Stability and economy analysis based on computational fluid dynamics and field testing of hybrid-driven underwater glider with the water quality sensor in Danjiangkou Reservoir

Abstract

Hybrid-driven underwater glider is a new kind of unmanned platform for water quality monitoring. It has advantages such as high controllability and maneuverability, low cost, easy operation, and ability to carry multiple sensors. This article develops a hybrid-driven underwater glider, PETRELII, and integrates a water quality monitoring sensor. Considering stability and economy, an optimal layout scheme is selected from four candidates by simulation using computational fluid dynamics method. Trials were carried out in Danjiangkou Reservoir-important headwaters of the Middle Route of the South-to-North Water Diversion Project. In the trials, a monitoring strategy with polygonal mixed-motion was adopted to make full use of the advantages of the unmanned platform. The measuring data, including temperature, dissolved oxygen, conductivity, pH, turbidity, chlorophyll, and ammonia nitrogen, are obtained. These data validate the practicability of the theoretical layout obtained using computational fluid dynamics method and the practical performance of PETRELII with sensor.

Path planning for underwater glider under control constraint

“…It can run a long time in the water, sampling and detecting in certain water area. 1 The capability of long running time and low energy consumption is essential to achieve the set task in a large area. To reduce energy consumption and improve running range by reasonable planning of the movement and glide path, the low-energy motion control of the glider is generally achieved by reducing the operating frequency of the glider's actuators and the operating time of the control system.…”