Adaptive observation control method and system for underwater glider based on effective depth

Abstract

The present invention discloses an underwater glider adaptive observation and control method and system based on effective depth, belonging to the technical field of underwater gliders, comprising: S1, according to a preset diving depth, during the diving or surfacing phase of the underwater glider, controlling the carried ocean sensors to remain in an on state and collect observation data to complete full-depth profile observation; S2, processing the observation data according to a preset minimum effective threshold to determine the effective depth range of each type of observation data; S3, calculating the profile interval between two consecutive full-depth profile observations; S4, controlling the working state of the ocean sensors based on the effective depth range and the profile interval to perform profile observation. The present invention achieves fine control of each ocean sensor by deeply analyzing and processing the observation data obtained from the full-depth profile observation, saving energy consumption of the ocean sensors while ensuring the quality of the observation data, and effectively improving the overall intelligence level of the underwater glider.

Description

Technical Field

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

[0002] Underwater gliders are autonomous, unmanned platforms widely used for ocean observation. They are designed to conduct long-term, large-scale monitoring missions in the ocean. These missions typically involve collecting various parameters of the ocean environment, including but not limited to temperature, salinity, depth (temperature, salinity, depth), chlorophyll, dissolved oxygen, pH, and the concentration of various nutrients. These parameters are crucial for scientists to understand the dynamic changes of the ocean, the health of the ecosystem, and the impact of climate change. Currently, there are two main operating modes for underwater gliders equipped with ocean sensors to conduct observations:

[0003] Sensor-on mode: In this operating mode, the underwater glider keeps all sensors in continuous operation during profile observations. 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. In particular, data collected within invalid or meaningless depth ranges not only increases the burden of data processing, but may also affect the glider's ability to conduct long-term, large-scale continuous observations, as high energy consumption shortens its flight time.

[0004] The second working mode of the preset sampling layer mode is to pre-set the number of sampling layers at a specific depth based on experience or historical data. In this mode, the underwater glider only turns on the sensor to collect data within these preset depth layers. This method optimizes energy consumption to a certain extent, reduces unnecessary data collection, and thus extends the glider's flight time. However, the method of pre-setting the number of sampling layers also has limitations, mainly manifested in the lack of flexibility and adaptability: due to the highly dynamic nature of the ocean environment, the preset number of sampling layers and depth range may not accurately reflect the actual situation of the current observation area, resulting in the omission of data at key depths, or redundant sampling in insignificant depth ranges, thereby affecting the validity of the data and the accuracy of the observation.

[0005] Under current technological conditions, both observation modes have their own advantages and disadvantages, but neither effectively strikes a balance between energy management and data collection efficiency. Especially in highly dynamic ocean environments, optimizing glider energy consumption and extending flight time while ensuring effective data collection remains a pressing issue. Furthermore, the lack of flexibility and adaptability of the pre-set sampling layers makes it difficult to respond to rapid changes in the ocean environment in real time, potentially missing changes in key environmental parameters. This is one of the major challenges currently facing ocean observation technology. Summary of the Invention

[0006] In response to the problems existing in the existing technology, the present invention provides an underwater glider adaptive observation and control method and system based on effective depth to improve data acquisition efficiency, optimize energy consumption management, and enhance the adaptability of the glider in a dynamic ocean environment.

[0007] The technical solution adopted in the present invention is:

[0008] The first object of the present invention is to provide an intelligent control method for an underwater glider equipped with an ocean sensor based on effective depth, comprising:

[0009] S1. According to the preset diving depth, the underwater glider controls the onboard ocean sensors to remain powered on and collect observation data during the diving or surfacing phase, completing full-depth profile observations.

