the diving or surfacing stage, control the equipped marine sensor to remain in the on state and collect observation data to complete the full-depth profile observation; S2. Process the observation data according to the preset minimum effective threshold to determine the effective depth range of each type of observation data; S3. Calculate the profile interval between two consecutive full-depth profile observations, specifically: If the current full-depth profile observation is the first one in the entire observation task, the profile interval is a preset value I init ; otherwise, execute the following steps: First, compare the sizes of all effective depth ranges in each full-depth profile observation, and find the upper depth and lower depth of the effective depth range with the largest span; Then, calculate the interval difference between the two largest effective depth ranges according to the upper depth and lower depth of the largest effective depth range in the current full-depth profile observation and the upper depth and lower depth of the largest effective depth range in the previous full-depth profile observation; Finally, adjust the profile interval according to the relative magnitude relationship between the interval difference and the change difference threshold; S4. Control the working state of the marine sensor based on the effective depth range and the profile interval, and perform profile observation.

[0007] Preferably, S2 includes: Data preprocessing: Filter out the observation data that exceeds the reasonable data range according to the preset reasonable data range of the sensor; Threshold judgment: First, for the observation data of each ocean sensor, set its lowest effective threshold according to relevant knowledge and experience in ocean science, combined with the detection sensitivity and background noise level of each ocean sensor; then analyze the observation data of the entire profile layer by layer to determine whether the observation data at different depths exceeds this lowest effective threshold. Effective interval identification: In the observation data of each ocean sensor, mark the depth intervals that exceed the lowest effective threshold, starting from the ocean surface and gradually increasing the depth downward to check the observation data at each sampling point. Multi-interval merging: Analyze the identified multiple depth intervals. If the interval between two depth intervals is less than the preset value Δd, merge these two depth intervals to form a larger continuous interval. Output the effective depth range: Define the effective interval as the effective depth range and output the effective depth range of the observation data of each ocean sensor.

[0008] Preferably, the effective interval identification method includes: Record the depth at which the lowest effective threshold is first reached or exceeded as the upper bound d1 of the interval. Continue to analyze the observation data below the upper bound d1 from top to bottom until the observation data drops below the lowest effective threshold continuously for n times, and record the depth at this time as the lower bound d2 of the interval; n is a natural number greater than 1. Continue to analyze the observation data below the lower bound d2 from top to bottom. If there are again observation data that exceed the lowest effective threshold, new intervals d3 to d4 will be identified and these intervals will be retained. Continue to analyze the observation data below the lower bound d4 from top to bottom until the last observation data.

[0009] Preferably, the calculation of the profile interval is specifically as follows: If the current full-depth profile observation is the first in the entire observation task, the profile interval is the preset initial value I init ; Otherwise, perform the following steps: First, compare the sizes of all effective depth ranges in each full-depth profile observation, and find the upper bound depth and lower bound depth of the effective depth range with the largest span. Then, according to the upper bound depth d min,current of the largest effective depth range in the current full-depth profile observation d max,current and the lower bound depth d min,previous of the largest effective depth range in the previous full-depth profile observation dmax,previous , calculate the interval difference ΔD between the two maximum effective depth ranges; Finally, according to the relative magnitude relationship between the interval difference ΔD and the variation difference threshold ΔD threshold , adjust the profile interval.

[0010] Preferably, the calculation formula for the interval difference is: ; where ΔD is the interval difference, d min,current is the upper bound depth of the maximum effective depth range in the current full-depth profile observation, d max,current is the lower bound depth of the maximum effective depth range in the current full-depth profile observation, d min,previous is the upper bound depth of the maximum effective depth range in the previous full-depth profile observation, d max,previous is the lower bound depth of the maximum effective depth range in the previous full-depth profile observation.

