DIVING IN DENSITY: CONTROLLING THE DEPTH OF A PROFILING FLOAT IN COASTAL WATERS

摘要

Controlling a profiling float as it dives in coastal waters isrna challenging task, requiring efficient and accuraternmovements while in a constantly changing environmentrnthat the float can't sense remotely. With the algorithmsrnpresented in this paper, we are able to control a SWARMrnfloat's vertical position with an accuracy of ±1m safely,rnenergy-efficiently and without prior knowledge of thernspecific conditions of the water in which it is deployed.rnThe only instruments used are the on-board pressure andrntemperature sensors along with a downward-facingrnechosounder for sea-bottom avoidance. The algorithmsrnhave been verified using simulated floats in a realisticallyrnmodelled Baltic Sea environment.