The study of depth-averaged currents is of great significance for the application of underwater gliders. In order to solve the problem of low prediction accuracy of the time series-based depth-averaged current prediction method, the factors affecting the prediction of depth-averaged currents are analyzed and a data-driven prediction method for depth-averaged currents of an underwater glider with sailing parameters is proposed in this paper. First, depth-averaged currents of the underwater glider’s historical profile period and navigation parameters of the underwater glider are taken as inputs to construct multi-input and double-output characteristics. Then, based on the two sets of the real sea trial data and two groups of the generic set of evaluation criteria, five different data-driven methods are used to predict depth-averaged currents. Experimental results show that the prediction result of depth-averaged currents of an underwater glider driven by data with sailing parameters is better than that based on time series, and the prediction accuracy of depth-averaged currents of a future profile period is improved.
Aiming at the problem of limited payload and endurance of micro-UAV, the target tracking algorithm based on monocular vision is proposed. Since monocular vision cannot directly measure distance between the UAV and the target, triangulation and triangle similarity are used to calculate the distance information. Then, a target tracking method based on Kalman filter and KCF is designed. The tracking result of KCF is modified by Kalman filter to solve the problem of target occlusion. Finally, the position of the target in the world coordinate system is calculated through the coordinate transformation matrix, which is used to control the UAV for tracking the moving target. In order to verify the feasibility of the algorithm, target size estimation and target tracking algorithms are carried out. The experimental results show that the proposed algorithm can track the moving target effectively under the condition of short-term occlusion.
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