[0011] Preferably, the adjusting the profile interval according to the relative magnitude relationship between the interval difference and the variation difference threshold includes: When the interval difference ΔD is greater than the variation difference threshold ΔD threshold , shorten the profile interval; When the interval difference ΔD is not greater than the variation difference threshold ΔD threshold , extend the profile interval.

[0012] Preferably, the calculation formula for shortening the profile interval is: ; where: I new is the adjusted profile interval; I current is the current full-depth observation profile interval; ΔI is the number of profiles adjusted each time; I min is the minimum value of the full-depth observation profile interval.

[0013] Preferably, the calculation formula for extending the profile interval is: ; where: I newis the adjusted profile interval; I current is the current full-depth observation profile interval; ΔI is the number of profiles adjusted each time; I max is the maximum value of the full-depth observation profile interval.

[0014] Preferably, S4 includes: First, load the effective depth range corresponding to each ocean sensor and the calculated profile interval into the underwater glider; Then the underwater glider executes an observation cycle, which includes: under the state that all sensors are turned on, perform a full-depth profile observation once, and then perform I times of effective depth profile observations; During the descent or ascent of the effective depth profile observation, when the underwater glider enters the effective depth range of a certain sensor, automatically turn on the sensor, and when leaving the effective depth range, automatically turn off the sensor.

[0015] The second object of the present invention is to provide an underwater glider system, including: at least one ocean sensor; and a controller; the controller is configured to execute the above-mentioned adaptive observation control method of the underwater glider based on the effective depth.

[0016] Compared with the prior art, the advantages and positive effects of the present application are: In order to address the problems of high energy consumption, low data acquisition efficiency, and insufficient adaptability to the dynamic ocean environment faced by underwater gliders when carrying ocean sensors in the current technology, the present invention proposes an innovative solution. By deeply analyzing and processing the observation data obtained from the full-depth profile observation, the present invention can accurately determine the effective depth range of each observation data and the profile interval of the full-depth profile observation. Based on these analysis results, the present invention further realizes the fine adaptive control of the observation process of the underwater glider (including sensor state and observation frequency), thereby effectively improving the observation efficiency and intelligent level of the underwater glider. In this way, the underwater glider can collect ocean data more efficiently, while significantly reducing energy consumption, ensuring a rapid response and adaptability to changes in the ocean environment. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a flowchart of a preferred embodiment of the present invention; Figure 2 It is a flowchart for determining the effective depth range in a preferred embodiment of the present invention; Figure 3 It is a flowchart for adjusting the full-depth observation profile interval in a preferred embodiment of the present invention; Figure 4 It is a schematic diagram of the system architecture in a preferred embodiment of the present invention; Figure 5 It is a schematic diagram of profile observation in a preferred embodiment of the present invention. Detailed implementation manners

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but only represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0020] Please refer to Figure 1 , an adaptive observation control method for an underwater glider based on effective depth, including: S1. According to a preset diving depth, when the underwater glider is in the diving or surfacing stage, the marine sensors remain turned on, and the observation data of the marine sensors are collected to complete the full-depth profile observation; According to the preset diving depth parameters, the underwater glider starts from the sea surface and dives downward to a specified depth. After reaching the preset depth, the glider then surfaces from this depth point back to the sea surface. During the diving or surfacing stage, the underwater glider continuously turns on and operates all the marine sensors it carries. These marine sensors are responsible for collecting and recording the observation data (that is, various marine environment data). Through such operations, each time the underwater glider completes a cycle of diving and surfacing, it can achieve the observation task of the full-depth profile of the ocean.