[0010] S2. Processing the observation data according to a preset minimum effective threshold to determine the effective depth range of each type of observation data;

[0011] S3. Calculate the profile interval between two consecutive full-depth profile observations, specifically:

[0012] If the current full depth profile observation is the first one in the entire observation mission, the profile interval is the preset value. I init ; Otherwise, perform the following steps:

[0013] First, compare the sizes of all effective depth ranges in each full-depth profile observation to find the upper and lower bound depths of the maximum effective depth range;

[0014] Then, based on the upper and lower bound depths of the maximum effective depth range in the current full-depth profile observation and the upper and lower bound depths of the maximum effective depth range in the previous full-depth profile observation, the interval difference between the two maximum effective depth ranges is calculated;

[0015] Finally, the profile interval is adjusted according to the relative size relationship between the interval difference and the change difference threshold;

[0016] S4. Control the working state of the ocean sensor based on the effective depth range and the profile interval to perform profile observation.

[0017] Preferably, S2 includes:

[0018] Data preprocessing: Filter out observation data that exceeds the reasonable data range based on the preset sensor reasonable data range;

[0019] Threshold determination: First, for each ocean sensor's observation data, a minimum effective threshold is set based on relevant marine science knowledge and experience, combined with each ocean sensor's detection sensitivity and background noise level. Then, the observation data of the entire profile is analyzed layer by layer to determine whether the observation data at different depths exceeds the minimum effective threshold.

[0020] Valid interval identification: In the observation data of each ocean sensor, mark the depth interval that exceeds the minimum valid threshold, starting from the ocean surface and gradually increasing the depth downward, and check the observation data of each sampling point;

[0021] Multi-interval merging: Analyze multiple identified depth intervals. If the interval between two depth intervals is less than the preset value Δd, the two depth intervals are merged to form a larger continuous interval.

[0022] Output effective depth range: Define the effective interval as the effective depth range, and output the effective depth range of each ocean sensor observation data.

[0023] Preferably, the valid interval identification method includes:

[0024] Record the depth at which the minimum valid threshold is first reached or exceeded as the upper bound d1 of the interval;

[0025] Continue analyzing the observation data below the upper bound d1 from top to bottom until the observation data drops below the minimum valid threshold for n consecutive times. Record the depth at this time as the lower bound d2 of the interval; n is a natural number greater than 1.

[0026] Continue to analyze the observation data below the lower bound d2 from top to bottom. If observation data exceeding the minimum valid threshold appears again, new intervals d3 to d4 will be identified and retained.

[0027] Continue analyzing the observation data below the lower bound d4 from top to bottom until the last observation data.

[0028] Preferably, the calculation of the profile interval is specifically as follows:

[0029] If the current full-depth profile observation is the first one in the entire observation mission, the profile interval is the preset initial value. I init ;

[0030] Otherwise, perform the following steps:

[0031] First, compare the sizes of all effective depth ranges in each full-depth profile observation to find the upper and lower bound depths of the maximum effective depth range;

[0032] Then, according to the upper limit depth of the maximum effective depth range in the current full depth profile observation d min,current , lower depth d max,current , the upper limit depth of the maximum effective depth range in the previous full-depth profile observation d min,previous and lower bound depth d max,previous , calculate the interval difference ΔD between the two maximum effective depth ranges;

[0033] Finally, according to the interval difference ΔD and the change difference threshold ΔD threshold Adjust the profile interval based on the relative size relationship of the sections.

[0034] Preferably, the calculation formula of the interval difference is:

[0035] ;

[0036] Where ΔD is the interval difference, d min,current is the upper limit depth of the maximum effective depth range in the current full depth profile observation, d max,current is the lower limit depth of the maximum effective depth range in the current full depth profile observation, d min,previous is the upper limit depth of the maximum effective depth range in the previous full-depth profile observation, d max,previous It is the lower boundary depth of the maximum effective depth range in the previous full-depth profile observation.

[0037] Preferably, adjusting the profile interval according to the relative size relationship between the interval difference and the change difference threshold includes:

[0038] When the difference ΔD Greater than the change difference threshold ΔD threshold When , the section interval is shortened;

[0039] When the difference ΔD Not greater than the change difference threshold ΔD threshold When , the section interval is extended.

