面向典型海洋现象观测的水下滑翔机应用综述

doi:10.11978/2021066

热带海洋学报 ›› 2022, Vol. 41 ›› Issue (3): 54-74.doi: 10.11978/2021066CSTR: 32234.14.2021066

面向典型海洋现象观测的水下滑翔机应用综述

杨绍琼^1,^2,³(), 成丹¹, 陈光耀¹, 罗辰奕¹, 牛文栋^1,^2,³(), 马伟^1,^2,³, 法帅³

1.天津大学机械工程学院机构理论与装备设计教育部重点实验室, 天津 300350
2.天津大学青岛海洋技术研究院, 山东青岛 266237
3.青岛海洋科学与技术试点国家实验室, 海洋观测与探测联合实验室, 山东青岛 266237

收稿日期:2021-05-28 修回日期:2021-09-27 发布日期:2021-10-09
通讯作者: 牛文栋
作者简介:杨绍琼(1986—), 男, 安徽省宣城市人, 副教授, 博士研究生导师, 主要研究方向为深海智能装备、水下机器人和实验流体力学等。e-mail: shaoqiongy@tju.edu.cn
基金资助:
国家自然科学基金(11902219);国家自然科学基金(52005365);山东省支持青岛海洋科学与技术试点国家实验室重大科技专项(2018SDKJ0205)

Review on the application of underwater gliders for observing typical ocean phenomena

YANG Shaoqiong^1,^2,³(), CHENG Dan¹, CHEN Guangyao¹, LUO Chenyi¹, NIU Wendong^1,^2,³(), MA Wei^1,^2,³, FA Shuai³

1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300350, China
2. Qingdao Institute for Ocean Engineering, Tianjin University, Qingdao 266237, China
3. The Joint Laboratory of Ocean Observing and Detection, Pilot National Laboratory for Marine Science and Technology (Qingdao), Qingdao 266237, China

Received:2021-05-28 Revised:2021-09-27 Published:2021-10-09
Contact: NIU Wendong
Supported by:
National Natural Science Foundation of China(11902219);National Natural Science Foundation of China(52005365);Marine S&T Fund of Shandong Province for Pilot National Laboratory for Marine Science and Technology (Qingdao)(2018SDKJ0205)

摘要/Abstract

摘要：

水下滑翔机是一种浮力驱动的无人水下自治观探测平台, 具有持续性、鲁棒性、自主性等特点, 是构建海洋观测技术体系重要的水下航行器之一。文章从水下滑翔机发展历程、运行方式和专用传感器展开, 基于国内外海洋学文献综述研究, 重点对水下滑翔机在典型海洋现象观测应用方面进行总结。水下滑翔机的运行稳定性、长时续, 观测高分辨率、低成本的特点, 满足了对海洋中尺度涡、内波、湍流、环流/边界流和锋面的长时间、精细化立体观测要求; 鲁棒性、自主性的特点使其能够适应台风过境、地震、原油泄漏前后等紧急恶劣海洋状况的监测; 运行平稳、低噪声的特点使其成为声学监测与探测的良好平台。对比分析国内外的水下滑翔机(组网)应用状况可以发现, 国内水下滑翔机在传感器、数据处理和组网技术方面都需要进一步完善。最后总结并展望了国内外水下滑翔机面向海洋现象观测的应用。

关键词: 水下滑翔机, 海洋现象, 观测与探测, 传感器

Abstract:

As a buoyancy-driven autonomous underwater observation platform, the underwater glider has characteristics of sustainability, robustness and autonomy. It is one of the important underwater vehicles to construct an ocean observation technology system. In this paper, the underwater glider's development history, operation mode and special sensors are introduced in detail. Based on the oceanographic literature at home and abroad, the application of underwater gliders for observing typical marine phenomena is summarized. The characteristics of the underwater glider, such as stability, long duration, high resolution, and low cost, meet the needs of long-time and carefully stereoscopic observations of mesoscale eddies, internal waves, turbulence, boundary flows, and fronts. The robustness and autonomy make it adapt to severe ocean conditions, such as typhoons, earthquakes and crude oil leakage before and after. The characteristics of stable operation and low noise also make it a good platform for acoustic monitoring and detection. Through comparative analysis and research on the application status of the underwater glider (networking) at home and abroad, we conclude that the sensor, data processing system and networking of the domestic underwater glider need to be further improved. Finally, we summarize and look forward to the application of underwater gliders for observing ocean phenomena at home and abroad.

