Thermocline Tracking Using a Portable Autonomous Underwater Vehicle Based on Adaptive Threshold

被引:0
|
作者
Sun, Longfei [1 ,2 ]
Li, Yiping [3 ]
Yan, Shuxue [3 ]
Wang, Jian [3 ]
Chen, Zhier [3 ]
机构
[1] Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Peoples R China
[2] Univ Chinese Acad Sci, Beijing, Peoples R China
[3] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China
来源
OCEANS 2016 - SHANGHAI | 2016年
关键词
autonomous underwater vehicle; thermocline; self-adaptive; threshold; autonomous detection;
D O I
暂无
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
Thermocline has a significant impact on marine fishery, navy submarine activity, ocean circulation and internal wave. In consideration of long range, low cost, and high maneuverability, the AUV (Autonomous Underwater Vehicle) is an ideal platform for ocean local precisely thermocline tracking. Combining with the advantage of the AUV yo-yo movement, this paper presents a simple and effective thermocline tracking method. According to the definition of the thermocline, we set a threshold, and in the real detect area, the threshold can change adaptively, thus we can draw the outline of the thermocline. Meanwhile, we present a method to determine bin size in order to solve the abruptness of robust and method's resolution. The simulation analysis was carried out using previous data of field test in the South China Sea.
引用
收藏
页数:4
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