[0040] Preferably, the calculation formula for shortening the profile interval is:

[0041] ;

[0042] in: I new is the adjusted profile interval;

[0043] I current is the current full-depth observation profile interval;

[0044] I is the number of sections adjusted each time;

[0045] I min It is the minimum value of the full-depth observation profile interval.

[0046] Preferably, the calculation formula for extending the profile interval is:

[0047] ;

[0048] in: I new is the adjusted profile interval;

[0049] I current is the current full-depth observation profile interval;

[0050] I is the number of sections adjusted each time;

[0051] I max is the maximum value of the full-depth observation profile interval.

[0052] Preferably, S4 includes:

[0053] First, the effective depth range and calculated profile interval corresponding to each ocean sensor are loaded into the underwater glider;

[0054] The underwater glider then performs an observation cycle, which consists of: a full depth profile observation with all sensors turned on, followed by a I Second effective depth profile observation;

[0055] During the dive or ascent process of effective depth profile observation, when the underwater glider enters the effective depth range of a certain sensor, the sensor is automatically turned on, and when it leaves the effective depth range, the sensor is automatically turned off.

[0056] A second object of the present invention is to provide an underwater glider system, comprising: at least one ocean sensor; and a controller; the controller is configured to execute the above-mentioned underwater glider adaptive observation control method based on effective depth.

[0057] Compared with the prior art, the advantages and positive effects of this application are:

[0058] To address the current challenges of high energy consumption, low data collection efficiency, and insufficient adaptability to dynamic ocean environments faced by underwater gliders equipped with ocean sensors, this invention proposes an innovative solution. By thoroughly analyzing and processing the observation data obtained from full-depth profiling, this invention accurately determines the effective depth range for each type of observation data and the profile interval for full-depth profiling. Based on these analysis results, the invention further implements fine-grained adaptive control of the underwater glider's observation process (including sensor status and observation frequency), effectively improving the underwater glider's observation efficiency and intelligence level. In this way, the underwater glider can more efficiently collect ocean data while significantly reducing energy consumption, ensuring rapid response and adaptability to changes in the ocean environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0060] Figure 1 A flowchart of a preferred embodiment of the present invention;

[0061] Figure 2 A flow chart for determining an effective depth range in a preferred embodiment of the present invention;

[0062] Figure 3 This is a flow chart of full-depth observation profile interval adjustment in a preferred embodiment of the present invention;

[0063] Figure 4 A schematic diagram of the system architecture in a preferred embodiment of the present invention;

[0064] Figure 5 This is a schematic diagram of cross-sectional observation in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein 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 invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0066] See also Figure 1 , an adaptive observation control method for underwater glider based on effective depth, comprising:

[0067] S1. According to the preset diving depth, when the underwater glider is diving or surfacing, the ocean sensor remains turned on to collect observation data from the ocean sensor and complete full-depth profile observation;

[0068] Based on pre-set diving depth parameters, the underwater glider begins at the sea surface and descends to a specified depth. After reaching the preset depth, the glider ascends from that depth point and returns to the surface. During the descent or ascent phase, the underwater glider continuously operates all of its onboard oceanographic sensors. These sensors collect and record observational data (i.e., various oceanographic environmental data). Through this operation, the underwater glider can observe the full depth profile of the ocean with each descent and ascent cycle.

[0069] S2. Processing the observation data according to a preset minimum effective threshold to determine the effective depth range of each type of observation data;

[0070] See also 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 each ocean sensor observation data; the intelligent decision-making system can be installed in the shore-based terminal or in the underwater glider. Due to the large amount of observation data, in order to reduce the power consumption generated by data transmission, this embodiment preferably installs the intelligent decision-making system in the underwater glider;

[0071] If you choose to use the intelligent decision-making system, first, the ocean sensors will transmit all the observation data collected to the intelligent decision-making system inside the underwater glider. Then, the intelligent decision-making system will analyze the observation data at different depths and process the observation data according to the preset minimum valid threshold to determine the effective depth range of each observation data. The specific steps of the analysis are as follows:

[0072] S201, data preprocessing, filtering out observation data that exceeds the preset reasonable sensor data range;

[0073] The intelligent decision-making system first pre-processes the observation data and filters out observation data that is obviously beyond the normal range. The specific approach is: taking the use of chlorophyll sensors to observe chlorophyll concentration as an example, based on relevant knowledge and experience in marine science, statistical analysis of historical observation data, the accuracy range of the chlorophyll sensor itself, and the typical distribution range of chlorophyll concentration in specific sea areas, a preset reasonable range is set for the chlorophyll sensor data. Any concentration value outside this range will be regarded as an outlier and will be filtered out or marked as invalid data.