Key words: underwater glider, ocean phenomenon, observation and detection, sensor

中图分类号:

P715

杨绍琼, 成丹, 陈光耀, 罗辰奕, 牛文栋, 马伟, 法帅. 面向典型海洋现象观测的水下滑翔机应用综述[J]. 热带海洋学报, 2022, 41(3): 54-74.

YANG Shaoqiong, CHENG Dan, CHEN Guangyao, LUO Chenyi, NIU Wendong, MA Wei, FA Shuai. Review on the application of underwater gliders for observing typical ocean phenomena[J]. Journal of Tropical Oceanography, 2022, 41(3): 54-74.

图/表 16

图1

表1

表2

水下滑翔机在观测海洋中尺度涡中的应用"

海域	时间	AUG类型	机构	中尺度涡相关	相关文献
巴伦支海	2017/7	Slocum	苏格兰海洋科学协会	水体特征	Porter et al, 2020
白令海峡	2017/8—9	Seaglider	华盛顿州太平洋海洋环境实验室	生产力	Ladd et al, 2020
加利福尼亚	2003/8—2009/1		加利福尼亚合作海洋渔业调查	与加利福尼亚海流关系	Pelland et al, 2013
阿拉斯加湾	2005/8—10		美国华盛顿大学	水体特征	Martin et al, 2009
夏威夷海	2005/2—7		美国伍兹霍尔海洋研究所	生产力	Nicholson et al, 2008
南海	2015/4—6	Seawing	自然资源部第二海洋研究所	垂直温盐、非对称湍流混合结构	Liu et al, 2019; Qi et al, 2020
	2017/7—8		中国科学院南海海洋研究所	三维结构	Shu et al, 2019
	2007—2017		中山大学	边缘海面温度锋面	Qiu et al, 2020
南海	2015/5	Petrel-II	中山大学	形状不对称原因	Qiu et al, 2019
	2017/7—8		天津大学	动力模型	Wang et al, 2020a
	2017/8—29		天津大学	三维结构、水下滑翔机组网最佳配置、源头	Li et al, 2018, 2019, 2020
塔斯曼海西部	2009—2010	Seaglider	悉尼海洋科学研究所	水体入侵	Baird and Ridgway, 2012
罗弗顿盆地中部	2012/7—2015/7	Seaglider	中国科学院南海海洋研究所	结构、演变	Yu et al, 2017
伊尔明格海	2006	Spray	美国斯克里普斯海洋研究所	结构和水文特征	Fan et al, 2013
拉布拉多海	2004/9		丹麦法罗海洋研究所	结构和水文特征	Hátún et al, 2007
拉布拉多海	2005/1		英国国家海洋中心	密度特征	Frajka—Williams et al, 2014
巴利阿里海域	2007/7—2008/6	Slocum	西班牙地中海高级研究院	温盐结构	Bouffard et al, 2010
	2009/12		西班牙地中海高级研究院	热通量交换	Ruiz et al, 2012
	2014/9—12		“Algerian Basin Circulation Unmanned Survey”观测项目	源头、演化及生产力	Cotroneo et al, 2016
利古里亚海	2010/7	Slocum	意大利国家海洋和实验地球物理研究所	与强风关系	Poulain et al, 2020
利古里亚海	2013/6	Slocum	挪威卑尔根大学	生产力	Bosse et al, 2017
利翁湾	2012—2015	Slocum	法国佩皮尼昂大学	源头	De Madron et al, 2017

表2

图2

表3

图3

图4

表4

表5

图5

表6

水下滑翔机在观测边界流及部分大洋环流中的应用"

