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The determination of submersion depth of autonomous underwater probes is a crucial aspect in enhancing the quality and informativeness of underwater research and critical system monitoring. Traditionally, to address this task, measurement of hydrostatic pressure is widely used, coupled with the application of hydrostatics formulas. This article discusses the existing limitations in determining the submersion depth of instruments in the ocean based on traditional hydrostatic pressure measurements, coupled with errors arising from the variability of salt composition in different regions. In this paper, we present a comprehensive dynamic measurement method that encompasses two key approaches. The first method involves measuring the density profile using data from the hydrostatic pressure sensor and its first and second derivatives. The second method determines the submersion depth based on the density profile data. Furthermore, a new patented design of a measuring channel for autonomous underwater probes is presented, utilizing a hydrostatic differential manometer. For this design, an original mathematical model for autonomous real-time operational analysis for dynamically assessing ocean vertical stratification with increased accuracy and efficiency of the proposed approaches is introduced. The proposed methods serve as the foundation for reliable and accurate means of dynamically measuring the submersion depth of autonomous underwater probes, thereby contributing to the advancement of underwater research and operations.
Shishkin et al. (Mon,) studied this question.