CN107643159A - Ripple observation procedure in underwater glider - Google Patents
Ripple observation procedure in underwater glider Download PDFInfo
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- CN107643159A CN107643159A CN201710667033.5A CN201710667033A CN107643159A CN 107643159 A CN107643159 A CN 107643159A CN 201710667033 A CN201710667033 A CN 201710667033A CN 107643159 A CN107643159 A CN 107643159A
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- underwater glider
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Abstract
The invention belongs to ripple observation technology field in underwater glider, it is proposed that ripple observation procedure in practical, effective underwater glider.This method belongs to Lagrangian observation method, carries accelerometer on aerodone under water first and pressure sensor records its motion process；Secondly, accurately controlled by neutral body and hover over spring layer water layer most at value, control center of gravity of underwater glider, adjustment pose makes its level hovering；Then, underwater glider after ripple, makes it follow interior ripple to be moved without slippage in experience；Finally, by the motion process of underwater glider, by establishing underwater glider wave motion algorithm model, the dynamical structure of ripple in reckoning.The present invention makes full use of the neutral body of underwater glider to hover, without the accelerometer and pressure sensor slipped with stream locomitivity and its carrying, realize the in-situ observation of internal ripple, ripple three-dimensional dynamics structure in structure, this is the impressive progress that underwater glider is applied and interior ripple is observed.
Description
Technical field
The invention belongs to ripple observation technology field in underwater glider.
Background technology
Underwater glider is a kind of underwater autonomous navigation device, and it relies on buoyancy-driven, adjusted by pose, realizes saw
Navigate by water dentation track.Underwater glider has the ability of accurate control buoyancy, can realize the neutral body hovering of target water layer.Together
When underwater glider effective control to its pose can be realized with center-of-gravity regulating position, have it is low in energy consumption, voyage is long, work when
Between it is long, disguised high the advantages that.
Interior ripple refers to the skewness above and below density of sea water, and (such as difference is big when the relative density of two layers of seawater is variant
In 0.1%), under outer force-disturbance, the caused wave on two layers of seawater interface.Interior ripple is to offshore oil platform and submarine etc.
Marine object produces huge impact, easily triggers accident.Therefore the formation of internal ripple and communication process is needed to be studied.
Existing main observation procedure has two kinds：Remote sensing observations, subsurface buoy measurement.
Remote sensing observations obtains the wave of the sea image of wave action in strong by remote sensing image, and scope is wider, but by severe day
Gas influences, and can only observe ripple in strong signal.Subsurface buoy measurement is that the spring layer in interior wave height hair region lays subsurface buoy, and observation seawater will
The situation of change of element carrys out ripple in inverting, and more passively, cost is high, and observation method is single.
Up to the present, ripple observation main method is ripple seawater factor change, data in profiling observation in underwater glider
It is more coarse, can not in accurate description ripple dynamical structure.
The content of the invention
The present invention proposes method of the underwater glider using ripple in Lagrangian method observation.
The present invention includes following three parts：First, choosing spring layer is most worth a water layer as underwater glider observation position.
Second, using the method for underwater glider observation wave motion, comprise the following steps：In advance measurement, dive to target depth, and
Reference point, the hovering of target depth horizontal stable, repositioning of floating, data processing are set.Third, by aerodone motion reckoning
Wave motion algorithm.
Brief description of the drawings
The present invention is further described with example below in conjunction with the accompanying drawings.
Fig. 1 is that ocean spring layer is most worth a distribution.
Fig. 2 is that underwater glider measures in advance.
Fig. 3 is ripple pose in underwater glider observation.
Fig. 4 is that interior ripple vertical velocity calculates flow chart.
In figure：1. spring layer is most worth a little, 2. spring layer regions, 3, ship trajectory, vertical movement caused by ripple in 4..
Embodiment
First have to determine the position of ripple in underwater glider observation, the appearance of interior ripple with very strong uncertainty and with
Machine, therefore ripple typically uses the method trusted to chance and strokes of luck in observation.Because interior ripple occurs mainly in spring layer region, and spring layer region
" 5 three elements " can be used to characterize, as shown in figure 1, i.e. spring layer upper bound point, strong spring layer upper bound point, spring layer are most worth point, strong spring layer
Lower boundary point, spring layer lower boundary point and spring layer maximum intensity, strong spring layer mean intensity, spring layer mean intensity.Wherein spring layer is most worth a little not
Only it is a bit of ocean essential pace of change maximum, while is also the center of spring layer, it is nearer apart from upper and lower conforming layer position,
The appearance of ripple in easily catching, therefore position of the selected spring layer point of maximum intensity as ripple in observation.
1. measurement in advance.Underwater glider is using the observed pattern for formula of trusting to chance and strokes of luck, it is necessary to the ocean essential of observation area
Vertical distribution structure, therefore after determining observation area by remote sensing satellite, deck unit control aerodone is navigated by water to the region, and
Two to three profiling observations are first done to obtain the region thermohaline data, as shown in Fig. 2 analyzing the region sea water stratification structure, are
The accurate control of the neutral hovering of underwater glider provides data and supported.
