The Hybrid-driven Underwater Glider(HUG)is a new type of submersible vehicle which combines the functions of traditional Autonomous Underwater Vehicles(AUV)and Autonomous Underwater Gliders(AUG).In order to study its noise source distribution and basic self-noise characteristics,a self-noise acquisition system based on the HUG was designed and developed,and a noise analysis test carried out in a free-field pool.In August 2016,the sea trial of the Petrel II glider was conducted in the South China Sea,with ob...