[0021] S2. Process the observed data according to a preset minimum effective threshold to determine the effective depth range of each type of observed data; Please refer to Figure 2 , after completing the full-depth profile observation, the underwater glider returns to the sea surface and then establishes a satellite communication link with the shore-based user. The shore-based user can choose to use an intelligent decision-making system or manual judgment to determine the effective depth range of the observed data of each marine sensor; the intelligent decision-making system can be installed on the shore-based terminal or in the underwater glider. Due to the large amount of observed data, in order to reduce the power consumption caused by data transmission, in this embodiment, it is preferred to install the intelligent decision-making system in the underwater glider; If the intelligent decision-making system is selected, first, the marine sensor transmits all the observed data collected to the intelligent decision-making system inside the underwater glider. Then, the intelligent decision-making system analyzes the observed data at different depths and processes the observed data according to the preset minimum effective threshold to determine the effective depth range of each type of observed data; the specific steps of the analysis are as follows: S201. Data preprocessing, filter out the observed data that exceeds the preset reasonable data range of the sensor; The intelligent decision-making system first performs data preprocessing on the observed data and filters out the observed data that significantly exceeds the normal range. The specific method is as follows: taking the observation of chlorophyll concentration using a chlorophyll sensor as an example, according to factors such as relevant marine science knowledge and experience, statistical analysis of historical observed data, the accuracy range of the chlorophyll sensor itself, and the typical distribution range of chlorophyll concentration in a specific sea area, a preset reasonable range is set for the chlorophyll sensor data. Any concentration value that exceeds this range will be regarded as an outlier and filtered out or marked as invalid data.

[0022] S202. Threshold judgment, first, for the observed data of each marine sensor, set its minimum effective threshold according to relevant marine science knowledge and experience, combined with the detection sensitivity and background noise level of each marine sensor; then the intelligent decision-making system analyzes the observed data of the entire profile layer by layer to judge whether the observed data at different depths exceeds the minimum effective threshold; S203. Effective interval identification, in the observed data of each marine sensor, mark the original depth interval where the observed value exceeds the minimum effective threshold, starting from the ocean surface and gradually increasing the depth downward, and check the observed data at each sampling point; the specific steps are as follows: S2031. Record the depth at which the minimum effective threshold is first reached or exceeded as the upper bound d1 of the original interval; S2032. Continue to analyze the observed data below the upper bound d1 from top to bottom until the observed data drops below the least significant threshold continuously for n times (e.g., 10 times), and record the depth at this time as the lower bound d2 of the original interval; n is a natural number greater than 1 (the choice of parameter n can be determined according to the noise characteristics of the sensor, the sampling frequency, and the desired stability. A larger n value can better avoid premature termination of the interval due to a single noise point); S2033. Continue to analyze the observed data below the lower bound d2 from top to bottom. If there is again observed data exceeding the least significant threshold, a new original interval d3 to d4 will be identified and these original intervals will be retained; S2034. Continue to analyze the observed data below the lower bound d4 from top to bottom until the last observed data.

[0023] S204. Multi-interval merging. Analyze the identified multiple original depth intervals. If the interval between two original depth intervals is less than the preset value Δd (the setting of parameter Δd usually considers the typical scale of the vertical structure characteristics of ocean elements and the required vertical resolution for the task), then merge these two original depth intervals to form a larger continuous interval, thereby simplifying the monitoring strategy; otherwise, do not merge; S205. Output the effective depth range. Define the effective interval as the effective depth range and output the effective depth range of each ocean sensor observation parameter. These effective depth ranges will be used for the state control of ocean sensors in subsequent profile observations.

[0024] If the manual judgment method is selected to determine the effective depth range, all the observed data of the ocean sensors carried by the underwater glider in the initial profile will be transmitted to the shore-based terminal via satellite, and the data analysis and judgment will be carried out manually. The shore-based experts will give the effective depth range of each observation parameter based on the relevant knowledge and experience of ocean science.

