Current Velocity Measurements Research Articles

Density gradient effect on circulation patterns and mixing processes: Observations at the convergence front of a salt wedge, microtidal estuary

The convergence front in estuaries is a crucial area influenced by dynamic mixing processes which vary from one tidal cycle to another, with density gradients playing a key role in shaping circulation patterns. This significance is particularly pronounced in salt wedge estuaries, where discharge holds greater influence than tides. Despite this, there is a limited amount of research based on high-resolution in-situ data to analyze circulation and mixing processes affected by density gradients in the convergence front of a salt wedge estuary. In this study, continuous measurements of current velocities and CTD profiles were conducted over three tidal cycles to analyze the intratidal variability of circulation patterns (u, v, w) and mixing parameters in the convergence front. Stratification parameter (ηs) and Richardson numbers (RL and Ri) were calculated to analyze the mixing/stratification variability within a tidal cycle. The observations revealed a persistent Subsurface Velocity Maximum (SVM) in the longitudinal component, coinciding with density gradient increases > 4 kg m−3 along the water column. Similarly, lateral circulation patterns were influenced by those increases in density gradient, resulting in eastward-directed currents and the formation of two circulations cells. As expected in a salt wedge estuary, stratification occurs during flood and High Water (HW), when the density gradient increases due to intrusion of the salt wedge. Notably, in the Magdalena River estuary, when the discharge is below 3800 m3 s−1, the salt wedge remains consistently present irrespective of the tidal phase, resulting in a permanently stratified water column with ηs values between 1.60 – 1.95. It is expected that the steady presence of stratified conditions during periods of low discharge leads to an increased accumulation of sediments. These findings provide valuable quantitative insights into the complex interplay of density gradients, circulation patterns, and stratification dynamics in salt wedge estuaries.

Observations of Near-Inertial Internal Waves over the Continental Slope in the Northeastern Black Sea

The article presents observations of near-inertial internal waves (NIWs) in the slope waters of the Black Sea in winter and summer. Rotary spectral analysis of a time series of sea current velocity measurements revealed the prevailing anticyclonic component of the motions near the local inertial frequency f. The clockwise rotation of the velocity vector with depth implies that the NIWs propagate downwards. The amplitude of NIWs usually was 0.1–0.2 m s−1. NIWs were observed in the layer of the permanent pycnocline and the seasonal pycnocline, which attenuate below depths of 160 m and 80 m in winter and summer, respectively. The amplitude of the near-inertial kinetic energy (NIKE) showed a close relationship with vertical stratification. During winter, NIKE exhibited maximum values in the layer of the permanent pycnocline, whereas, in summer, it was primarily observed in the seasonal pycnocline layer. The near-inertial oscillations were generally more energetic in winter.

A New Rotating Axes Method for Processing High-Resolution Horizontal Velocity Measurements on EM-APEX floats

Abstract A new rotating axes method (RAM) is developed to improve the vertical resolution of the horizontal current velocity measurements u at EM-APEX floats. Unlike the traditional harmonic fitting method (HFM), which yields u averaged in 50-s intervals, RAM decodes and interprets 1-Hz measurements of horizontal seawater velocity , and averages in 12-s windows for removing wind waves with a typical peak frequency ∼ 0.12 Hz. Estimates of u from RAM agree with those from HFM but with a higher vertical resolution of ∼1.5 m, 4 times better than HFM. Note that extracting float signals due to seawater motion needs to assume slow-varying voltage offset ΔΦoffset. The typical variations of estimated ΔΦoffset do not affect the results of u significantly. Estimates of u are excluded when ΔΦoffset fluctuates strongly in time and scatter significantly. RAM is applied to float measurements taken near Mien-Hua Canyon, Taiwan. Composite vertical shear spectra Ψ computed using u from RAM exhibit a spectral slope of −1, as expected for the saturated internal waves in the vertical fine-scale range. The RAM provides EM-APEX float’s horizontal velocity measurements into fine vertical scales and will help improve our understanding of energy cascade from internal wave breaking and shear instability into turbulence mixing.