[0074] S202, threshold determination: First, for each ocean sensor's observation data, a minimum effective threshold is set based on relevant marine science knowledge and experience, combined with each ocean sensor's detection sensitivity and background noise level. Then, the intelligent decision-making system analyzes the observation data of the entire profile layer by layer to determine whether the observation data at different depths exceeds the minimum effective threshold.

[0075] S203, valid interval identification: In the observation data of each ocean sensor, mark the original depth interval where the observation value exceeds the minimum valid threshold, starting from the ocean surface and gradually increasing the depth downward, and check the observation data of each sampling point; the specific steps are as follows:

[0076] S2031. Record the depth that first reaches or exceeds the minimum effective threshold as the upper bound d1 of the original interval;

[0077] S2032. Continue analyzing the observation data below the upper bound d1 from top to bottom until the observation data drops below the minimum valid threshold for n consecutive times (e.g., 10 times). Record the depth at this point as the lower bound d2 of the original interval. n is a natural number greater than 1. (The parameter n can be determined based on the noise characteristics of the sensor, the sampling frequency, and the desired stability. A larger value of n can better avoid premature termination of the interval due to a single noise point.)

[0078] S2033, continue to analyze the observation data below the lower bound d2 from top to bottom. If observation data exceeding the minimum valid threshold appears again, identify new original intervals d3 to d4 and retain these original intervals.

[0079] S2034. Continue analyzing the observation data below the lower bound d4 from top to bottom until the last observation data.

[0080] S204: Multiple interval merging: Analyze the multiple original depth intervals identified. If the interval between two original depth intervals is less than a preset value Δd (the setting of parameter Δd usually takes into account the typical scale of the vertical structural characteristics of ocean elements and the vertical resolution required for the task), then merge the two original depth intervals to form a larger continuous interval, thereby simplifying the monitoring strategy; otherwise, do not merge.

[0081] 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 ocean sensor state control in subsequent profile observations.

[0082] If manual judgment is chosen to determine the effective depth range, all observation data from 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 will be analyzed and judged manually. Shore-based experts will give the effective depth range for each observation parameter based on their knowledge and experience in marine science.

[0083] 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. Figure 3 If the current full-depth profile observation is the first one in the entire observation mission, the profile interval is the preset value. I init ( I init This can be set based on historical experience or the need for more intensive observations in the early stages of a mission); otherwise, perform the following steps:

[0084] S301, determining the maximum effective depth range, comparing the sizes of all effective depth ranges in each full-depth profile observation, and finding the upper and lower bounds of the maximum effective depth range;

[0085] After the intelligent decision system identifies all valid depth ranges (i.e., the depth ranges where the observation parameters exceed the minimum 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. The upper bound depth of the valid depth range is set to d min , the lower bound depth is d max .

[0086] S302, calculating the interval difference between the maximum effective depth ranges, based on the upper bound depth and lower bound depth of the maximum effective depth range in the current full depth profile observation, and the upper bound depth and lower bound depth of the maximum effective depth range in the previous full depth profile observation, calculating the interval difference between the two maximum effective depth ranges;

[0087] The formula for calculating the interval difference is:

[0088] ;

[0089] Where ΔD is the interval difference, d min,current is the upper limit depth of the maximum effective depth range in the current full depth profile observation, d max,current is the lower limit depth of the maximum effective depth range in the current full depth profile observation, d min,previous is the upper limit depth of the maximum effective depth range in the previous full-depth profile observation, d max,previous It is the lower boundary depth of the maximum effective depth range in the previous full-depth profile observation.

