| 海底AUV关键技术综述 |
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| 引用本文： | 周晶，司玉林，林渊，等. 海底AUV关键技术综述[J]. 海洋学报，2023，45(10)：1–12 doi: 10.12284/hyxb2023153 |
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| 作者姓名： | 周晶 司玉林 林渊 魏艳 安新宇 王杭州 黄豪彩 陈鹰 |
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| 作者单位： | 1.浙江大学 电气工程学院，浙江 杭州 310027;;2.浙江大学 海洋学院，浙江 舟山 316021;;3.流体动力与机电系统国家重点实验室，浙江 杭州 310058 |
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| 基金项目： | 国家重点研发计划项目（2017YFC0306100）；国家自然科学基金面上项目（52271352）；江苏省重点研发计划项目（BE2022062）。 |
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| 摘 要： | 海底海洋的观测探测，亟需大范围、长时间的观测平台。海底AUV有三大要点：适应海底机动性的结构、适应海底复杂环境的机敏运动性能、适应海底的水声通信定位技术。本文分析了海底AUV的发展与演变历程，凝练出海底AUV的关键技术难题，并相应地给出海底AUV水动力外形优化技术、海底AUV机敏运动控制技术、海底水声通信与定位导航技术、海底接驳与充电技术的解决思路。最后以碟形结构的水下直升机为例，给出了海底AUV的实践探索一例。本文将为海底AUV及其观测探测技术的发展提供指导意义。
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| 关 键 词： | 无人潜水器 海底 海洋观测探测 机敏运动 水声通导 |
| 收稿时间： | 2023-03-27 |
| 修稿时间： | 2023-05-23 |
A review of subsea AUV technology |
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| Zhou Jing，Si Yulin，Lin Yuan, et al. A review of subsea AUV technology[J]. Haiyang Xuebao，2023, 45(10)：1–12 doi: 10.12284/hyxb2023153 |
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| Authors: | Zhou Jing Si Yulin Lin Yuan Wei Yan An Xinyu Wang Hangzhou Huang Haocai Chen Ying |
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| Affiliation: | 1. College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China;;2. Ocean College, Zhejiang University, Zhoushan 316021, China;;3. State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou 310058, China |
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| Abstract: | The observation and exploration of the seabed urgently requires the appearance of large-scale and long-term observation platforms. The subsea AUV has three main points: a structure that suitable for the mobility in the seabed, an intelligent motion performance that adapts to the complex environment of the seabed, and the underwater acoustic communication and positioning technology that adapts to the seabed. In this paper, the development and evolution of subsea AUV is analyzed, the key technical challenges of underwater AUVs are summarized, and corresponding solutions for underwater AUV hydrodynamic shape optimization technology, intelligent motion control technology, underwater acoustic communication and positioning navigation technology, and underwater connection and charging technology are provided. Finally, a study case of Autonomous Underwater Helicopter is given, to provide a solution for subsea AUV. This paper provides guidance for the development of subsea AUV, as well as ocean observation and exploration technology. |
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| Keywords: | unmanned underwater vehicle seabed ocean observation and exploration motion agility underwater acoustic communication and navigation |
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