[0025] S3. Calculate the profile interval of the full-depth profile observation. After each full-depth profile observation is completed, the intelligent decision-making system automatically calculates the profile interval between the current full-depth observation profile and the next full-depth observation profile. Please refer to Figure 3 If the current full-depth profile observation is the first one in the entire observation task, the profile interval is the preset value I init ( I init which can be set according to historical experience or the need for denser observations at the initial stage of the task); otherwise, perform the following steps: S301. Determine the maximum effective depth range. Compare the sizes of all effective depth ranges in each full-depth profile observation, and find the upper bound depth and lower bound depth of the effective depth range with the largest span; After the intelligent decision-making system identifies all valid depth ranges (i.e., depth ranges where the observed parameters exceed the lowest valid threshold) in each full-depth observation profile, it selects the valid depth range with the largest span (lower bound depth - upper bound depth) from these valid depth ranges. Set the upper bound depth of this valid depth range as d min , and the lower bound depth as d max .

[0026] S302. Calculate the interval difference between the maximum valid depth ranges. According to the upper bound depth and lower bound depth of the maximum valid depth range in the current full-depth profile observation, and the upper bound depth and lower bound depth of the maximum valid depth range in the previous full-depth profile observation, calculate the interval difference between the two maximum valid depth ranges; The calculation formula for the interval difference is: ; where ΔD is the interval difference, d min,current is the upper bound depth of the maximum valid depth range in the current full-depth profile observation, d max,current is the lower bound depth of the maximum valid depth range in the current full-depth profile observation, d min,previous is the upper bound depth of the maximum valid depth range in the previous full-depth profile observation, d max,previous is the lower bound depth of the maximum valid depth range in the previous full-depth profile observation.

[0027] S303. Adjust the profile interval according to the relative magnitude relationship between the interval difference and the change difference threshold; specifically: when the interval difference ΔD is greater than the change difference threshold ΔD threshold , shorten the profile interval; when the interval difference ΔD is not greater than the change difference threshold ΔD threshold , extend the profile interval. Further: First, set a change difference threshold Δ D threshold ( ΔD threshold represents the adjustment point of the system's sensitivity to environmental changes. The larger the value, the more the system tolerates larger changes in the valid range without adjusting the interval, and vice versa, it is more sensitive).

[0028] Then, adjust the profile interval according to the relative magnitude relationship between the interval difference and the change difference threshold; If the calculated interval difference ΔD Greater than the change difference threshold ΔD threshold , the intelligent decision-making system will judge that the current environmental changes are significant. Therefore, the intelligent decision-making system will shorten the profile interval to perform full-depth profile observations more frequently to monitor environmental changes. The calculation formula for shortening the profile interval is: ; in: I new is the adjusted profile interval; I current is the current profile interval; ΔI is the number of sections adjusted each time ( ΔI Controls the adjustment step size, which can be set according to the desired adjustment rate); I min is the minimum value of the profile interval ( I min This ensures that even if the environment changes drastically, full-depth observations will not fall below a certain minimum frequency, thus guaranteeing basic monitoring needs).

[0029] If the calculated interval difference ΔD Less than or equal to the change difference threshold ΔD threshold , the intelligent decision system will judge that the current environmental changes are not significant. Therefore, the intelligent decision system will extend the profile interval to reduce unnecessary full-depth observations and save energy. The calculation formula for extending the profile interval is: ; in: I new is the adjusted profile interval; I current is the current profile interval; ΔI is the number of profiles adjusted each time; I max is the maximum value of the profile interval ( I max This limits the upper limit of extending the full-depth observation interval to save energy, avoid missing potential long-term slow changes or exceeding the acceptable data interval).

