A heading angle control method is proposed for controlling underwater gliders to follow a straight line sampling path relative to the center of a dynamically moving mesoscale eddy. The constant velocity and constant acceleration kinematic models are employed as motion models of eddy center movements. The model parameters are identified from historical data of eddy tracks. A Kalman filter is developed based on the models and real-time satellite imaging data to estimate and predict the movement of eddy centers. Performance of the two modeling approaches are compared based on historical data, results show that the constant velocity model is preferred for eddy movement prediction when used for glider heading control. Both simulation and field experiments confirm that underwater gliders under the heading control, when used with the Kalman filter, are able to follow the sampling path autonomously with acceptable level of tracking error.

提出了一种航向角控制方法，用于控制水下滑翔机遵循相对于动态运动的中尺度涡旋中心的直线采样路径。恒定速度和恒定加速度运动学模型被用作涡流中心运动的运动模型。从涡流轨道的历史数据中识别出模型参数。基于模型和实时卫星成像数据开发了卡尔曼滤波器，以估计和预测涡流中心的运动。根据历史数据对两种建模方法的性能进行了比较，结果表明，当用于滑翔机航向控制时，等速模型是涡流运动预测的首选模型。仿真和现场实验均证实，与Kalman滤波器配合使用时，水下滑翔机在航向控制下，