1 Federal State Educational Institution of Higher Education «Sevastopol State University», Russian Federation, Sevastopol, Universitetskaya St., 33
2 Institute of Natural and Technical Systems, Russian Federation, Sevastopol, Lenin St., 28
The results of a study by computer simulation of the possibilities of reducing the time to perform the profile measurements of CTD parameters of the vertical profile of the ocean environment using a marine autonomous profiler with adjustable buoyancy are presented. The concept of a significant reduction in profiling time due to an increase in the speed of movement at the decent stage to the cruising 2 m / s, which provides the detection and registration of depths with high density gradients of seawater using the on-board navigation system, is proposed. The thus constructed vertical profile of the distribution of critical depths is used to further increase the speed of measuring thermohaline parameters using “smart” profiling at the ascent stage by controlling the vertical movement of an autonomous profiler in stratified seawater using original adaptive control algorithms. At the same time, in order to reduce dynamic distortions in the measurements of CTD parameters in areas with high density gradients of seawater, the ascent rate is reduced from cruising to a minimum of 0.2 m / s, which ensures the implementation of WOCE recommendations regarding the permissible error in measuring absolute salinity, temperature and pressure. We used a specially developed model of a depth-stratified aquatic environment, a motion model of an autonomous profiler with adjustable buoyancy in a stratified aquatic environment, and a dynamic model of measuring the density of seawater, taking into account the inertial properties of the acceleration and hydrostatic pressure sensors used.
Keywords: marine autonomous profiler, adjustable buoyancy, law of adaptive control, mathematical model, computer simulation.
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