심도변화율을 이용한 수중글라이더 속도추정 연구

Abstract

The underwater glider is a very useful instrument platform in oceanography because it is resuable, inexpensive and achieves a high duration and wide coverage. The underwater glider runs silently without a noisy propeller or engine and consumes very little battery power. A small battery pack can keep them gathering information 24 hours a day on monthlong missions. However, localization of the underwater glider underneath ocean surface is challenging due to low cost and small size navigation sensors. In this paper, the underwater glider makes use of dead reckoning navigation that esimates its position based on speed and heading calculations. Specifically, speed is determined by the depth rate and dynamic model.mes very little battery power. A small battery pack can keep them gathering information 24 hours a day on monthlong missions. However, localization of the underwater glider underneath ocean surface is challenging due to low cost and small size navigation sensors. In this paper, the underwater glider makes use of dead reckoning navigation that esimates its position based on speed and heading calculations. Specifically, speed is determined by the depth rate and dynamic model.