How to Obtain a Detailed SAR Pattern of Currents on the Ocean Surface

At present, the generally accepted method for remote measurement of current velocity on the ocean surface is to determine the Doppler centroid, i.e., the position of the maximum of backscattered radar signal Doppler spectrum (see, for example, [1] and the list of references given there). However, this measurement, generally speaking, is not enough to reconstruct a detailed pattern of the curents

Diapycnal Mixing and Double Diffusion over the Continental Slope in the Northern Sea of Japan in the Warm Half-Year

This study investigates double diffusion processes responsible for diapycnal mixing in the Primorye current in the northern Sea of Japan. The results of processing and analysis of a long time series of data from regular Aqualog-profiler measurements of thermohaline characteristics and current velocity over the continental slope between the horizons of 60 and 420 m from April to October 2015. Using the Osborne-Cox parameterization (1972) and Gregg’s (1989) parameterization, we estimated heat and salt diffusivities, as well as the buoyancy flux. To reveal the processes of double diffusion, the Turner angle was estimated. We estimated contributions of diffusive convection and salt fingers into the buoyancy flux. Due to double diffusion, the intense vertical mixing covered the layer from 80 to 170 m. From mid-spring to early May, diffusive convection penetrated to a horizon of 250 m, and then a process like salt fingers played a leading role. Shear instability caused by the weakly nonlinear interaction of internal waves prevailed in the underlying layers.

Unveiling the contourite depositional system in the Vema Fracture Zone (Central Atlantic)

A combination of a high sediment input and intense bottom currents often leads to the formation of contourites (sediments deposited or significantly reworked by bottom currents). Both of these components are present in the Vema Fracture Zone valley which is the most important passageway for the distribution of the Antarctic Bottom Water from the West to the North-East of the Atlantic. However, no contourite drifts, moats or contourite channels have been found in this region in more than half a century of research. The prevailing sedimentation paradigm postulates that turbidity currents have predominantly governed sedimentation in this region during the Pleistocene. This work describes the first example of contourite depositional system identified in the Vema Fracture Zone. The discovery was made through detailed high-resolution sub-bottom profiling, as well as numerical modeling and direct measurements of bottom current velocities. Such systems are exceptionally uncommon in fracture zones. This study highlights the importance of further research of contourites along the Vema Fracture Zone based on modern concepts of contourite and mixed depositional systems. The work also emphasizes the need to reevaluate the impact of bottom currents on sedimentation in this region, and particularly in the narrow segments of the fracture zone valley.

Verifying Measurements of Surface Current Velocities by X-Band Coherent Radar Using Drifter Data

Introduction. Conventional contact measurements of hydrographic parameters frequently fail to provide the necessary accuracy of data in the field of water area monitoring. This problem can be solved using coherent radars enabling direct measurements of surface current velocities.Aim. To establish the accuracy of surface current velocities measured by a Doppler radar using drifter data.Materials and methods. In June 2022, coastal operational oceanography studies were conducted at the hydrophysical test site of the Institute of Oceanology of the Russian Academy of Sciences in the Black Sea near Gelendzhik. Measurements were carried out using a coherent X-band radar installed on the Ashamba research vessel simultaneously with drifter experiments using Lagrangian drifters of the near-surface layer with an underwater 0.5 m sail. Coordinates were transmitted via mobile communication. The drifter data on the current velocity and direction were used to verify radar measurements. Measurements were taken onboard of the research vessel at a low speed and different distances from the shore, near the drifters. The tracks of the vessel and drifters were recorded simultaneously. Processing of the radar data involved obtaining Doppler spectra of signals to estimate the dynamic processes on the sea surface, including the current velocity.Results. Radial components of the near-surface current velocity were calculated. Then, the current velocity values obtained based on the drifter and radar data were compared.Conclusion. The present work makes a contribution to the advancement of methods for measuring surface currents from the board of a moving ship by Doppler radars. The obtained results confirm the suitability of the radar hardware and software and signal processing algorithms for measuring currents. The radar measurement data were found agree well with drifter data in the velocity range from 15 cm/s.

