Shear probe works under a tough environment where the turbulence signals to be measured are very weak. The measured turbulence signals often contain a large amount of noise. Due to wide frequency band, noise signals cannot be effectively removed by traditional methods based on Fourier transform. In this paper, a wavelet thresholding denoising method is proposed for turbulence signal processing in that wavelet analysis can be used for multi-resolution analysis and can extract local characteristics of the signals in both time and frequency domains. Turbulence signal denoising process is modeled based on the wavelet theory and characteristics of the turbulence signal. The threshold and decomposition level, as well as the procedure of the turbulence signal denoising, are determined using the wavelet thresholding method. The proposed wavelet thresholding method was validated by turbulence signal denoising of the Western Pacific Ocean trial data. The results show that the propsed method can reduce the noise in the measured signals by shear probes, and the frequency spectrums of the denoised signal correspond well to the Nasmyth spectrum.
PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.
