Abstract
For underwater gliders (UGs), high trajectory accuracy is an important factor in improving the observation of ocean phenomena. In this paper, a novel method of trajectory optimization is proposed to increase the trajectory accuracy of UGs, which is approximately based on the nonlinear dynamic model, rather than the linearization model. Firstly, a dynamic model of UGs is established to analyze the effect of the input parameters on the trajectory error, based on some approximate models that replaced the dynamic model due to its strong nonlinearity. Then, an identification strategy for the trajectory error is proposed, and the trajectory optimization strategy is analyzed while considering gliding range loss and observation distance loss. Finally, the identification strategy and trajectory optimization strategy proposed in this paper are verified by a sea trial of Petrel-L. The dynamic model, identification strategy, and optimization strategy are appropriate for other UGs.
Highlights
To fill this research gap, this paper proposes a novel method to decrease the deviation of underwater gliders (UGs) from the planned trajectory and improve the UGs’ trajectory accuracy
The approximate models are established based on the dynamic model, with which an identification strategy of trajectory error for Petrel-L is proposed to obtain the real-time error
To reduce the trajectory error, we propose a trajectory optimization strategy while considering the gliding range loss and observation distance loss
Summary
Wu et al [14] established a dynamic model of UGs validated by experimental data and studied an analysis method and a compensation strategy of glider motion accuracy. Wu et al [20] established a dynamic model and studied a multi-objective optimization method to determine the control parameter values that improve the performance of the glider. The above research reported some results about the trajectory of UGs, few works consider the following problems, which are summarized from the sea trial data of the Petrel-L, a UG developed by Tianjin University, China. To fill this research gap, this paper proposes a novel method to decrease the deviation of UGs from the planned trajectory and improve the UGs’ trajectory accuracy. A systems identification is presented for the first time to obtain the deviation distance of UGs caused by heading adjustment to the planned trajectory.
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