Diapycnal and isopycnal mixing along the continental rise in the Australian–Antarctic Basin

Shipboard measurements of temperature, salinity and horizontal current velocity were used to estimate diapycnal and isopycnal diffusivities in the Australian sector of the Southern Ocean between 120∘E and 150∘E near 64∘S, along the climatological positions of the Southern Antarctic Circumpolar Current Front and the Southern Boundary. The diapycnal diffusivities estimated by the finescale parameterization on the neutral density surfaces of 1028.05, 1028.2, and 1028.3 kg m−3 are (9.5±6.8)×10−5, (10.7±2.6)×10−5, and (13.8±3.7)×10−5 m2s−1, respectively (mean ± one standard deviation). At these densities, salinity and temperature decreased with depth but salt fingering was unlikely. Using the water mass transformation framework and a box inverse model, the isopycnal diffusivities were estimated from the diapycnal diffusivities. Climatological estimates of the isopycnal diffusivities in the density ranges of Upper Circumpolar Deep Water, Lower Circumpolar Deep Water, and Antarctic Bottom Water were −30±116, 16±319, and −30±83 m2s−1, respectively. These diffusivities were likely underestimates by 10 to 20 m2s−1 because eddy transport could not be considered in the climatological data. The weak isopycnal diffusivities were not inconsistent with diffusivity suppressed by the frontal jets. The large uncertainties were caused by the uncertainty in the box inverse model and the fact that the size of the box was comparable to the advection speed times the diffusion time scale.

Computational Fluid Dynamics-based Simulation and Design of a Horizontal Tidal Turbine System

Tidal phenomena, the rhythmic rise and fall of sea waters due to gravitational forces among celestial bodies like the Sun, Earth, and moon, offer a dependable source of renewable energy. Tidal energy, with its predictability and high energy density, is an attractive sustainable option. Tapping into this energy requires a specialized device, the tidal turbine, where the rotor plays a vital role. The rotor converts the kinetic energy of incoming tides into useful mechanical energy, evaluated through thrust, torque, and power efficiency. This study focuses on designing a horizontal tidal turbine using a three-dimensional Computational Fluid Dynamics (CFD) model with ANSYS Fluent software. Input parameters are based on real-world measurements of the average current velocity of 1 m/s obtained using Acoustic Doppler Current Profiler (ADCP). The paper serves two purposes: validating the applied design approach and analysing crucial design factors. By confirming design compatibility and assessing factor properties, the research contributes to optimizing tidal turbine efficiency and its feasibility as a sustainable energy source.

Rancang Bangun Data Logger Suhu dan Kecepatan Arus Laut Untuk Praktikum Oseanografi

The equipment of experiment and research of oceanography at the Physics Laboratory of the Faculty of Mathematics and Natural Sciences, Bengkulu University are still very limited of type. One of the oceanography equipment is a current meter to measure the temperature and speed of ocean currents. This equipment has limited data recording which is still manual so that it is prone to human error in its measurement. In an effort to overcome the limitations of the current meter above, in this study a temperature and ocean current velocity data logger was developed. This study aims to develop a data logger and test its effectiveness which was carried out in July – November 2021 with four stages. The first stage is design, including hardware design and software design. The second stage is the manufacturing stage, namely the manufacture of data logger hardware following the system block diagram and software development using Arduino software following the system flow diagram. The third stage is the testing stage, which includes the process of testing system performance, calibration and field testing. The fourth stage is evaluation, namely evaluation of system performance, accuracy of measurement results, and refinement of data loggers. Comparative test of the results of temperature measurements using a data logger and current meter experienced a difference between 0.1 - 0.8 oC. While the current velocity measurement using a data logger and current meter shows a difference between 0.3 – 1 m/s. The data logger has been successfully developed and works well, but its accuracy still needs to be improved by replacing the water velocity sensor with a higher sensitivity.

Gulf Stream Position, Width, and Orientation Estimated from HF Radar Radial Velocity Maps off Cape Hatteras, North Carolina

Abstract A method to extract characteristics of the Gulf Stream (GS) surface flow field using high-frequency radar (HFR)–derived currents is described. Radial velocity measurements, from radar installations near Cape Hatteras, North Carolina, serve as input, chosen because of the greater spatial and temporal coverage provided compared to total velocity fields. The landward GS edge, jet axis, orientation, and cyclonic shear zone (CSZ) width are identified along bearings within the radar footprint. The method is applied to observations from two radar installations from November 2014 and provides GS estimates with daily temporal resolution. Results along eight bearings provide a consistent representation of GS variability dominated by the passage of meanders. Average distance to the GS edge along bearings varies from 50 to 100 km; distance estimate quality degrades with range from the radars. Monthly mean GS jet axis locations from satellite sea surface height (SSH) and the algorithm are consistent. Cross correlations between estimates of GS characteristics in the same region vary from 0.37 to 0.73 for the GS edge. Estimates of radar distance to the GS edge are negatively correlated with current velocity measurements nearest the surface from a moored 150-kHz acoustic Doppler current profiler and vary between −0.58 and −0.71. GS CSZ width metrics range from mean values of 29–31 km. Daily GS orientation estimates are affected by the crossing angle of the radial bearing relative to the GS. Lags from the cross correlations of monthly mean properties suggest meander propagation speed estimates increase from 43.2 km day−1 south of the cape, to 136.8 km day−1 just east of it.

