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提出了水下滑翔机海洋环境深平均流估计方法.首先,基于水下滑翔机稳态运动模型,研究海水密度差异和耐压舱体压缩变形对水下滑翔机运动速度的影响,建立水下滑翔机运动速度快速计算模型,并证明了该模型的正确性及有效性.然后,利用得到的水下滑翔机运动速度和船位推算方法结合,给出了海洋环境深平均流估算方法.利用该深平均流估算方法对3台水下滑翔机海上试验过程中的深平均流进行估算,并分析了估算结果的有效性.实验结果证明利用本文得到的深平均流可以提高水下滑翔机船位推算中的定位精度.
A method of estimating the average depth of the underwater glider is proposed.Firstly, based on the steady-state motion model of the underwater glider, the influence of seawater densities and compressive deformation of the compression cabin on the speed of underwater glider is studied, and the speed of underwater glider The model is calculated quickly and the correctness and validity of the model are proved.At the same time, the method of estimating the average deep sea flow in the marine environment is given by using the obtained speed of the underwater glider combined with the ship position estimation method, The deep average flow during the offshore test of three underwater gliders is estimated and the validity of the estimation results is analyzed.The experimental results show that the deep average flow obtained in this paper can improve the positioning accuracy of the underwater glider.