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Research on the 3D Sinking Motion Processing Method for Expendable Probe Based on Continuous Frame Difference
Author(s): 
Pages: 7-12
Year: Issue:  2
Journal: Ocean Technology

Keyword:  expendable probesinking motioncontinuous frame differencetarget detection;
Abstract: Loaded by unmanned aerial vehicles(UAV), expendable probes can be used to measure ocean hydrological profiles in distant or dangerous target sea areas. The temperature and salinity profile data could be measured through installing appropriate sensors, while the depth value can be calculated by mathematical methods. In this paper, the experimental results of five attack angles are obtained by double cameras in the plume experiment. The methods of detecting moving objects are analyzed, and the continuous frame difference method is chosen to determine the 3D coordinate position, thus obtaining the 3D sinking motion trajectory and velocity curves of the probe. The attack angle of probe adjusts continually after being released from the water surface, and changes the movement posture while accompanied by its own rotation to offset the horizontal direction of the resistance role. The initial measurement error is mainly reflected in the acceleration process, with the measurement error unchanged after the probe has achieved uniform sinking motion. The probe will finally move at a steady vertical sinking velocity without the necessity of considering the cross flow.
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