AbstractOcean gliders have become ubiquitous observation platforms in the ocean in recent years. They are also increasingly used in coastal environments. The coastal observatory system COSYNA has pioneered the use of gliders in the North Sea, a shallow tidally energetic shelf sea.
For operational reasons, the gliders operated in the North Sea are programmed to resurface every 3–5 h. The glider's dead-reckoning algorithm yields depth-averaged currents, averaged in time over each subsurface interval. Under operational conditions these averaged currents are a poor approximation of the instantaneous tidal current.
In this work an algorithm is developed that estimates the instantaneous current (tidal and residual) from glider observations only. The algorithm uses a first-order Butterworth low pass filter to estimate the residual current component, and a Kalman filter based on the linear shallow water equations for the tidal component. A comparison of data from a glider experiment with current data from an acoustic Doppler current profilers deployed nearby shows that the standard deviations for the east and north current components are better than 7 cm s−1 in near-real-time mode and improve to better than 6 cm s−1 in delayed mode, where the filters can be run forward and backward.
In the near-real-time mode the algorithm provides estimates of the currents that the glider is expected to encounter during its next few dives. Combined with a behavioural and dynamic model of the glider, this yields predicted trajectories, the information of which is incorporated in warning messages issued to ships by the (German) authorities. In delayed mode the algorithm produces useful estimates of the depth-averaged currents, which can be used in (process-based) analyses in case no other source of measured current information is available.