一种水下滑翔机盐度数据的噪声处理方法

易镇辉; 俞建成; 毛华斌; 张志旭; 练树民; 邱春华; 李先鹏

doi:10.11993/j.issn.2096-3920.2019.05.005

一种水下滑翔机盐度数据的噪声处理方法

doi: 10.11993/j.issn.2096-3920.2019.05.005

1.
中国科学院南海海洋研究所热带海洋环境国家重点实验室, 广东广州, 510301
2.
中国科学院沈阳自动化研究所, 辽宁沈阳, 110016
3.
中国科学院大学资源与环境学院, 北京, 100049
4.
中山大学海洋科学学院近岸海洋科学与技术中心, 广东广州, 510275

基金项目: 国家重点研发专项项目(2017YFC0305904).

详细信息

通讯作者:
李先鹏(1983-), 男, 高级工程师, 主要研究方向为海上观测作业.

中图分类号: TJ630; U674.941; P733.22
计量
- 文章访问数: 685
- HTML全文浏览量: 124
- PDF下载量: 350
- 被引次数: 0
出版历程
- 收稿日期: 2018-11-30
- 修回日期: 2018-12-27
- 刊出日期: 2019-10-31

A Noise Processing Method for Salinity Data Underwater Glider

1.
State Key Laboratory of Tropical Marine Environment, South China Sea Institute of Oceanology, Chinese Acaderny of Sciences, Guangzhou 510301, China
2.
Shen Yang Institute of Automation Chinese Academy of Sciences, Shenyang 110016, China
3.
College of Resources and Environment, University of Chinese Academy of Sciences, Beijing 100049, China
4.
The Center for Coastal Ocean Science and Technology, School of Marine Sciences, Sun Yat-sen University, Guangzhou 510275, China

摘要

摘要: 温盐深传感器(CTD)是水下滑翔机常规搭载的模块, 可以高效地观测海水的温度、盐度和压强。但在盐度的计算过程中, 热滞后误差问题普遍存在且不可忽略。对此, Morison 等提出能有效修正热滞后误差的方法。文中对2017年7~8月间, 8台“海翼”水下滑翔机搭载的滑翔机有效载荷CTD(GP-CTD)数据进行处理, 用中值滤波和移动平滑滤波解决盐度峰的问题, 基于上述方法, 对盐度数据进行热滞后修正, 发现热滞后误差与垂向温度结构和水平分辨率密切相关; 在剖面插值过程中, 由海洋内部波动引起的压强振荡影响插值结果, 会带来很大的盐度差和温度差, 并基于CTD剖面数据, 提出一种海洋内部波动的简单识别方法。文中的工作可为水下滑翔机的数据质量控制和海洋现象的捕捉提供参考。
- 水下滑翔机 /
- 温盐深传感器 /
- 热滞后修正 /
- 剖面插值 /
- 盐度
Abstract: Conductivity-temperature-depth(CTD) sensor on underwater glider is used to measure temperature, salinity and pressure of sea water. However, in the calculation of salinity, thermal lag error is a common problem but cannot be neglected. In this paper, eight glider payload CTD(GP-CTD) data of underwater gliders “Sea Wing” obtained during July – August, 2017 are processed. Median filter and sliding smoothing filter are used to solve the problem of salinity peak. The salinity data are corrected considering the thermal lag based on the thermal lag correction method proposed by Morison, et al. It is found that the vertical temperature structure and horizontal resolution are closely related to the thermal lag error. In the process of profile interpolation, the pressure oscillation caused by ocean internal fluctuation affects the interpolation results, resulting in significant error in temperature and salinity. Based on the CTD profile data, a simple identification method of ocean internal fluctuation is proposed. This study may provide reference for data quality control and marine phenomena capture of underwater gliders.
- underwater glider /
- conductivity-temperature-depth(CTD) /
- thermal lag correction /
- profile interpolation /
- salinity

HTML全文

参考文献(35)

