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Station-Keeping Underwater Gliders Using a Predictive Ocean Circulation Model and Applications to SWOT Calibration and Validation

Clark, Evan B. and Branch, Andrew and Chien, Steve and Mirza, Faiz and Farrara, John D. and Chao, Yi and Fratantoni, David and Aragon, David and Schofield, Oscar and Flexas, Mar M. and Thompson, Andrew (2019) Station-Keeping Underwater Gliders Using a Predictive Ocean Circulation Model and Applications to SWOT Calibration and Validation. IEEE Journal of Oceanic Engineering . ISSN 0364-9059. (In Press) http://resolver.caltech.edu/CaltechAUTHORS:20190207-132509895

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Abstract

Instrumented ocean moorings are the gold standard for gathering in situ measurements at a fixed location in the ocean. Because they require installation by a ship and must be secured to the seafloor, moorings are expensive, logistically difficult to deploy and maintain, and are constrained to one location once installed. To circumvent these issues, previous studies have attempted to utilize autonomous underwater gliders as platforms for virtual moorings, but these attempts have yielded comparatively large station-keeping errors due to the difficulty of glider control in dynamic ocean currents. We implemented an adaptive planner using a vehicle motion model and a predictive ocean circulation model to improve station-keeping performance by incorporating anticipated currents into glider control. We demonstrate improved station-keeping performance using our planner in both simulation and in-field deployment results, and report smaller average station-keeping error than the Monterey Bay Aquarium Research Institute's M1 mooring. Finally, we utilize our simulation framework to conduct a feasibility study on using an array of autonomous gliders as virtual moorings to conduct critical calibration and validation (CalVal) for the upcoming National Aeronautics and Space Administration, Surface Water and Ocean Topography (SWOT) Mission, instead of using permanent moorings. We show that this approach carries several advantages and has potential to meet the SWOT CalVal objectives.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/joe.2018.2886092DOIArticle
http://www.kiss.caltech.edu/new_website/techdev/seafloor/seafloor.htmlRelated ItemScience-driven Autonomous and Heterogeneous Robotic Networks: A Vision for Future Ocean Observations
ORCID:
AuthorORCID
Flexas, Mar M.0000-0002-0617-3004
Thompson, Andrew0000-0003-0322-4811
Additional Information:© 2019 IEEE. Manuscript received March 13, 2018; revised August 14, 2018; accepted December 5, 2018. This work was supported in part by the NASA SWOT project, in part by the JPL Research and Technology Development Program, and in part by the Keck Institute for Space Studies (generously supported by the W. M. Keck Foundation) through the project “Science-driven Autonomous and Heterogeneous Robotic Networks: A Vision for Future Ocean Observation” (http://www.kiss.caltech.edu/new_website/techdev/seafloor/seafloor.html). Portions of this work were performed at the Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA, under contract with the National Aeronautics and Space Administration.
Group:Keck Institute for Space Studies
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
JPL Research and Technology Development FundUNSPECIFIED
Keck Institute for Space Studies (KISS)UNSPECIFIED
Subject Keywords:Adaptive control, autonomous systems, oceanographic techniques, predictive control, predictive models, unmanned underwater vehicles
Record Number:CaltechAUTHORS:20190207-132509895
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190207-132509895
Official Citation:E. B. Clark et al., "Station-Keeping Underwater Gliders Using a Predictive Ocean Circulation Model and Applications to SWOT Calibration and Validation," in IEEE Journal of Oceanic Engineering. doi: 10.1109/JOE.2018.2886092
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92762
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:07 Feb 2019 21:40
Last Modified:07 Feb 2019 21:40

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