[0030] S4, based on the effective depth range and profile interval, control the working state of the ocean sensors and perform profile observation. Specifically, it includes: firstly, the effective depth range and calculated profile interval corresponding to each ocean sensor are calculated. ILoad the underwater glider; then the underwater glider conducts subsequent observations, and the subsequent observations are carried out in the form of an observation cycle. Each cycle includes one full-depth profile observation + I times of effective depth profile observations. When performing the effective depth profile observation, the underwater glider only turns on the sensor for data acquisition when it enters the effective depth range of a certain sensor, and turns off the sensor when it leaves the effective depth range. S401. Loading of the effective depth range. Before each new profile observation starts, the glider will load the effective depth ranges d1 - d2, d3 - d4 (or more intervals) of each ocean sensor determined previously for the intelligent decision-making system. These ranges are determined independently for different observation parameters; S402. Controlling the working state of each ocean sensor according to the effective observation depth. When the glider is diving or ascending in the profile, it will monitor the current depth in real time. When the glider enters an effective depth range d1 - d2, the intelligent decision-making system will automatically trigger the relevant ocean sensor to start working and collect the environmental data within this depth range. After leaving the effective depth range (i.e., when the current depth exceeds d2), the intelligent decision-making system will immediately turn off the sensor to avoid unnecessary energy consumption. The turning on and off of each ocean sensor are independently controlled.

[0031] The following elaborates on the concept of the present invention in detail with a specific case: An intelligent control method for an underwater glider carrying an ocean chlorophyll sensor based on the effective depth, including: Step 1. Full-depth profile observation. During the full-depth profile observation of the underwater glider, it dives from the sea surface to a predetermined depth, and the chlorophyll sensor is turned on throughout the diving process. The chlorophyll sensor collects chlorophyll concentration data during the entire diving process (for example, from 0 meters to 500 meters in depth). The unit of the data is micrograms per liter (μg / L). During this process, the chlorophyll concentration value of each layer collected is recorded and stored in the control system of the glider.

[0032] Step 2. Analyze the observation data to determine the effective depth range. After completing the full-depth observation profile, at the sea surface, the underwater glider communicates with the shore-based user. The user can manually select to use the intelligent decision-making system or the manual judgment method to determine the effective depth range of chlorophyll. If the user selects to use the intelligent decision-making system, it transfers to step S2.1; if the user selects the manual judgment method, it transfers to step S2.2.

[0033] S2.1. Analysis by the intelligent decision-making system; S2.1.1. Data preprocessing. First, perform data preprocessing on the collected chlorophyll concentration data to filter out abnormal values that significantly exceed the normal range. Set a preset reasonable range for the chlorophyll concentration data according to relevant knowledge and experience in ocean scienceC min , C max , for example 0 µg / L, 10 µg / L , and the setting of this reasonable range can refer to factors such as the statistical analysis of historical observation data, the accuracy range of the chlorophyll sensor itself, and the typical distribution range of chlorophyll concentration in a specific sea area. Any concentration value exceeding this reasonable range will be regarded as an outlier and filtered out or marked as invalid data.

[0034] S2.1.2. Threshold judgment, set a minimum effective threshold for the chlorophyll concentration T , for example, 0.1 μg / L. This threshold is set according to relevant marine science knowledge and experience, combined with the detection sensitivity and background noise level of each marine sensor. Analyze the chlorophyll data layer by layer from the surface (sea surface) to 500 meters, and judge whether the chlorophyll concentration at each depth exceeds the minimum effective threshold T .

[0035] S2.1.3. Effective interval identification, specifically including: S2.1.3.1. In the profile data, gradually increase the depth from the surface layer and detect the chlorophyll concentration at each depth point.

[0036] S2.1.3.2. When the chlorophyll concentration at a certain depth point first reaches or exceeds the minimum effective threshold T (0.1 μg / L), record this depth as the upper bound of the interval d1 .

[0037] S2.1.3.3. Continue to analyze deeper until the chlorophyll concentration drops below the minimum effective threshold continuously for 10 times T , and record this depth as the lower bound of the interval d2 .

[0038] S2.1.3.4. If data exceeding the minimum effective threshold appears again at a deeper depth (for example, below 300 meters) T , identify a new interval d3 to d4 .

[0039] S2.1.4. Multi-interval merging. If multiple original effective intervals are identified and the interval between two intervals is less than a preset value Δd (for example, 10 meters, this value takes into account the possible minimum scale of the chlorophyll stratification), these intervals will be merged to form a larger continuous interval.