[1]	沈新蕊, 王延辉, 杨绍琼, 等. 水下滑翔机技术发展现状与展望[J]. 水下无人系统学报, 2018, 26(2): 89-106. Shen Xin-rui, Wang Yan-hui, Yang Shao-qiong, et al. Development of Underwater Gliders: An Overview and Prospect[J]. Journal of Unmanned Undersea Systems, 2018, 26(2): 89-106.
[2]	Rudnick D L, Davis R E, Eriksen C C, et al. Underwater Glider for Ocean Research[J]. Marine Technology Society Journal, 2004, 38(2): 73-84.
[3]	Stommel H. The Slocum Mission[J]. Oceanography, 1989, 2(1): 22-25.
[4]	Webb D C, Simonetti P J, Jones C P. SLOCUM: an Underwater Glider Propelled by Environmental Energy[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 447- 452.
[5]	Sherman J, Davis R E, Owens W B, et al. The Autonomous Underwater Glider “Spray”[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 437-446.
[6]	Eriksen C C, Osse T J, Light R D, et al. Seaglider: a Long-range Autonomous Underwater Vehicle for Oceanographic Research[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 424-436.
[7]	Bachmayer R, Leonard N E, Graver J, et al. Underwater Gliders: Recent Developments and Future Applications[C]//International Symposium on Underwater Technology. Taipei, China: IEEE, 2004: 195-200.
[8]	Osse T J, Eriksen C C. The Deepglider: A Full Ocean Depth Glider for Oceanographic Research[C]//OCEANS 2007. Vancouver: IEEE, 2007: 1-12.
[9]	Wood S. Autonomous Underwater Gliders[J]. Underwater Vehicles, 2009, 26: 499-524.
[10]	Hine R, Willcox S, Hine G, et al. The Wave Glider: A Wave-Powered Autonomous Marine Vehicle[C]//Oceans 2009, MTS/IEEE Biloxi-Marine Technology for Our Future:Global and Local Challenges. Biloxi: IEEE, 2009: 1-6.
[11]	武建国. 混合驱动水下滑翔器系统设计与性能分析[D]. 天津: 天津大学, 2010.
[12]	王树新, 李晓平, 王延辉, 等. 水下滑翔器的运动建模与分析[J]. 海洋技术学报, 2005, 24(1): 5-9. Wang Shu-xin, Li Xiao-ping, Wang Yan-hui, et al. Dynamic Modeling and Analysis of Underwater Gliders[J]. Ocean Technology, 2005, 24(1): 5-9.
[13]	王树新, 王延辉, 张大涛, 等. 温差能驱动的水下滑翔器设计与实验研究[J]. 海洋技术学报, 2006, 25(1): 1-5. Wang Shu-xin, Wang Yan-hui, Zhang Da-tao, et al. Design and Trial on an Underwater Glider Propelled by Thermal Engine[J]. Ocean Technology, 2006, 25(1): 1-5.
[14]	Liu Y, Luan X, Song D, et al. Simulation for Path Planning of OUC-II Glider with Intelligence Algorithm[C]//Intelligent Robotics and Applications: 10th International Conference, ICIRA 2017. Wuhan: Springer, 2017: 801- 812.
[15]	秦玉峰, 张选明, 孙秀军, 等. 混合驱动水下滑翔机高效推进螺旋桨设计[J]. 海洋技术学报, 2016, 35(3): 40- 45. Qin Yu-feng, Zhang Xuan-ming, Sun Xiu-jun, et al. Desi- gn of a High-Efficiency Propeller for Hybrid Drive Underwater Gliders[J]. Journal of Ocean Technology, 2016, 35(3): 40-45.
[16]	陈刚, 张云海, 赵加鹏. 基于混合模型的水下滑翔机最佳升阻比特性[J]. 兵器装备工程学报, 2014, 35(2): 150- 152. Chen Gang, Zhang Yun-hai, Zhao Jia-peng, et al. Optim- um Lift-drag Ratio of the Underwater Glider Based on Mixture Models[J]. Journal of Sichuan Ordnance, 2014, 35(2): 150-152.
