Abstract
The flow of inviscid liquid in a shallow layer with free surface is revisited in the framework of the Boussinesq approximation. The unnecessary approximations connected with the moving frame are removed and a Boussinesq model is derived which is Galilean invariant to the leading asymptotic order. The Hamiltonian structure of the new model is demonstrated. The conservation and/or balance laws for wave mass, energy and wave momentum ( pseudo-momentum) are derived. A new localized solution is obtained analytically and compared to the classical Boussinesq sech. Numerical simulation of the collision of two solitary waves is conducted and the impact of Galilean invariance on phase shift is discussed.
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