A Novel Method of Trajectory Optimization for Underwater Gliders Based on Dynamic Identification

Abstract

For underwater gliders (UGs), high trajectory accuracy is an important factor in improving the observation of ocean phenomena. In this paper, a novel method of trajectory optimization is proposed to increase the trajectory accuracy of UGs, which is approximately based on the nonlinear dynamic model, rather than the linearization model. Firstly, a dynamic model of UGs is established to analyze the effect of the input parameters on the trajectory error, based on some approximate models that replaced the dynamic model due to its strong nonlinearity. Then, an identification strategy for the trajectory error is proposed, and the trajectory optimization strategy is analyzed while considering gliding range loss and observation distance loss. Finally, the identification strategy and trajectory optimization strategy proposed in this paper are verified by a sea trial of Petrel-L. The dynamic model, identification strategy, and optimization strategy are appropriate for other UGs.