Research and Application of Unmanned Submersible Vehicle Facing Polar Ice Formation

Abstract:
This article is based on a Unmanned Submersible Vehicle to investigate the polar sea ice and sea areas under the ice. The Unmanned Submersible Vehicle is used as an under-ice operating platform, carrying and installing a variety of sensors and equipment for regional long-term under-ice real-time observation operations. The Unmanned Submersible Vehicle can use CT, CTD, chlorophyll and other sensors to monitor the temperature, salinity, depth, chlorophyll content and other environmental parameters of the polar ocean environment. At the same time, it can use installed deep-water cameras, imaging sonar and pressure sensors and other equipment, to observe the ice appearance under the polar sea ice, and return the underwater depth in real time. After the measurement, it can be remotely controlled or returned to the initial position autonomously. When encountering waves, ocean currents or creatures on the ocean surface and below during navigation, Unmanned Submersible Vehicle can safely and reliably perform obstacle avoidance actions through artificial potential field algorithms, and complete the observation work safely. The self-designed host computer is used to realize the reliable operation of Unmanned Submersible Vehicle and the complete return of environmental detection data.