Surface Gravity Wave Interferometry and Ocean Current Monitoring With Ocean‐Bottom DAS

AbstractThe cross‐correlation of a diffuse or random wavefield at two points has been demonstrated to recover an empirical estimate of the Green's function under a wide variety of source conditions. Over the past two decades, the practical development of this principle, termed ambient noise interferometry, has revolutionized the fields of seismology and acoustics. Yet, because of the spatial sparsity of conventional water column and seafloor instrumentation, such array‐based processing approaches have not been widely utilized in oceanography. Ocean‐bottom distributed acoustic sensing (OBDAS) repurposes pre‐existing optical fibers laid in seafloor cables as dense arrays of broadband strain sensors, which observe both seismic waves and ocean waves. The thousands of sensors in an OBDAS array make ambient noise interferometry of ocean waves straightforward for the first time. Here, we demonstrate the application of ambient noise interferometry to surface gravity waves observed on an OBDAS array near the Strait of Gibraltar. We focus particularly on a 3‐km segment of the array on the continental shelf, containing 300 channels at 10‐m spacing. By cross‐correlating the raw strain records, we compute empirical ocean surface gravity wave Green's functions for each pair of stations. We first apply beamforming to measure the time‐averaged dispersion relation along the cable. Then, we exploit the non‐reciprocity of waves propagating in a flow to recover the depth‐averaged current velocity as a function of time using a waveform stretching method. The result is a spatially continuous matrix of current velocity measurements with resolution <100 m and <1 hr.

Seasonal Variability of Near-Inertial Internal Waves in the Deep Central Part of the Black Sea

This observational study is concerned with the seasonal variability of near-inertial internal waves (NIWs) in the central part of the Black Sea. Rotary spectral analysis of the nearly year-long time series of the sea current velocity measurements at 100 m and 1700 m revealed the prevailing anticyclonic component of the motions near the local inertial frequency f. Both the rotary spectra and the visual exploration of the time series showed that the peaks of NIWs were blue-shifted to higher frequencies. The monthly average blue-shift was stronger up to 1.038f in the summer. It was found that the minimum intensification of the NIWs occurred in summertime and the maximum intensification was characteristic of the autumn-winter period when the NIW packets included up to 16 waves with pronounced clockwise rotation of the velocity vectors.

Sensitivity of tidal hydrodynamics to varying bathymetric configurations in a multi‐inlet rapidly eroding salt marsh system: A numerical study

AbstractWe describe the development of a high‐resolution, two‐dimensional hydrodynamic model for a multi‐inlet rapidly eroding tidal wetland on the western shore of Delaware Bay, using the finite‐volume, primitive equation community ocean model (FVCOM). Topo‐bathymetric surveys, together with water surface and current velocity measurements during calm and stormy conditions, have been conducted to support model validation. The tested model is then used to quantify the tide‐induced residual transport and asymmetry at major inlet entrances to determine the governing hydrodynamics. We chose a skewness method to calculate the tidal asymmetry and serve as a proxy for sediment transport estimates. The effects of the dredging of an artificial entrance channel and progressive channel deepening in shifting wetland hydrodynamics are shown by developing a scenario analysis. Model results show that the artificially dredged channel has altered the volume exchange at other inlet entrances and increased the net seaward export. The changes in the characteristic frequency of the frictional dissipation in the channel and the system's natural frequency are investigated using a simple ocean–inlet–bay analytical model. Subsequently, we have compared the channel friction scale to the inertia scale and observed that the new connection and gradual channel deepening reduce the overall frictional dominance. Ultimately, the study has shown how the short‐ and long‐term channel bathymetry changes, mainly the artificially dredged channel and progressive channel deepening, can affect the connected system's net circulation and trigger internal marsh erosion.