[0090] S303, according to the relative size relationship between the interval difference and the change difference threshold, adjust the profile interval; specifically: when the interval difference ΔD Greater than the change difference threshold ΔD threshold When the interval difference is ΔD Not greater than the change difference threshold ΔD threshold , then extend the section interval. Further:

[0091] First, a change difference threshold is set based on historical experience or the expected rate of change of the target sea area environment. D D threshold ( ΔD threshold It represents the adjustment point of the system's sensitivity to environmental changes. A larger value means that the system tolerates a larger effective range change without adjusting the interval, and vice versa.

[0092] Then, the profile interval is adjusted according to the relative size relationship between the interval difference and the change difference threshold;

[0093] If the calculated interval difference ΔD Greater than the change difference threshold ΔD threshold , the intelligent decision-making system will determine 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:

[0094] ;

[0095] in: I new is the adjusted profile interval;

[0096] I current is the current profile interval;

[0097] I is the number of sections adjusted each time ( I Controls the adjustment step size, which can be set according to the desired adjustment rate);

[0098] 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).

[0099] If the calculated interval difference ΔD Less than or equal to the change difference threshold ΔD threshold , the intelligent decision-making system will determine that the current environmental changes are not significant. Therefore, the intelligent decision-making system will extend the profile interval to reduce unnecessary full-depth observations and save energy. The calculation formula for extending the profile interval is:

[0100] ;

[0101] in: I new is the adjusted profile interval;

[0102] I current is the current profile interval;

[0103] I is the number of sections adjusted each time;

[0104] 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).

[0105] S4, based on the effective depth range and profile interval control the working state of the ocean sensor, perform profile observation. Specifically including: first, the effective depth range and calculated profile interval corresponding to each ocean sensor are ILoad the underwater glider; then the underwater glider conducts subsequent observations, which are carried out in the form of observation cycles, each cycle includes a full depth profile observation + I During an effective depth profile observation, the underwater glider will only start collecting data from a sensor when it enters the effective depth range of the sensor, and will shut down the sensor when it leaves the effective depth range.

[0106] S401, effective depth range loading. Before each new profile observation begins, the glider will load the previously determined effective depth range d1-d2, d3-d4 (or more intervals) of each ocean sensor into the intelligent decision-making system. These ranges are independently determined for different observation parameters.

[0107] S402: The operating status of each oceanographic sensor is controlled according to the effective observation depth. During a profile dive or ascent, the glider monitors its current depth in real time. When the glider enters a certain effective depth range, d1-d2, the intelligent decision-making system automatically triggers the relevant oceanographic sensor to begin operating, collecting environmental data within that depth range. Upon leaving the effective depth range (i.e., the current depth exceeds d2), the intelligent decision-making system immediately shuts down the sensor to avoid unnecessary energy consumption. Each oceanographic sensor is independently controlled.

[0108] The concept of the present invention is described in detail below with reference to a specific case:

[0109] An intelligent control method for an underwater glider equipped with a marine chlorophyll sensor based on effective depth, comprising:

[0110] Step 1: Full-depth profiling. During this observation, the underwater glider begins its descent from the sea surface to a predetermined depth, with the chlorophyll sensor operating throughout the descent. The chlorophyll sensor collects chlorophyll concentration data in micrograms per liter (µg / L) throughout the descent (for example, from 0 to 500 meters). Chlorophyll concentration values ​​collected at each layer are recorded and stored in the glider's control system.

[0111] Step 2: Analyze observation data to determine the effective depth range. After completing the full-depth observation profile, the underwater glider communicates with shore-based users at the sea surface. Users can manually select whether to use the intelligent decision-making system or manual judgment to determine the effective depth range of chlorophyll. If the user chooses to use the intelligent decision-making system, the process proceeds to step S2.1; if the user chooses manual judgment, the process proceeds to step S2.2.