海域	时间	AUG类型	机构	边界流相关	相关文献
斯瓦尔巴群岛	2018/9—11	Seaglider	挪威卑尔根大学地球物理研究所	暖大西洋边界流	Kolås et al, 2020
美国南加州	2006—2009	Spray	美国斯克里普斯海洋研究所	加利福尼亚环流	Todd et al, 2011
吕宋海峡	2012/6—2013/6	Seaglider	美国华盛顿大学	黑潮	Lien et al, 2014
菲律宾海	2009/6—2014/1	Spray	美国斯克里普斯海洋研究所	北赤道洋流	Schönau et al, 2015
菲律宾东岸	2009/9—2013/10		棉兰老洋流观测项目	棉兰老洋流	Schönau et at, 2017
所罗门海	2007—2010		Consortium on the Ocean's Role in Climate	新几内亚海岸潜流	Davis et al, 2012
所罗门群岛	2005/7—10		新喀里多尼亚发展研究所	南赤道洋流	Gourdeau et al, 2008
秘鲁南部	2008/10—11	Slocum	法国索邦大学	秘鲁上升流	Pietri et al, 2013
美国北卡罗来纳州附近	2004—2009	Spray	美国伍兹霍尔海洋研究所	墨西哥湾流	Todd et al, 2016; Todd, 2017;
美国东海岸	2004—2020	Spray	美国麻省理工学院-伍兹霍尔海洋学院海洋学联合项目	墨西哥湾流	Heiderich et al, 2020
澳大利亚东南部	2008—2014	Slocum	澳大利亚新南威尔士大学	东澳大利亚洋流	Schaeffer et al, 2015
非洲东南海岸	2015/4	Seaglider	阿古拉斯大陆架滑翔机实验	阿古拉斯洋流	Krug et al, 2017
罗科尔深海高原	2014/6—2016/6	Seaglider	苏格兰海洋科学协会	北大西洋洋流	Houpert et al, 2018
印度洋塞舌尔丹尼斯岛	2018/3—6	Spray	美国伍兹霍尔海洋研究所	赤道环流	Todd, 2020a
加拉帕戈斯群岛西部	2013/10—2016/10	Spray	美国斯克利普斯海洋学研究所	赤道潜流、南赤道洋流	Rudnick et al, 2021
加拉帕戈斯群岛西部	2013/1—2016/12	Spray	美国麻省理工学院-伍兹霍尔海洋学院海洋学联合项目	赤道洋流系统	Jakoboski et al, 2020

表6

图6

表7

水下滑翔机在观测水质水文中的应用"

海域	时间	AUG类型	机构	水质特征	相关文献
南加州海岸	2006/9—10	Spray	美国斯克里普斯海洋研究所	叶绿素	Todd et al, 2009
南加州中部	2010/2—6	Slocum	美国宇航局戈达德航天飞行中心	浮游植物	Seegers et al, 2015
澳大利亚东南部	2008/7—12	Slocum	悉尼科技大学	叶绿素	Baird et al, 2011
冰岛南部	2008/4	Seaglider	美国伍兹霍尔海洋研究所	水华	Mahadevan et al, 2012
北海	2013		英国东安格利亚大学	温盐	Sheehan et al, 2020
凯尔特海	2015/4		英国南安普敦大学	硝酸盐	Vincent et al, 2018
波克潘深海平原	2012—2013		英国环境、渔业和水产养殖科学中心	水华	Binetti et al, 2020
维戈近海	2010/6—8		英国东安格利亚大学	浮游植物	Rollo et al, 2020
新泽西州	2006/4—9	Slocum	美国罗格斯大学	温盐季节变化	Castelao et al, 2008b
华盛顿州	2003/9—2007/12	Seaglider	美国缅因大学	水华	Perry et al, 2008
中大西洋湾	2003/10—2004/11	Slocum	美国罗格斯大学	温盐年际变化	Castelao et al, 2008a
中大西洋湾	2003/10	Slocum	美国罗格斯大学	水华	Schofield et al, 2008
中大西洋湾	2006/3—4、2007/7—10	Spray	美国伍兹霍尔海洋研究所	水平温盐变化	Todd et al, 2013
中大西洋湾	2006—2008	Slocum	美国罗格斯大学	水华	Xu et al, 2013
	2005			浮游植物	Xu et al, 2011
	2018/5—2019/11			碳酸盐	Wright et al, 2020
大西洋斯科舍陆架	2015	Slocum	加拿大达尔豪斯大学	浮游动物	Ruckdeschel et al, 2020
亚得里亚海坑	2013—2016	Seaglider、Slocum	意大利国家海洋和实验地球物理研究所	盐度变化	Kokkini et al, 2020
罗特尼斯岛	2009、2010、2011、2015、2016	Slocum	西澳大学海洋研究所	叶绿素	Chen et al, 2020
南极威德尔海	2012/1—3	Seaglider	英国东安格利亚大学	生产力	Biddle et al, 2015
北极白令海	2019/9	Petrel	天津大学	温度、溶解氧	杨绍琼等, 2021