[17]	马冬梅, 马峥, 张华, 等. 水下滑翔机水动力性能分析及滑翔姿态优化研究[J]. 水动力学研究与进展, 2007, 22(6): 703-708. Ma Dong-mei, Ma Zheng, Zhang Hua, et al. Hydrodynamic Analysis and Optimization on the Gliding Attitude of the Underwater Glider[J]. Journal of Hydrodynamics, 2007, 22(6): 703-708.
[18]	李宝仁, 傅晓云, 杨钢, 等. 一种喷水推进型深海滑翔机: CN203581363U[P]. 2014-5-7.
[19]	Yang C, Peng S, Fan S. Performance and Stability Analysis for ZJU Glider[J]. Marine Technology Society Journal, 2014, 48(3): 88-103.
[20]	杨豪, 陈济民, 初再宇. 圆碟形水下滑翔机的创新设计及应用前景[J]. 硅谷, 2015(4): 24-25.
[21]	倪园芳. 温差能驱动水下滑翔机性能的研究[D]. 上海: 上海交通大学, 2008.
[22]	田文龙, 宋保维, 刘郑国. 可控翼混合驱动水下滑翔机运动性能研究[J]. 西北工业大学学报, 2013, 31(1): 122-128. Tian Wen-long, Song Bao-wei, Liu Zheng-guo. Motion Characteristic Analysis of a Hybrid-Driven Underwater Glider with Independently Controllable Wings[J]. Journal of Northwestern Polytechnical University, 2013, 31(1): 122-128.
[23]	Lueck R G. Thermal Inertia of Conductivity Cells: Theory[J]. Journal of Atmospheric & Oceanic Technology, 1990, 7(5): 741-755.
[24]	Lueck R G, Picklo J J. Thermal Inertia of Conductivity Cells: Observations with a Sea-Bird Cell[J]. Journal of Atmospheric & Oceanic Technology, 1990, 7(5): 756-768.
[25]	Morison J, Andersen R, Larson N, et al. The Correction for Thermal-Lag Effects in Sea-Bird CTD Data[J]. Journal of Atmospheric & Oceanic Technology, 1994, 11(11): 1151-1164.
[26]	Johnson G C, Toole J M, Larson N G. Sensor Corrections for Sea-Bird SBE-41CP and SBE-41 CTDs*[J]. Journal of Atmospheric and Oceanic Technology, 2007, 24(6): 1117-1130.
[27]	Bishop C M. Sensor Dynamics of Autonomous Underwater Gliders[D]. Newfoundland: Memorial University of Newfoundland, 2008.
[28]	Mensah V, Le Menn M, Morel Y. Thermal Mass Correction for the Evaluation of Salinity[J]. Journal of Atmospheric and Oceanic Technology, 2009, 26(3): 665-672.
[29]	Garau B, Ruiz S, Zhang W G, et al. Thermal Lag Correction on Slocum CTD Glider Data[J]. Journal of Atmospheric and Oceanic Technology, 2011, 28(9): 1065-1071.
[30]	Liu Y, Weisberg R H, Lembke C. Glider Salinity Correction for Unpumped CTD Sensors Across a Sharp Thermocline[J]. Coastal Ocean Observing Systems, 2015, 17: 305-325.
[31]	Eriksen C C. Salinity Estimation Using an Unpumped Conductivity Cell on an Autonomous Underwater glider[C]//Fourth EGO Conf. Larnaca, Cyprus: EGO, 2009.
[32]	Frajka-Williams E, Eriksen C C, Rhines P B, et al. Determining Vertical Water Velocities from Seaglider[J]. Journal of Atmospheric and Oceanic Technology, 2011, 28(12): 1641-1656.
[33]	Bray N A. Salinity Calculation Techniques for Separately Digitized Fast Response and Platinum Resistance CTD Temperature Sensors[J]. Deep Sea Research Part a Oce- anographic Research Papers, 1987, 34(4): 627-632.
[34]	Thomson R E, Emery W J. Data Analysis Methods in Physical Oceanography[M]. Newnes, Amsterdam, Oxford and Boston, 2014: 639-664.
[35]	Sprintall J, Tomczak M. Evidence of the Barrier Layer in the Surface Layer of the Tropics[J]. Journal of Geophysical Research Oceans, 1992, 97(C5): 7305-7316.