[0040] S2.1.5. Output depth range. The intelligent decision-making system outputs the effective depth range of the chlorophyll concentration, for example d1- d2 (from 50 meters to 150 meters) andd3 - d4 (200 m to 250 m). These effective depth ranges will be used for subsequent profile observations to control the on and off of the chlorophyll sensors.

[0041] S2.2, Manual judgment method. If the manual judgment method is selected, the underwater glider will transmit all chlorophyll data from the initial profile observations to the shore-based system via satellite. Experts on the shore analyze the chlorophyll concentration data based on relevant marine science knowledge and experience and on-site requirements, and select the effective depth range. For example, after manual analysis, it is determined that the effective observation ranges of chlorophyll are 60 m to 140 m and 210 m to 240 m.

[0042] Step 3: Dynamically adjust the interval of the full-depth observation profile; After each full-depth observation profile is completed, automatically calculate the interval profile between the current full-depth observation profile and the next full-depth observation profile. The specific method is as follows: If the current full-depth observation profile is the first one of the entire observation task, the interval of the full-depth observation profile is the preset value I init . If not, calculate the profile interval according to the following steps.

[0043] Suppose an underwater glider conducts chlorophyll concentration observations in a target sea area during a certain mission. The effective depth interval of the previous full-depth profile observation is 50 m to 150 m. After that, the underwater glider conducts several profile observations only within the effective depth interval, and then completes another full-depth profile observation.

[0044] S3.1. Determine the maximum effective depth interval; S3.1.1. Previous profile observation. After the previous full-depth profile observation is completed, identify that the maximum effective depth interval of the chlorophyll concentration is 50 m to 150 m. Therefore, set the upper bound of this interval d min,previous = 50 m, and the lower bound d max,previous = 150 m.

[0045] S3.1.2. Current profile observation. In the current full-depth observation profile, the identified maximum effective depth interval of the chlorophyll concentration is 55 m to 145 m. Therefore, set the upper bound of this interval d min,current = 55 m, and the lower bound d max,current = 145 m.

[0046] S3.2. Calculate the depth interval difference; S3.2.1. Record the upper bound d min,previous = 50 m and the lower bound dmax,previous = 150 m, and the upper bound d of the current profile min,current = 55 m and the lower bound d max,current = 145 m.

[0047] S3.2.2. Calculate the difference between the two profiles ΔD :

[0048] S3.3. Adjust the observation profile interval S3.3.1. According to historical experience, the set change difference threshold is ΔD threshold = 10 m (setting it to 10 m means that when the comprehensive change of the effective depth range boundary exceeds 10 m, it is considered that the environmental change is significant and the observation frequency needs to be adjusted).

[0049] S3.3.2. The calculated ΔD ≈ 7.07 m is less than ΔD threshold . Therefore, the system determines that the current environmental change is not significant.

[0050] S3.3.3. Calculate the new full-depth observation profile interval Because ΔD is less than or equal to ΔD threshold , the system decides to extend the profile interval of the full-depth observation profile I , in order to reduce the unnecessary full-depth observation frequency. Assume the current profile interval I current = 5 (indicating that the previous cycle was 1 full + 5 effective), the number of profiles extended each time ΔI = 2 profiles, the set maximum profile interval I max = 10 profiles ( I min , I max, ΔI The setting of balances the response speed, energy consumption, and observation requirements), then the new observation profile interval I new is calculated as:

[0051] S3.3.4. Adjust the full-depth observation profile interval, and set the new profile interval I newSet to 7. This means that after this full-depth profile observation, the glider will perform 7 effective depth profile observations before the next full-depth profile observation. This adjustment can optimize the energy consumption of the glider and reduce the unnecessary frequency of full-depth observations.

[0052] Step Four: Depth Selection and Sensor Control for Subsequent Profiles; S4.1. Depth Range Loading. According to the effective depth ranges determined in the previous steps, the glider stores these ranges (such as 55 meters to 145 meters, 200 meters to 250 meters) in the control system and loads these effective depth ranges in subsequent profiles.

