Method for observing and measuring ocean hydrologic section by underwater glider

Abstract

The invention belongs to the technical field of observation and measurement of an underwater glider, and provides a novel and practical method for observing and measuring an ocean hydrologic section by an underwater glider. Underwater movement separation of the underwater glider is separated into a sailing process and an observation and measurement process, and obvious asymmetry of a submergence process and a floating process is embodied. The submergence process is mainly used as the sailing process, sailing to a target region is used as a main purpose, and then element observation is carriedout secondarily; the floating process is mainly used as the observation and measurement process, in-situ observation and measurement are used as a main purpose, by measures of control on floating attitudes, floating speed, neutral hover and the like, element in-situ observation and measurement, phenomenon in-situ observation and measurement, spatial and temporal scale matching of an observation and measurement sensor and an observed and measured object, accurate determination of space-time coordinates of an observation and measurement value and the like become possible. The observation and measurement thought of the underwater glider is organized, and quality control barriers on observation and measurement data during hybrid running of sailing and observation and measurement are solved; and key features implemented by ocean observation and measurement of the underwater glider are grasped accurately, and particularly, in-situ observation and measurement on internal phenomena of the ocean can be realized by neutral hover.

Description

technical field [0001] Underwater glider observation technology. Background technique [0002] An underwater glider is an autonomous underwater unmanned vehicle that combines buoy technology and underwater robotic technology. The underwater glider is driven by net buoyancy, and the periodic conversion of positive buoyancy and negative buoyancy is realized through the buoyancy adjustment mechanism, and the appropriate pitch angle is achieved through the attitude adjustment mechanism. The combination of the two makes the underwater glider move forward while floating or diving. Paragliding. The underwater glider can be equipped with a variety of sensors for ocean observation, and has a communication system that can perform data transmission and remote control when it surfaces. The underwater glider has the characteristics of target addressing, satellite observation, in-situ observation, and neutral body control, and has broad application prospects in the field of marine surve...

AI Technical Summary

Problems solved by technology

[0003] As an underwater unmanned observation platform, the underwater glider has two functions of autonomous navigation and ocean observation at the same time. However, so far, the observation method of the ocean hydrological profile of the underwater glider still adopts the observation method of mixing the navigation process and the observation process. , no functional distinction is made, resulting in relatively rough observation results, and the unique performance of the underwater glider cannot be brought into play.

Because, when the observation is carried out at the same time as the submerged voyage and the surfacing voyage, the identification of the observation object and the targeted measures lack sufficient time-space process, and it is difficult to realize the time-space scale matching between the observation sensor and the observation object and the accurate determination of the time-space coordinates of the observation value, and even The in-situ observation of the observation elements cannot be guaranteed; more importantly, the underwater glider has the unique performance of neutral hovering, which can realize the in-situ observation of the internal phenomena of the ocean. If the navigation process and the observation process are not separated, This performance cannot be exerted

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