[0112] S2.1, intelligent decision-making system analysis;

[0113] S2.1.1. Data preprocessing: First, preprocess the collected chlorophyll concentration data to filter out abnormal values ​​that are obviously beyond the normal range. Based on relevant knowledge and experience of marine science, a preset reasonable range is set for the chlorophyll concentration data. C min , C max ],For example[ 0 µg / L, 10 µg / L ] This reasonable range can be determined based on factors such as statistical analysis of historical observation data, the accuracy of the chlorophyll sensor itself, and the typical distribution of chlorophyll concentrations in a specific sea area. Any concentration value outside this reasonable range will be considered an outlier and filtered out or marked as invalid data.

[0114] S2.1.2. Threshold determination: set a minimum effective threshold for chlorophyll concentration T , for example, 0.1 µg / L. This threshold is set based on relevant marine science knowledge and experience, combined with the detection sensitivity and background noise level of each ocean sensor. The chlorophyll data from the surface (sea surface) to 500 meters are analyzed layer by layer to determine whether the chlorophyll concentration at each depth exceeds the minimum effective threshold. T .

[0115] S2.1.3. Valid interval identification, including:

[0116] S2.1.3.1. In the profile data, gradually increase the depth from the surface and detect the chlorophyll concentration at each depth.

[0117] S2.1.3.2 When the chlorophyll concentration at a certain depth reaches or exceeds the minimum effective threshold for the first time T (0.1 µg / L), record this depth as the upper limit of the interval d1 .

[0118] S2.1.3.3. Continue to analyze at a deeper level until the chlorophyll concentration drops to the minimum effective threshold for 10 consecutive times. T When the depth is below, record the depth as the lower bound of the interval d2 .

[0119] S2.1.3.4 If the minimum effective threshold is exceeded again at a deeper depth (e.g. below 300 m) T data, identify new intervals d3 arrive d4 .

[0120] S2.1.4, Multi-interval merging, if multiple original valid intervals are identified and the interval between two intervals is less than the preset value Δd (For example, 10 meters, this value takes into account the smallest possible scale of chlorophyll stratification), these intervals will be merged to form a larger continuous interval.

[0121] S2.1.5, output depth range, the intelligent decision system outputs the effective depth range of chlorophyll concentration, e.g. d1- d2 (50m to 150m) and d3-d4 (200m to 250m). These effective depth ranges will be used in subsequent profile observations to control the turning on and off of the chlorophyll sensor.

[0122] S2.2 Manual Determination: If manual determination is selected, the underwater glider transmits all chlorophyll data from the initial profile observation via satellite to a shore-based system. Shore-based experts analyze the chlorophyll concentration data based on their marine science knowledge and site requirements and select an effective depth range. For example, manual analysis determined the effective chlorophyll observation ranges to be 60 to 140 meters and 210 to 240 meters.

[0123] Step 3: Dynamically adjust the full-depth observation profile interval;

[0124] Each time a full-depth observation profile is completed, the interval profile between the current full-depth observation profile and the next full-depth observation profile is automatically calculated. The specific method is: if the current full-depth observation profile is the first 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 as follows.

[0125] Assume that an underwater glider is conducting chlorophyll concentration observations in a target sea area during a mission. The previous full-depth profile observation was conducted within the effective depth range of 50 to 150 meters. Subsequently, the underwater glider conducted several profile observations limited to the effective depth range, and then completed another full-depth profile observation.

[0126] S3.1. Determine the maximum effective depth range;

[0127] S3.1.1. The previous profile observation, after the previous full-depth profile observation was completed, the maximum effective depth range of chlorophyll concentration was identified to be 50 meters to 150 meters, so the upper limit of this range was set. d min,previous = 50 meters, lower bound d max,previous =150 meters.

[0128] S3.1.2, Current profile observation, in the current full-depth observation profile, the maximum effective depth range of chlorophyll concentration identified is 55 meters to 145 meters. Therefore, the upper limit of this range is set d min,current = 55 meters, lower bound dmax,current = 145 meters.