A New Method of Ka DBF ATI-SAR for Full Ocean Current Vectors Inversion

For applications such as high-precision current velocity field monitoring, Ka-band SAR has an important advantage in baseline configuration, which can be configured with dual antennas or more effective phase centers for a single satellite, forming omnidirectional current field measurement capabilities. However, the normalized radar cross section of the sea surface will decay rapidly with the larger incident angle, and it is difficult to obtain a high echo signal-to-noise ratio by active radiating method. Considering that the digital beamforming (DBF) scan on receive at a small incident angle will cause gain loss and phase error due to echo pulse extension and reduce the interferometric accuracy, this article proposes a dual-beam along-track interferometry (ATI) implementation architecture combined with pulse compression and channel forming, which has the advantages of bidirectional current velocity measurement capacity and compact hardware structure. Under a set of parameters, verified by simulation, it could be demonstrated that the proposed method has good robustness, can extract the velocity of the wide-swath current, and complete the extraction of the nongeotropic components. Moreover, the concept of DBF ATI-SAR was validated with airborne data.

Experimental Data of Bottom Pressure and Free Surface Elevation including Wave and Current Interactions

Force plates are commonly used in tank testing to measure loads acting on the foundation of a structure. These targeted measurements are overlaid by the hydrostatic and dynamic pressure acting on the force plate induced by the waves and currents. This paper presents a dataset of bottom force measurement with a six degree-of-freedom force plate (AMTI OR6-7 1000, surface area 0.464 m × 0.508 m) combined with synchronised measurements of surface elevation and current velocity. The data cover wave frequencies between 0.2 to 0.7 Hz and wave directions between 0∘ and 180∘. These variations are provided for current speeds of 0 and 0.2 m/s and a variation of the current in the absence of waves covering 0 to 0.45 m/s. The dataset can be utilised as a validation dataset for models predicting bottom pressure based on free surface elevation. Additionally, the dataset provides the wave- and current-induced load acting on the specific load cell at a fixed water depth of 2 m, which can subsequently be removed to obtain the often-desired measurement of structural loads.

Assessment of marine energy-biotopes for Cozumel Island's reefs: A resource for tourism and renewable ocean energy

In general, ocean energy refers to renewable energy for human consumption, but less often relates to conservation and environmental protection. Within this context, this study describes and investigates energy-biotopes as a new concept, based on energy features, to use as a relevant resource for reefs conservation, marine-based tourism, and the harvesting of renewable ocean energy for Cozumel Island. Cluster analyses and linear trend models indicate an energy-tourism-economy connection with a similarity >90% and a correlation >0.976 between tourist arrivals, total revenue (US$ 161.74), and electric energy consumption (~64.62 Wh), per tourist. Moreover, field measurements of ocean current velocities (U) were conducted to assess the spatial distribution of kinetic energy density (ED) over the western coast of Cozumel Island. These results were compared with information obtained from prior studies on reef cover, benthic distribution, and tourism activities to identify the environment-energy-tourism relationship. Results indicate that marine biotopes with low and intermediate energy values (ED < 60 J/m3, U < 0.34 m/s) correlate with reef structures that are highly attractive for tourism and with moderate flow velocities for drift-diving, which represents the basis of tourism and the primary source of income for Cozumel Island. In contrast, high-energy biotopes (ED > 250 J/m3, U < 0.70 m/s) may contribute to meeting energy demands through the use of marine energy and the resulting increase in tourism and economic development in the area. However, the effects on marine organisms that are not typically attractive for tourists, but are of ecological significance, should be considered. Environmental habitats and electric energy demands are discussed regarding the local economy, which supports a floating population of 4.10 million people and where the reef environment plays an essential role both as part of the marine landscape and in the formation of globally unique energy-biotopes.

Moored Observations of Current and Temperature in the Alas Strait: Collected for Submarine Tailing Placement, Used for Calculating the Indonesian Throughflow

