A space-saving steering method for underwater gliders in lake monitoring

Yu-shi ZHU; Can-jun YANG; Shi-jun WU; Qing LI; Xiao-le XU

doi:10.1631/FITEE.1500399

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A space-saving steering method for underwater gliders in lake monitoring

Regular Papers | Updated：2022-05-19

- A space-saving steering method for underwater gliders in lake monitoring
- 适用于湖水监测的水下滑翔机的空间高效转向方法
- Frontiers of Information Technology & Electronic Engineering Vol. 18, Issue 4, Pages: 485-497(2017)
- Affiliations：
  
  The State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- Author bio：
  
  E-mail:ycj@zju.edu.cn
- Funds：
- DOI：10.1631/FITEE.1500399
  CLC： TP242
- Received：16 November 2015，
  
  Accepted：17 February 2016，
  
  Published：2017-04
- Accepted：
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Yu-shi ZHU, Can-jun YANG, Shi-jun WU, et al. A space-saving steering method for underwater gliders in lake monitoring[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(4): 485-497.
DOI：

Yu-shi ZHU, Can-jun YANG, Shi-jun WU, et al. A space-saving steering method for underwater gliders in lake monitoring[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(4): 485-497. DOI： 10.1631/FITEE.1500399.

摘要

越来越多的水下滑翔机正在被应用到湖水监测中。由于湖水具有有限的竖直空间，为了让水下滑翔机能够扩大不同监测点的间距，水下滑翔机应具有空间高效的转向能力。本文提出一种使用小俯仰角的转向方法，以便让外形固定的水下滑翔机能够具有空间高效的转向能力。使用小俯仰角转向可以提高水下滑翔机在单位竖直空间下的转向角度。本文提出了一种同时适用于大小攻角的水下滑翔机水动力模型，对小俯仰角转向过程中最优的净浮力与横滚角度展开了研究。为了验证水动力模型和转向方法的适用性，研制了小型水下滑翔机原型机并进行了湖水试验。试验表明，水下滑翔机使用小俯仰角进行转向比使用大俯仰角转向更能节省竖直方向消耗的空间。仿真结果与湖水试验结果一致。另外，多监测点连续监测试验表明，与比不使用小俯仰角转向相比，水下滑翔机使用小俯仰角进行转向能够覆盖更大的监测区域。

Abstract

An increasing number of underwater gliders have been applied to lake monitoring. Lakes have a limited vertical space. Therefore

good space-saving capacity is required for underwater gliders to enlarge the spacing between monitoring waypoints. This paper presents a space-saving steering method under a small pitch angle (SPA) for appearance-fixed underwater gliders. Steering under an SPA increases the steering angle in per unit vertical space. An amended hydrodynamic model for both small and large attack angles is presented to help analyze the steering process. Analysis is conducted to find the optimal parameters of net buoyancy and roll angle for steering under an SPA. A lake trial with a prototype tiny underwater glider (TUG) is conducted to inspect the applicability of the presented model. The trial results show that steering under an SPA saves vertical space

unlike that under a large pitch angle. Simulation results of steering are consistent with the trial results. In addition

multiple-waypoint trial shows that monitoring with steering under an SPA covers a larger horizontal displacement than that without steering.

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references

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