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Thermocline tracking using a portable autonomous underwater vehicle based on adaptive threshold
Sun LF(孙龙飞); Li YP(李一平); Yan SX(阎述学); Wang J(王健); Chen ZE(陈质二)
Department水下机器人研究室
Conference NameOCEANS 2016 - Shanghai
Conference DateApril 10-13, 2016
Conference PlaceShanghai, China
Source PublicationOCEANS 2016 - Shanghai
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages1-4
Indexed ByEI ; CPCI(ISTP)
EI Accession number20162902613110
WOS IDWOS:000386521800086
Contribution Rank1
ISSN0197-7385
ISBN978-1-4673-9724-7
KeywordAutonomous Underwater Vehicle Thermocline Selfadaptive Threshold Autonomous Detection
AbstractThermocline has a significant impact on marine fishery, navy submarine activity, ocean circulation and internal wave. In consideration of long range, low cost, and high maneuverability, the AUV (Autonomous Underwater Vehicle) is an ideal platform for ocean local precisely thermocline tracking. Combining with the advantage of the AUV yo-yo movement, this paper presents a simple and effective thermocline tracking method. According to the definition of the thermocline, we set a threshold, and in the real detect area, the threshold can change adaptively, thus we can draw the outline of the thermocline. Meanwhile, we present a method to determine bin size in order to solve the abruptness of robust and method's resolution. The simulation analysis was carried out using previous data of field test in the South China Sea.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18769
Collection水下机器人研究室
Corresponding AuthorSun LF(孙龙飞)
Affiliation1.Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
Recommended Citation
GB/T 7714
Sun LF,Li YP,Yan SX,et al. Thermocline tracking using a portable autonomous underwater vehicle based on adaptive threshold[C]. Piscataway, NJ, USA:IEEE,2016:1-4.
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