Key Technologies Of Underwater Glider Based On GPRS Wireless Communication

In the situation of resource depletion, we have to try harder and harder to develop the ocean, it's meaningful for us to survey the ocean especially the Survey of mineral resources. So the study of marine robots is the Focus of many research institutes. The underwater glider become the important part of the ocean observation network Because of the low energy consumption,long voyage and auto navigation. They can do many kinds of works when they carry different senors. it's also meaningful for haiphong and environmental monitoring.This paper introduces a design of underwater glider form From the mechanical structure, control theory,and remote communication. They can work Two hundred meters under the water. And we do Experiments for the key parts.Mechanical structure contains the pressure shell and the structure of movement regulation. We make the pressure shell with TC4 through the analysis of pressure resistance with different materials. Improving the pressure resistance and corrosion resistance of the pressure shell through the design of multisection shell. They also have the functional of carrying senors and protection for the oil container. We improve the three structures of movement regulation. In the part of buoyancy regulation, we increase the output pressure through a optimization method for pressing out the oil in the container. We improve the measurement accuracy and seismic performance because of the using of magnetostrictive displacement sensor. We eliminate the leakage with the using of the electromagnetic valve for its wonderful one-way sealing performance. We change the phenomenon of many Hoses when the valve block is used in the hydraulic system of buoyancy regulation. It's useful for reduccing the pressure loss and the possibility of line blocking. The use of rudder improves the speed of turn. The stability of the weights moving structure had been improved. It's possible for Precise controlling of underwater glider when the displacement sensor has been used. We provide a basis for accurate navigation by increasing the type of sensors equipped on the underwater glider, such as CTD altimeter and gyroscope. The desigh of flexible wings improves the ability of anti-wave. We do some research on control system based on TMS320F28335 which meet the requirements of interfaces and motor controlling. We set up a wireless communication platform based on GPRS. And then do some experiments to prove its feasibility.