[0129] S3.2. Calculate the depth interval difference;

[0130] S3.2.1. Record the upper limit of the previous profile d min,previous = 50 meters and the lower bound d max,previous = 150 m, and the upper limit of the current profile d min,current =55 meters and the lower bound d max,current =145 meters.

[0131] S3.2.2. Calculate the difference between the two profiles ΔD :

[0132]

[0133] S3.3. Adjust the observation profile interval

[0134] S3.3.1. Based on historical experience, the threshold of change difference is set as ΔD threshold = 10 m (setting it to 10 m means that when the combined change in the effective depth range boundary exceeds 10 m, the environmental change is considered significant and the observation frequency needs to be adjusted).

[0135] S3.3.2 Calculated ΔD ≈ 7.07 meters less than ΔD threshold Therefore, the system determines that the current environment has not changed significantly.

[0136] S3.3.3. Calculate new full-depth observation profile intervals

[0137] because ΔD Less than or equal to ΔD threshold , the system decides to extend the profile interval of the full depth observation profile I , to reduce the frequency of unnecessary full-depth observations. Assuming the current profile interval I current = 5 (indicates that the previous cycle is 1 full + 5 effective), the number of sections extended each time I = 2 sections, set the maximum section interval I max = 10 sections ( I min , I max, I The setting balances the response speed, energy consumption and observation requirements), then the new observation profile interval Inew Calculated as:

[0138]

[0139] S3.3.4. Adjust the full depth observation profile interval and set the new profile interval to I new Set to 7. This means that after the current 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 glider's energy consumption and reduce the frequency of unnecessary full-depth observations.

[0140] Step 4: Depth selection and sensor control for subsequent sections;

[0141] S4.1. Depth range loading. Based on the effective depth ranges determined in the previous steps, the glider stores these ranges (e.g., 55m to 145m, 200m to 250m) in the control system and loads these effective depth ranges in subsequent profiles.

[0142] S4.2, Profile Depth Selection and Sensor Control. During subsequent effective depth profile observations, the glider will monitor the current depth in real time. When the glider enters the effective depth range of 55m to 145m or 200m to 250m, the system will automatically turn on the chlorophyll sensor to collect chlorophyll concentration data within the depth range. When the glider leaves the effective depth range (for example, exceeding 145m or 250m), the system will immediately turn off the chlorophyll sensor to avoid unnecessary energy consumption. The glider will continuously perform I After performing such effective depth profile observations (for example, 7), a full depth profile observation is performed again to start a new observation cycle.

[0143] See also Figure 4 During the implementation of the present invention, it mainly includes an underwater glider, a shore-based terminal and a communication satellite, wherein: the underwater glider is equipped with multiple ocean sensors, an underwater glider control system and an underwater glider airborne satellite communication module, 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.

[0144] Please refer to Figure 5. Figure 5 Schematic diagram showing the cross-section interval I = 4, after one full-depth profile observation (profile 1), four effective depth profile observations (profiles 2-5) are performed, followed by the next full-depth profile observation (profile 6).

[0145] An underwater glider system includes: at least one ocean sensor; and a controller; the controller is configured to execute the above-mentioned underwater glider adaptive observation control method based on effective depth.

[0146] In the above embodiments, all or part of the embodiments can be implemented 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 process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (e.g., infrared, wireless, microwave, etc.)) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0147] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. An adaptive observation and control method for underwater glider based on effective depth, characterized in that: include: S1. According to the preset diving depth, the underwater glider controls the onboard ocean sensors to remain powered on and collect observation data during the diving or surfacing phase, completing full-depth profile observations. S2. Processing 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 one in the entire observation mission, the profile interval is the preset value. I init ; Otherwise, perform the following steps: First, compare the sizes of all effective depth ranges in each full-depth profile observation to find the upper and lower bound depths of the maximum effective depth range; Then, based on the upper and lower bound depths of the maximum effective depth range in the current full-depth profile observation and the upper and lower bound depths of the maximum effective depth range in the previous full-depth profile observation, the interval difference between the two maximum effective depth ranges is calculated; Finally, the profile interval is adjusted according to the relative size relationship between the interval difference and the change difference threshold; S4. Control the working state of the ocean sensor based on the effective depth range and the profile interval to perform profile observation.