表7

图7

表8

图8

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用途	传感器名称	主要用途
民用	温、盐、深测量仪(CTD)	测量温度、深度和电导率
	溶解氧传感器	测量溶解氧含量
	剪切流传感器	测量海洋流速剪切, 海洋湍流动能耗散率
	海流计	测量海水流速、方向
	声学多普勒流速剖面仪ADCP(acoustic Doppler current profiler)	测量海水流速、流向等水文要素
	水质传感器	测量水中氨氮、叶绿素、含氧量、浊度等
	光学反向散射仪	监测海水悬浮物质
	高度计	测量仪器距海底的距离
	养分传感器	测量海水中养分含量
	叶绿素荧光计	测量叶绿素a的浓度
	有色可溶性有机物传感器	测量有色可溶性有机物含量
	Gamma射线传感器	测量海水射线强度和海水放射性辐射
	MicroRider	湍流微结构测量
	声学反向散射仪	监测海水悬浮泥沙颗粒
	PAR光合有效辐射(photosynthetically active radiation)模块	测定辐照度
	pH传感器	监测海水pH
	回声测深仪	测量海中浮游动物声波
	水听器	监测海中声波
	数字声学监测仪	实时记录处理海中音频
军用	矢量声学传感器	水声研究、定位和跟踪、保卫港口安全、侦察
	全方位声波传感器	探测水中振动和噪声, 评估碰撞的严重程度
	水声通讯调制解调器	进行水声通讯

海域	时间	AUG类型	机构	台风相关	相关文献
西北太平洋	2010/9	Seaglider	美国华盛顿大学	冷尾迹演变	Mrvaljevic et al, 2013
西北太平洋	2012/6	Seaglider	美国海军研究生院	光学传感器对比	Chu et al, 2019
南海	2017	Petrel-II	天津大学	现场水文数据	周磊等, 2019
北海	2014/8	Slocum	德国亥姆霍兹研究所	生产力	Schultze et al, 2020
新泽西州	2011/8	Slocum	美国罗格斯大学	强度降低	Glenn et al, 2016; Seroka et al, 2017
新泽西州	2012/10			泥沙再悬浮、输运	Miles et al, 2015
中大西洋湾	2009/11			沉积物再悬浮	Miles et al, 2013
百慕大	2014/10		美国伍兹霍尔海洋研究所	降水	Steffen et al, 2020
墨西哥湾	2017	Spray	美国伍兹霍尔海洋研究所	边界流	Todd et al, 2018
波多黎各	2014/10	Slocum	美国迈阿密大学	盐度层	Domingues et al, 2015

海域	时间	AUG类型	机构	内波湍流相关	相关文献
加拿大海盆冰区	2014/7—10	Seaglider	美国伍兹霍尔海洋研究所	冰盖水域	Cole et al, 2018
格陵兰海	2006/11—2009/11	Seaglider	美国华盛顿大学	湍流动能耗散	Beaird et al, 2012
波弗特海东南部	2015/8—9	Slocum	加拿大英属哥伦比亚大学	强分层对湍流作用	Scheifele et al, 2021
吕宋海峡	2007/4—2008/7	Spray	美国斯克里普斯海洋研究所	内波频谱	Rudnick et al, 2013
南海	2011/6—8	Spray	美国斯克里普斯海洋研究所	内潮能量通量	Johnston et al, 2013
南海	2007	Spray	美国华盛顿大学	振幅、相位	Rainville et al, 2013
南海	2015/2	Petrel	天津大学	湍流动能耗散率	马伟等, 2017
南海	2017/7—8	Petrel-II	天津大学	内波特征	Ma et al, 2018
利翁湾	2008	Slocum	英国南安普顿国家海洋中心	内波速度	Merckelbach et al, 2010
法罗群岛	2012/6	Slocum	挪威卑尔根大学	湍流动能耗散率	Fer et al, 2014
拉布拉多海	2004/9—2005/4	Seaglider	英国南安普顿国家海洋中心	垂直速度方法	Frajka-Williams et al, 2011
凯尔特海	2012/6	Slocum	英国南安普顿国家海洋中心	湍流动能耗散率	Palmer et al, 2015
墨西哥湾	2016/7	Slocum	美国斯坦尼斯航天中心海军研究实验室	热分层昼间暖层的演化	Wijesekera et al, 2020
巴哈马群岛	2017/11—2018/3	Seaglider	英国南安普顿国家海洋学中心和西班牙维戈海洋研究所	涡旋内波破碎、湍流耗散	Fernández-Castro et al, 2020

