Unit1: AUV navigation through turbulent ocean environments supported by onboard H-ADCP

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  1. 涡流海洋环境: turbulent ocean environments
  2. 湍流:Energetic flows,instabilities and currents,strong current fields
    1. Energetic flows, instabilities and currents can strongly perturb safety conditions and development of AUVs operations. 
  3. 流线型:hydrodynamic shape
  4. 电池驱动:electrical propulsion
  5. 潜艇定位导航:submarine navigation and positioning
    1. Their hydrodynamic shape, electrical propulsion, submarine navigation and positioning allows continuous sampling of environmental conditions. 
  6. 时空复杂性:spatio-temporal complexity
  7. 鲁棒性:Robustness
    1. Robustness of AUVs to this strong environmental variability is a key element to carry out safety and optimum operations.
  8. 小尺度结构:small scale structures


  1. 实现、执行:carry out
    1. Autonomous underwater vehicles (AUVs) are submarine robots able to carry out ocean sampling campaigns autonomously.
  2. 引起:be induced in
    1. This spatio-temporal complexity is induced by the turbulent nature of the ocean, described by the continuous change of a wide range of spatial and time scales.
  3. 威胁:perturb
    1. This variability can strongly perturb the development of AUVs operations.
  4. 忽视:miss
    1. Thus, small scale ocean variability (10 m-1000 m) is missed by numerical ocean models and predictions are not provided for the evolution of small scale structures.
  5. 划重点,突出,强调:highlight
    1. Two important aspects should be highlighted from these Figures.
  6. 利用:take advantage of


  1. 仿真: The proposed procedure has been tested on simulated turbulent environments.


  1. 句首,引出下文水下机器人的时变环境介绍:AUVs frequently operate in ocean environments characterized by complex spatio-temporal variability [8].
  2. 句首,目前建模空间分辨率不足,引出下文小尺度建模:While numerical ocean models can span a considerable part of ocean variability, their spatial resolutions are still hundreds to thousands times bigger than the characteristic size of an AUV.
  3. 句尾,概括下文重点是环境建模下的算法仿真:Section III describes the different turbulent ocean environments employed to determine the performance of the developed algorithm.

System Model

  1. 句首,引出下文湍流推导:The case of AUV motion on the horizontal plane is considered. 
  2. 说明湍流为什么是二维的:Specifically, ocean flows are almost bi-dimensional due to the constraint of the rapid rotation of Earth, strong stratification and horizontal scales much larger than vertical.
  3. 衔接:Under this assumption,...
  4. AUV实现最优路线:apply the route planner to find the optimum path to reach the goal
  5. 描述速度场如何得到参数:Initial velocity fields were obtained from streamfunctions randomly generated from a specific isotropic(/ˌaɪsəˈtrɑːpɪk/各向同性) power spectrum(/ˈspektrəm/) with random phases.
  6. 首先,其次:Two important aspects should be highlighted from these Figures: first the time varying character of the velocity( /vəˈlɑːsəti/) field(/fiːld/) and second the structure of the path followed by the AUV trying to take advantage of the current field that locally favours its mission.