Abstract
With the widespread application of underwater gliders (UGs) in marine research, there is an increasing demand for improved trajectory control accuracy. However, the initial heading error is unavoidable in internally actuated UGs, making it challenging to rectify the trajectory error generated in the heading error correction process. To effectively mitigate the impact of this error on trajectory accuracy, this study analyzes the sensitivity of profile navigation command parameters to the initial heading error through dynamic modeling of Petrel-L UG. Firstly, a simulator is developed to model the behaviors of Petrel-L, mainly involving dynamic modeling, underwater navigation, low-level control, and environment model. Subsequently, the sensitivity of profile navigation parameters in various commands to the initial heading error is analyzed. Surrogate model and Monte Carlo simulation are integrated to improve the computational speed of the analysis while preserving calculation precision. The average maximum single-profile horizontal error is 661 m, and the average maximum single-profile course error is 6.47°. Among profile navigation parameters, the target pitch during diving is proved to be the primary factor affecting the maximum trajectory error, and the increase of this parameter can enhance trajectory accuracy. This research also provides valuable reference for path following and station-keeping control of other UGs.
Published Version
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