2. The underwater glider adaptive observation and control method based on effective depth according to claim 1, characterized in that S2 include: Data preprocessing: Filter out observation data that exceeds the reasonable data range based on the preset sensor reasonable data range; Threshold determination: First, for each ocean sensor's observation data, the lowest effective threshold is set based on relevant marine science knowledge and experience, combined with each ocean sensor's detection sensitivity and background noise level; Then the observation data of the entire profile are analyzed layer by layer to determine whether the observation data at different depths exceeds the minimum valid threshold; Valid interval identification: In the observation data of each ocean sensor, mark the depth interval that exceeds the minimum valid 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 multiple identified depth intervals. If the interval between two depth intervals is less than the preset value Δd, the two depth intervals are merged to form a larger continuous interval. Output effective depth range: Define the effective interval as the effective depth range, and output the effective depth range of each ocean sensor observation data.

3. The underwater glider adaptive observation and control method based on effective depth according to claim 2, characterized in that: The effective interval identification method includes: Record the depth at which the minimum valid threshold is first reached or exceeded as the upper bound d1 of the interval; Continue analyzing the observation data below the upper bound d1 from top to bottom until the observation data drops below the minimum valid threshold for n consecutive times. 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 observation data exceeding the minimum valid threshold appears again, new intervals d3 to d4 will be identified and retained. Continue analyzing the observation data below the lower bound d4 from top to bottom until the last observation data.

4. The underwater glider adaptive observation and control method based on effective depth according to claim 1, characterized in that: The calculation of the profile interval is specifically as follows: If the current full-depth profile observation is the first one in the entire observation mission, 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 to find the upper and lower bound depths of the maximum effective depth range; Then, according to the upper limit depth of the maximum effective depth range in the current full depth profile observation d min,current , lower depth d max,current , the upper limit depth of the maximum effective depth range in the previous full-depth profile observation d min,previous and lower bound depth d max,previous , calculate the interval difference ΔD between the two maximum effective depth ranges; Finally, according to the interval difference ΔD and the change difference threshold ΔD threshold Adjust the profile interval based on the relative size relationship of the sections.

5. The underwater glider adaptive observation and control method based on effective depth according to claim 4, characterized in that: The formula for calculating the interval difference is: ； Where ΔD is the interval difference, d min,current is the upper limit depth of the maximum effective depth range in the current full depth profile observation, d max,current is the lower limit depth of the maximum effective depth range in the current full depth profile observation, d min,previous is the upper limit depth of the maximum effective depth range in the previous full-depth profile observation, d max,previous It is the lower boundary depth of the maximum effective depth range in the previous full-depth profile observation.

6. The underwater glider adaptive observation and control method based on effective depth according to claim 4, characterized in that: The adjusting of the profile interval according to the relative size relationship between the interval difference and the change difference threshold includes: When the difference ΔD Greater than the change difference threshold ΔD threshold When , the section interval is shortened; When the difference ΔD Not greater than the change difference threshold ΔD threshold When , the section interval is extended.

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

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

9. The underwater glider adaptive observation and control method based on effective depth according to claim 1, characterized in that S4 include: First, the effective depth range and calculated profile interval corresponding to each ocean sensor are loaded into the underwater glider; The underwater glider then performs an observation cycle, which consists of: a full depth profile observation with all sensors turned on, followed by a I Second effective depth profile observation; During the dive or ascent process of effective depth profile observation, when the underwater glider enters the effective depth range of a certain sensor, the sensor is automatically turned on, and when it leaves the effective depth range, the sensor is automatically turned off.

10. An underwater glider system comprising: at least one oceanographic sensor; and a controller; characterized in that the controller is configured to execute the underwater glider adaptive observation control method based on effective depth according to any one of claims 1 to 9.

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