[0053] S4.2. Profile Depth Selection and Sensor Control. During subsequent effective depth profile observations, the glider monitors the current depth in real time. When the glider enters the effective depth range of 55 meters to 145 meters or 200 meters to 250 meters, the system will automatically turn on the chlorophyll sensor to collect chlorophyll concentration data within this depth range. When the glider leaves the effective depth range (such as exceeding 145 meters or 250 meters), the system will immediately turn off the chlorophyll sensor to avoid unnecessary energy consumption. The glider will continuously perform I (for example, 7) such effective depth profile observations, and then perform another full-depth profile observation to start a new observation cycle.

[0054] Please refer to Figure 4 , during the implementation of the present invention, it mainly includes an underwater glider, a shore-based terminal, and a communication satellite, where: multiple ocean sensors are installed on the underwater glider, and an underwater glider control system and an underwater glider on-board satellite communication module are also installed, and an intelligent decision-making system is embedded in the underwater glider control system; the shore-based terminal is equipped with a shore-based satellite communication module and a shore-based control system.

[0055] Please refer to Figure 5, Figure 5 Schematically shows the mode in which when the profile interval I = 4, 4 effective depth profile observations (Profiles 2 - 5) are performed after a full-depth profile observation (Profile 1), and then the next full-depth profile observation (Profile 6) is carried out.

[0056] An underwater glider system includes: at least one ocean sensor; and a controller; the controller is configured to execute the above-mentioned adaptive observation control method for an underwater glider based on effective depth.

[0057] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in whole or in part in the form of a computer program product, the computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state disk (SSD)).

[0058] The foregoing are only the preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included within the scope of protection of the present invention.

Claims

1. An adaptive observation control method for an underwater glider based on effective depth, characterized in that Including: S1. According to a preset diving depth, during the diving or surfacing stage of the underwater glider, control the carried ocean sensors to remain on and collect observation data to complete full-depth profile observation; S2. Process the observation data according to a preset minimum effective threshold to determine the effective depth range of each type of observation data; S3. Calculate the profile interval between two consecutive full-depth profile observations, specifically: If the current full-depth profile observation is the first of the entire observation mission, the profile interval is a preset value I init ; Otherwise, perform the following steps: First, compare the sizes of all effective depth ranges in each full-depth profile observation, and find the upper-bound depth and lower-bound depth of the effective depth range with the largest span; Then, according to the upper-bound depth and lower-bound depth of the largest effective depth range in the current full-depth profile observation, and the upper-bound depth and lower-bound depth of the largest effective depth range in the previous full-depth profile observation, calculate the interval difference between the two largest effective depth ranges; Finally, adjust the profile interval according to the relative magnitude relationship between the interval difference and the change difference threshold; S4. Based on the effective depth range and the profile interval, control the working state of the ocean sensors to perform profile observation.

2. The adaptive observation control method for an underwater glider based on effective depth according to claim 1, wherein S2 Including: Data preprocessing: Filter out the observation data that exceeds the reasonable data range according to the preset reasonable data range of the sensors; Threshold judgment: First, for the observation data of each type of ocean sensor, set its minimum effective threshold according to the relevant knowledge and experience of ocean science and in combination with the detection sensitivity and background noise level of each type of ocean sensor; Then, analyze the observation data of the entire profile layer by layer to determine whether the observation data at different depths exceeds the minimum effective threshold; Effective interval identification: In the observation data of each type of ocean sensor, mark the depth intervals that exceed the minimum effective threshold, starting from the ocean surface and gradually increasing the depth downward, and check the observation data of each sampling point; Multi-interval merging: Analyze the identified multiple depth intervals. If the interval between two depth intervals is less than the preset value Δd, merge these two depth intervals to form a larger continuous interval; Output the effective depth range: Define the effective interval as the effective depth range, and output the effective depth range of the observation data of each type of ocean sensor.