Newly released current velocity and temperature measurements in the Alas Strait collected from November 2005 to February 2007 permit calculation of the mean and variable transport of the Indonesian Throughflow (ITF) in this region. These data were collected by the Environmental Division of the Amman Mineral Nusa Tenggara mining company to serve as a guide for the deep submarine placement of tailings produced by the Batu Hijau open pit copper-gold mine. Ocean currents, temperatures, and winds in the Alas Strait region exhibit intraseasonal and seasonal variability, with modulation at interannual timescales that may be associated with intraseasonal Kelvin waves, the regional southeast monsoon, the El Niño Southern Oscillation, and the Indian Ocean Dipole (IOD). Currents in the Alas Strait were found to flow steadily southward not only during the boreal summer from mid-April to October but also when a prolonged anomalously easterly wind associated with positive IOD extended this flow direction through the end of December 2006. A steady shear between the northward-flowing upper layer and the southward-flowing layer beneath was recorded from November 2005 to early April 2006 and from January to February 2007. The 2006 annual transport was –0.25 Sv toward the Indian Ocean and varied from 0.4 Sv in early April 2006 to –0.75 Sv in August 2006. Hence, Alas Strait transport plays a dual role in the total ITF, increasing it during boreal summer and reducing it during boreal winter. Northward flows tend to carry warmer water from the Indian Ocean to the Flores Sea, while the southward ITF flow carries cooler water to the Indian Ocean. Although the Alas Strait is located next to the Lombok Strait—one of the major ITF exit passages—they have different current and temperature characteristics. For a more complete evaluation of the ITF, the Alas Strait must be included in any future monitoring.

Gulf Stream Marine Hydrokinetic Energy Off Cape Hatteras, North Carolina

AbstractMulti-year measurements of current velocity, salinity, and temperature from fixed and vessel-mounted sensors quantify Gulf Stream (GS) marine hydrokinetic energy (MHK) resource variability and inform development off Cape Hatteras, NC. Vessel transects across the GS demonstrate a jet-like velocity structure with speeds exceeding 2.5 m/s at the surface, persistent horizontal shear throughout the jet, and strongest vertical shears within the cyclonic shear zone. Persistent equatorward flow at the base of the GS associated with the Deep Western Boundary Current (DWBC) produces a local maximum in vertical shear where stratification is weak and is postulated to be a site of strong turbulent mixing. Repeated transects at the same location demonstrate that the velocity structure depends upon whether the GS abuts the shelf slope or is offshore.Currents from a fixed acoustic Doppler current profiler (ADCP) deployed on the shoreward side of the GS exceed 1 m/s 64% of the time 40 m below the surface. The 3.75-year time series of currents from the ADCP mooring document large, roughly weekly variations in downstream and cross-stream speed (−0.5 to 2.5 m/s) and shear (± 0.05 s−1) over the entire water column due to passage of GS meanders and frontal eddies. Current reversals from the mean GS direction occur several times a month, and longer period variations in GS offshore position can result in reduced currents for weeks at a time. Unresolved small-scale shear is postulated to contribute significantly to turbulent mixing.

Improved Method to Suppress Azimuth Ambiguity for Current Velocity Measurement in Coastal Waters Based on ATI-SAR Systems

Measurements of ocean surface currents in coastal waters are crucial for improving our understanding of tidal atlases, as well as for ecosystem and water pollution monitoring. This paper proposes an improved method for estimating the baseline-to-platform speed ratio (BPSR) for improving the current line-of-sight (LOS) velocity measurement accuracy in coastal waters with along-track interferometric synthetic aperture radar (ATI-SAR) based on eigenvalue spectrum entropy (EVSE) analysis. The estimation of BPSR utilizes the spaceborne along-track interferometry and considers the effects of a satellite orbit and an inaccurate baseline responsible for azimuth ambiguity in coastal waters. Unlike the existing methods, which often assume idealized rather than actual operating environments, the proposed approach considers the accuracy of BPSR, which is its key advantage applicable to many, even poorly designed, ATI-SAR systems. This is achieved through an alternate algorithm for the suppression of azimuth ambiguity and BPSR estimation based on an improved analysis of the eigenvalue spectrum entropy, which is an important parameter representing the mixability of unambiguous and ambiguous signals. The improvements include the consideration of a measurement of the heterogeneity of the scene, the corrections of coherence-inferred phase fluctuation (CPF), and the interferogram-derived phase variability (IPV); the last two variables are closely related to the determination of the EVSE threshold. Besides, the BPSR estimation also represents an improvement that has not been achieved in previous work of EVSE analysis. When the improved method is used on the simulated ocean-surface current LOS velocity data obtained from a coastal area, the root-mean-square error is less than 0.05 m/s. The other strengths of the proposed algorithm are adaptability, robustness, and a limited user input requirement. Most importantly, the method can be adopted for practical applications.