海域	时间	AUG类型	机构	锋面相关	相关文献
南加州	2006—2011	Spray	美国斯克里普斯海洋研究所	浮游动植物	Powell et al, 2015
日本海	2016/4—6	Seaglider	日本海洋国家渔业研究所	副极地锋和对马暖流	Wagawa et al, 2020
秘鲁附近	2013/1	Slocum	德国亥姆霍兹海洋研究中心	氧气最小区域流通问题	Thomsen et al, 2016
墨西哥湾	2012/3		美国俄勒冈州立大学	锋面边缘暖流	Sanchez-Rios et al, 2020
巴利阿里海域	2007/7、9		巴利阿里大学	巴利阿里锋	Ruiz et al, 2009
南极半岛东部	2012/1	Seaglider	“水下滑翔机: 观察海洋的优秀新工具”项目	斜坡锋	Heywood et al, 2014
南极边缘冰区	2018/12— 2019/3	Seaglider	瑞典哥德堡大学	风锋相互作用	Swart et al, 2020

海域	时间	AUG类型	机构	声学相关	相关文献
罗弗顿群岛	2018/3—5	Seaglider	挪威特罗姆瑟大学	座头鲸、抹香鲸、海豚	Aniceto et al, 2020
加州蒙特利近海	2006/8		美国阿拉斯加渔业科学中心	蓝鲸、座头鲸、抹香鲸	Moore et al, 2007
夏威夷西海岸	2009/10—11		美国国家海洋大气局太平洋海洋环境实验室	喙鲸	Klinck et al, 2012
韩国浦项	2017/11	Slocum	韩国西江大学	地震声音	Lee et al, 2019
马里亚纳海沟	2018/4	Petrel-II	浙江大学	减少自噪声算法	Jiang et al, 2019, 2021
南海	2018/8	Petrel-II	浙江大学	减少自噪声算法	Jiang et al, 2019, 2021
南海	2016/8	Petrel-Ⅱ	中国科学院声学研究所	南海水下噪声谱图	Liu et al, 2018
劳盆地	2010/5	Slocum	美国俄勒冈州立大学	海底火山活动化学水声特征	Matsumoto et al, 2010
新南威尔士州	2009/5	Slocum	澳大利亚新南威尔士州国防科学与技术机构	海豚	Ferguson et al, 2010
美国缅因州	2005/5	Slocum	美国伍兹霍尔海洋研究所	塞鲸、北尾长鲸	Baumgartner et al, 2008
美国缅因州	2015、2016	Slocum	美国伍兹霍尔海洋研究所	须鲸、长须鲸、鳕鲸和北大西洋露脊鲸	Baumgartner et al, 2020
西佛罗里达	2009/7	Slocum	美国南佛罗里达大学	红色石斑鱼、蟾蜍、未知生物	Wall et al, 2012
地中海	2017/9—10	SeaExplorer	比利时功能和进化形态学实验室	10种鱼类声音	Bolgan et al, 2020
南极半岛东部	2012/1	Seaglider	英国剑桥南极考察	南极磷虾	Guihen et al, 2014

面向典型海洋现象观测的水下滑翔机应用综述

Review on the application of underwater gliders for observing typical ocean phenomena

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