Research On Thermocline Detection Based On Long Range Observation AUV

Seventy percent of the world's area is the ocean,and the exploration of the unknown ocean is the most important step for human to explore the earth.The thermocline is a particularly important Marine environmental phenomenon in the ocean,which is of great significance for Marine fishing,propagation of light and sound in the ocean,military affairs and underwater communication.At present,in order to explore the ocean,various countries have developed Marine robots with different functions.Different robots have different advantages and different functions.The object of this thesis is a new long-range observation AUV developed by the laboratory.This AUV integrates the advantages of autonomous underwater vehicle and underwater glider,brings into play the advantages of different driving modes,and is more suitable for the detection of Marine thermocline and the observation of Marine environment on a large scale.Based on the analysis of the existing ocean thermocline detecting methods,summarized this thesis proposes a new ocean thermocline detection method,previous thermocline detection methods,detection of upper and lower boundary with actual environmental adaptability is not strong,this method in the thermocline detection,real-time ocean temperature and depth data collection,layering and filtering processing,temperature gradient calculation,the average every time or surface temperature gradient and temperature gradient peak point average ratio,the ratio of the result as a ratio to determine the upper and lower boundary of thermocline detection,make the determination of boundary for more adapted to the actual environment.At the same time,the buoyancy adjusting device of long-voyage observation AUV was studied and analyzed,and the buoyancy movement of the vertical plane was modeled and analyzed,and the traditional PID controller was established to simulate and control it,and the control effect of the vertical plane buoyancy system was analyzed.Finally,the detection algorithm of thermocline is simulated and verified by using the sea data measured in the south China sea by the laboratory glider in previous years.Will do the preprocessing of the Marine data,the computer will expand its matlab software to simulate the ocean,each point temperature and coordinates data,with the Freescale's a i.MX6 control panel data communication,in the Linux system control chip MOOS framework real-time thermocline detection algorithm,the formation of a simulated ocean detection environment of hardware-in-the-loop simulation system,and compared with other thermocline detection algorithm,prove that the algorithm is more effective in terms of detection and tracking of thermocline accurately,even more has the adaptability.