A Novel Method of Trajectory Optimization for Underwater Gliders Based on Dynamic Identification

For underwater gliders (UGs), high trajectory accuracy is an important factor in improving the observation of ocean phenomena. In this paper, a novel method optimization proposed to increase UGs, which approximately based on nonlinear dynamic model, rather than linearization model. Firstly, model UGs established analyze effect input parameters error, some approximate models that replaced due its strong nonlinearity. Then, identification strategy for error proposed, and analyzed while considering gliding range loss distance loss. Finally, paper are verified by sea trial Petrel-L. The strategy, appropriate other UGs.