In Situ Calibration of Underwater Glider Flight Model Using Acoustic Doppler Current Profilers
In Situ Calibration of Underwater Glider Flight Model Using Acoustic Doppler Current Profilers
复制标题
使用声学多普勒电流剖面仪对水下滑翔机飞行模型进行现场校准
DOI：
10.1175/jtech-d-21-0074.1
复制
发表时间：
2022
影响因子：
2.2
通讯作者：
T.P. Welch
中科院分区：
文献类型：
--
作者：
T. Tanaka;D. Hasegawa;T. Okunishi;I. Yasuda;T.P. Welch
攻角（AOA）是水下滑翔机的路径和俯仰角之间的差，并且是精确估计航位推算位置和深度平均速度所必需的。AOA对于任何受滑翔机在水中速度影响的传感器测量也很重要，例如海洋湍流测量。滑翔机飞行模型通常用于精确地估计AOA和滑翔机的实际速度的基础上的知识，为每个滑翔机的升力和阻力系数优化。本文研究了使用声学多普勒海流剖面仪（ADCP）的斯洛克姆滑翔机的AOA，以证明回归方法来估计这些系数。由于平均而言，海流切变足够小，因此可以合理地假设，在最近仓的ADCP速度可以捕获滑翔机在飞行过程中的运动，并用于计算AOA。对升力和阻力系数进行了优化，从而使飞行模型能够估算出从ADCP和滑翔机俯仰观测中得出的俯仰-AOA关系。由此产生的系数也满足滑翔机运动的垂直和水平约束，并给出了来自飞行模型和ADCP的湍流强度的无偏估计。我们的方法也被应用到SeaExplorer滑翔机的升力和阻力系数推导的第一次。所观察到的俯仰-AOA关系被飞行模型合理地捕获，由此得到的系数，这表明我们的方法来估计水下滑翔机的升力和阻力系数可以应用于任何类型的水下滑翔机配备ADCP。
The angle of attack (AOA) is the difference between the underwater glider’s path and pitch angle and is necessary to accurately estimate dead-reckoned position and depth-averaged velocity. The AOA is also important for any sensor measurements that are affected by the glider’s velocity through water, such as ocean turbulence measurement. A glider flight model is generally used to accurately estimate AOA and glider’s actual velocity based on the knowledge of lift and drag coefficients optimized for each glider. This paper examines the AOA of a Slocum glider using an acoustic Doppler current profiler (ADCP) to demonstrate a regression method to estimate these coefficients. Since the current shear was sufficiently small on average, it was reasonable to assume that the ADCP velocity at the nearest bin could capture the glider’s motion during flight and was used to calculate AOA. The lift and drag coefficients were optimized so the flight model estimated the observed pitch–AOA relationship derived from the ADCP and the glider’s pitch observations. The resultant coefficients also satisfied the vertical and horizontal constraints of glider motion and gave unbiased estimates of turbulence intensity derived from the flight model and ADCP. Our method was also applied to a SeaExplorer glider to derive the lift and drag coefficients for the first time. The observed pitch–AOA relationship was reasonably captured by the flight model with the resultant coefficients, suggesting that our method to estimate the lift and drag coefficient of underwater gliders can be applied to any type of underwater glider equipped with an ADCP.