2. dive sets reference point to target depth.After sea water stratification structure is obtained, obtained by calculating in spring layer
Most value point keeps buoyancy needed for neutral body hovering to determine the oil drain quantity of underwater glider.Because the oil suction of underwater glider relies on
Seawater pressure, the accurately control for oil mass is relatively difficult to achieve, and floating-upward process needs hydraulic pump oil extraction, the every revolution of hydraulic pump
Oil drain quantity and interior fuel tank in institute's allowance can accurately control, realize the accurate control and fast reaction to buoyancy.Therefore under
Latent process is only intended to reach specified location, and floating-upward process is used to observe data.In formal measurement process, dive navigation is
Main target, the angle of glide that can suitably increase underwater glider quickly reach high density mixed layer.Obtained further according to advance observation
The oil mass that the data discharge obtained is set, underwater glider float up to specified location, are obtained by built-in accelerometer current
Motion state.When accelerometer measures, result is less than certain value within the set time, and we specify area it is assumed that aerodone enters
Domain, and using this position as reference point, start to measure.
3. spring layer be most worth at horizontal hovering.Underwater glider reaches spring layer most at value after water layer, control center of gravity, it is bowed
The elevation angle remains zero, as shown in Figure 3.So underwater glider after ripple, obtains the fluoran stream surface product of maximum, improves its nothing in experience
Slip with stream locomitivity.
Repositioned 4. floating.Underwater glider was the cycle with one month, was floated once within every two days, transmission data, was received
Instruction, is repositioned simultaneously.If underwater glider deviates target area because of the effect of ocean current, it can re-address, return
Go back to target area.So far, a cycle observation to target area terminates, and then arranges follow-up observation mission.
5. data is handled.The load capacity of underwater glider is stronger, can carry multiple sensors, as CTD, dissolved oxygen pass
Sensor, chlorophyll sensor etc., the comprehensive ocean essential using ripple in preferably reflecting of these sensors change, and are interior ripple
Research provides data supporting in all directions.
Interior wave velocity calculates process and existed as shown in figure 4, obtaining underwater glider by flow dynamics analysis and model test
Suffered resistance when meeting with different in flow rate poor under floating state, establish underwater glider-wave motion model：
Ma=CD·ρ·S·V2/2
M is the quality of underwater glider in formula, and a is the acceleration of underwater glider in vertical direction, CDFor active force
Depending on coefficient is with the shape of object and inclination angle, even for the object of same shape, CDAnd the function of reynolds number Re, with Reynolds
Count and change, ρ is the density of fluid, and S represents object in the cross-sectional area perpendicular to fluid direction of motion, and V is underwater glider
Relative to the movement velocity of ocean current.
Underwater glider quality, acceleration, force coefficients, cross-sectional area and fluid perpendicular to fluid direction of motion
Density can be obtained by the sensor measurement that model test and underwater glider carry.The water recorded with pressure sensor
Lower aerodone depth information, to time diffusion, obtain its vertical velocity.The acceleration information recorded with accelerometer, is multiplied by matter
Amount obtains pressure drag, calculates the speed difference of aerodone and interior ripple by underwater glider-interior wave pattern further according to pressure drag,
Finally, underwater glider vertical velocity and underwater glider-interior wave velocity difference summation obtain the speed of interior ripple.It can so exclude
The observation error that underwater glider speed responsive hysteresis band comes, the three-dimensional dynamics structure of ripple in foundation.
Claims (3)
1. the determination of ripple observation position in underwater glider.It is characterized in that：Selection spring layer, which is most worth a conduct underwater glider, to be treated
The machine area of observation coverage, because the region is not only ocean essential graded maximum, while it is also the core position of spring layer, is interior ripple
The sensitizing range of generation.
2. ripple observation procedure in underwater glider.Characterized in that, first, underwater glider is hovered by neutrality and accurately controlled,
Observation area is hovered over, ripple in formula wait is trusted to chance and strokes of luck and occurs；Then, aerodone after ripple, can follow interior ripple without cunning in experience
The motion process of de- motion, its own integrated accelerometer and pressure sensor record underwater glider；Finally, by sliding under water
The motion process of ripple in the motion process reckoning of Xiang machine.
The reckoning of wave velocity in 3..It is characterized in that：Acceleration information is obtained with accelerometer, quality is multiplied by and obtains pressure difference resistance
Power, the speed difference of underwater glider and interior ripple being obtained by pressure drag formula, depth gauge obtains underwater glider vertical velocity, with
Underwater glider-interior wave velocity difference summation obtains the speed of interior ripple.
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| CN201710667033.5A CN107643159A (en) | 2017-08-07 | 2017-08-07 | Ripple observation procedure in underwater glider |
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| RU2056319C1 (en) * | 1993-02-25 | 1996-03-20 | Высшее военно-морское инженерное училище им.В.И.Ленина | Method of simulation of power action of subsurface waves on submerged object |
| JP2009229424A (en) * | 2008-03-25 | 2009-10-08 | Mitsubishi Electric Corp | Tsunami monitoring system |
| CN102759395A (en) * | 2012-07-16 | 2012-10-31 | 浙江大学 | Floating ball type vibration wave sensor, as well as using method and use thereof |
| CN102941914A (en) * | 2012-10-11 | 2013-02-27 | 国家***第二海洋研究所 | Marine hydrological parameter observation towed body |
| CN102963514A (en) * | 2012-11-26 | 2013-03-13 | 上海交通大学 | Portable submarine ocean environment monitoring glider |
| CN104034317A (en) * | 2014-06-09 | 2014-09-10 | 中国海洋大学 | Detection method for reciprocating oceanic microstructural profiler |
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| DANIEL L. RUDNICK等: "High-frequency internal waves near the Luzon Strait observed by underwater gliders", 《JOURNAL OF GEOPHYSICAL RESEARCH:OCEANS》 * |
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Application publication date: 20180130 |