基于自适应阈值的AUV完全自主温跃层探测方法研究

海洋温跃层是一种重要的海洋现象。本文的研究基于自主水下机器人（Autonomous Underwater Vehicle，AUV），提出了一种梯度阈值可调的温跃层探测方法，其阈值可根据海洋温跃层分布特性自适应修改，同时针对AUV温跃层探测中水体分层厚度选取的问题，提出了一种根据温度梯度峰值点个数自主确定其大小方法，可实现AUV完全自主探测温跃层。根据AUV外场实验数据，把本文方法同峰值法、平均梯度法以及最优分割法进行了比较分析，结果表明该方法简单有效。

Research on Thermocline Detecting Based on Adaptive Threshold Using Autonomous Underwater Vehicle

Thermocline is an important ocean phenomenon. In this paper, we present a thermocline detecting and tracking method based on adjustable thermocline grad threshold by AUV (autonomous underwater vehicle), the threshold can be self-adaptively modified according to thermocline distribution characteristics, meanwhile, for the key issue of bin size setting in thermocline tracking, an autonomous algorithm based on the number of grad peak points is proposed, which can make AUV completely self-determination. With data of AUV filed test, comparative analysis is proceeded with Peak-Gradient, Average-Gradient and Optimal-Segmentation methods, the result shows that the method is simple and effective.