3. The adaptive observation control method for an underwater glider based on effective depth according to claim 2, wherein The effective interval identification method includes: Record the depth when it first reaches or exceeds the minimum effective threshold as the upper bound d1 of the interval; Continue to analyze the observation data below the upper bound d1 from top to bottom until the observation data drops below the minimum effective threshold continuously for n times, and record the depth at this time as the lower bound d2 of the interval; n is a natural number greater than 1; Continue to analyze the observation data below the lower bound d2 from top to bottom. If there is again observation data that exceeds the minimum effective threshold, new intervals d3 to d4 will be identified and these intervals will be retained; Continue to analyze the observation data below the lower bound d4 from top to bottom until the last observation data.

4. The adaptive observation control method for an underwater glider based on effective depth according to claim 1, characterized in that The calculation of the profile interval is specifically: If the current full-depth profile observation is the first one in the entire observation task, the profile interval is the preset initial value I init ; Otherwise, perform the following steps: First, compare the sizes of all effective depth ranges in each full-depth profile observation, and find the upper-bound depth and lower-bound depth of the effective depth range with the largest span; Then, based on the upper depth bound of the maximum effective depth range in the current full-depth profile observation d min,current , the lower depth bound d max,current , the upper depth bound of the maximum effective depth range in the previous full-depth profile observation d min,previous and the lower depth bound d max,previous , calculate the interval difference ΔD between the two maximum effective depth ranges; Finally, adjust the profile interval according to the relative magnitude relationship between the interval difference ΔD and the change difference threshold ΔD threshold .

5. The adaptive observation control method for an underwater glider based on effective depth according to claim 4, wherein The calculation formula for the interval difference is: ； where, ΔD is the interval difference, d min,current is the upper bound depth of the maximum effective depth range in the current full-depth profile observation, d max,current is the lower bound depth of the maximum effective depth range in the current full-depth profile observation, d min,previous is the upper bound depth of the maximum effective depth range in the previous full-depth profile observation, d max,previous is the lower bound depth of the maximum effective depth range in the previous full-depth profile observation.

6. The adaptive observation control method for an underwater glider based on effective depth according to claim 4, wherein The adjustment of the profile interval according to the relative magnitude relationship between the interval difference and the change difference threshold includes: When the interval difference ΔD is greater than the change difference threshold ΔD threshold then shorten the profile interval; When the interval difference ΔD is not greater than the change difference threshold ΔD threshold then extend the profile interval.

7. The adaptive observation control method for an underwater glider based on effective depth according to claim 6, characterized in that, The calculation formula for shortening the profile interval is: ； Wherein: I new is the adjusted profile interval; I current is the current full-depth observation profile interval; ΔI is the number of profiles adjusted each time; I min is the minimum value of the full-depth observation profile interval.

8. The adaptive observation control method for an underwater glider based on effective depth according to claim 6, wherein The calculation formula for extending the profile interval is: ； Wherein: I new is the adjusted profile interval; I current is the current full-depth observation profile interval; ΔI is the number of profiles adjusted each time; I max is the maximum value of the full-depth observation profile interval.

9. The adaptive observation control method for an underwater glider based on effective depth according to claim 1, wherein S4 Including: First, load the effective depth range corresponding to each ocean sensor and the calculated profile interval into the underwater glider; Then the underwater glider performs an observation cycle, which includes: performing a full-depth profile observation once with all sensors turned on, and then performing I effective depth profile observations; During the diving or ascending process of the effective depth profile observation, when the underwater glider enters the effective depth range of a certain sensor, automatically turn on the sensor, and when leaving the effective depth range, automatically turn off the sensor.

10. An underwater glider system, comprising: At least one ocean sensor; And a controller; characterized in that the controller is configured to execute the adaptive observation control method of the underwater glider based on the effective depth as described in any one of claims 1 to 9.

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