提出声-惯-光融合控制方案，实现水下直升机精准定向对接
Control System Design and Experiments for Autonomous Underwater Helicopter Docking Procedure Based on Acoustic-inertial-optical Guidance
- 分阶段引导：寻位与着陆各用不同感知方式
- 采用分段对准策略，确保垂直降落时姿态稳定
- 实验验证方法在池塘和海上均有效，适合高精度对接场景
本文针对自主水下直升机（AUH）的水下对接过程，提出一种基于声学-惯性-光学融合导航的控制系统结构。与传统自主水下航行器（AUV）不同，AUH在对接阶段需保持静止或极小水平移动，仅进行垂直运动。对接过程分为寻位与着陆两个阶段，各阶段采用不同的引导方式。在着陆阶段引入分段对准策略和线速度决策机制。由于海底对接系统（SDS）具有特定结构，要求AUH以固定姿态和高度对接，因此提出了一个专门判断对接成功的标准。通过池塘实验和海上试验，验证了该控制方法在对接过程中的有效性与鲁棒性。
原文摘要 · Abstract (English)
A control system structure for the underwater docking procedure of an Autonomous Underwater Helicopter (AUH) is proposed in this paper, which utilizes acoustic-inertial-optical guidance. Unlike conventional Autonomous Underwater Vehicles (AUVs), the maneuverability requirements for AUHs are more stringent during the docking procedure, requiring it to remain stationary or have minimal horizontal movement while moving vertically. The docking procedure is divided into two stages: Homing and Landing, each stage utilizing different guidance methods. Additionally, a segmented aligning strategy operating at various altitudes and a linear velocity decision are both adopted in Landing stage. Due to the unique structure of the Subsea Docking System (SDS), the AUH is required to dock onto the SDS in a fixed orientation with specific attitude and altitude. Therefore, a particular criterion is proposed to determine whether the AUH has successfully docked onto the SDS. Furthermore, the effectiveness and robustness of the proposed control method in AUH's docking procedure are demonstrated through pool experiments and sea trials.
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