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A passive determination method of underwater glider platform motion trajectory

A technology of underwater glider and motion trajectory, which is applied in navigation, instrumentation, surveying and navigation, etc., can solve the problem of inability to calculate the passive trajectory of the carrier, and achieve the effect of simple implementation process

Active Publication Date: 2020-07-31
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to propose a method for passively determining the trajectory of the underwater glider platform in order to solve the problem that the passive trajectory calculation of the carrier cannot be performed when there are only compass, GPS and depth gauge information.

Method used

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  • A passive determination method of underwater glider platform motion trajectory
  • A passive determination method of underwater glider platform motion trajectory
  • A passive determination method of underwater glider platform motion trajectory

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specific Embodiment approach 1

[0030] A method for passively determining the motion track of an underwater glider platform according to the present embodiment, the method includes the following steps:

[0031] Step 1. According to the GPS information of the water entry point and the water exit point position of the glider, calculate the average flow velocity and flow direction information of the platform movement area;

[0032] Step 2. Calculate the vertical movement speed V of the glider according to the depth gauge information carried by the glider Z ;

[0033] Step 3. Deduce the attitude transfer matrix R according to the compass loading characteristics;

[0034] Step 4. Obtain the attitude of the glider at each moment according to the compass carried by the glider, so as to calculate the attitude transfer matrix R at each moment i ;

[0035] Step five, according to the vertical movement speed V of the glider in step two Z and the attitude transition matrix R at each moment in step 4 i , find the in...

specific Embodiment approach 2

[0039] The difference from Embodiment 1 is that in the method for passively determining the motion trajectory of an underwater glider platform in this embodiment, in the first step, the motion of the glider is obtained according to the GPS information of the water entry point and the water exit point of the glider. The process of regional average ocean current velocity and flow direction information, specifically:

[0040] Step 11, set the glider to complete a section movement under the condition of relying on its own gravity, water buoyancy and ocean current, the schematic diagram is as follows figure 1 shown. Through the attitude information of the compass record carrier carried by the glider at each moment, the roll angle roll of the glider is represented by r(t), and the roll angle roll of the glider is represented by Indicates the pitch angle pitch, and the heading angle is represented by θ(t); the GPS coordinate of the water entry point is G r =(X r ,Y r ), the GPS ...

specific Embodiment approach 3

[0055] Different from the second specific embodiment, the method for passively determining the trajectory of the underwater glider platform according to the present embodiment, in the second step, the calculation formula for calculating the vertical motion speed of the glider according to the depth gauge information carried by the glider is: Denote the vertical motion velocity of the glider as V Z , the vertical motion speed V Z Equal to the rate of change of the depth of the carrier, i.e. differentiate the depth d(t):

[0056]

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Abstract

The invention discloses a passive determination method for a motion track of an underwater glider platform, and relates to a determination method for a track of the underwater glider platform. Passivetrack calculation of a carrier cannot be carried out at present. The method comprises the following steps of acquiring an average ocean current flow speed and a flow direction of an area where a glider is located according to an entry point location and an exit point location of the glider; computing a vertical movement speed of the glider; acquiring a posture transfer matrix of the glider; acquiring a posture and a posture transfer matrix of the glider at each moment; acquiring an instantaneous speed of the glider at the ith time point under the action of gravity and buoyancy according to the vertical movement speed and the posture transfer matrix of the glider; and acquiring a total speed of the glider according to the ocean current flow speed and the instantaneous speed, integrating the instantaneous speed to obtain three-dimensional coordinate information of the glider at each moment, and combining coordinates at all moments to obtain a glider movement track graph of a complete section. According to the method, the movement track of the glider in one movement profile is obtained, so that passive calculation of the track is realized.

Description

technical field [0001] The invention relates to a method for determining the trajectory of an underwater glider, in particular to a method for passively determining the trajectory of an underwater glider platform. Background technique [0002] The underwater glider platform is a system platform that can be applied to the passive detection of deep-sea acoustic targets and the measurement of marine environmental noise characteristics. There are obvious sound convergence and shadow zone effects in deep-sea sound propagation, and the detection performance of the system is greatly affected by the working depth. Favorable detection. As a new type of underwater detection platform, underwater glider has the characteristics of long underwater working time, variable depth acquisition of acoustic information, strong self-control ability, good concealment, and convenient information transmission. It can be used in underwater acoustic detection and acoustic marine environment monitoring...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C23/00
Inventor 孙大军张珂梅继丹滕婷婷师俊杰石文佩
Owner HARBIN ENG UNIV
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