水下无人系统学报2025，Vol.33Issue(1)：56-64,9.DOI:10.11993/j.issn.2096-3920.2024-0117
一种面向受限水域应用的水声-WIFI双链路协同控制AUV
AUV with Underwater Acoustic-WIFI Link Cooperative Control for Confined Waters
摘要
Abstract
Autonomous undersea vehicle(AUV)generally adopts acoustic communication links for underwater control.However,in complex and confined waters such as coastal shoals,reservoirs,lakes,canals,and caves,complex multiple paths can seriously impact the performance of high-speed underwater acoustic communication,while the limited water depth of these environments makes wireless links a viable option.Therefore,a micro-sized AUV,SubseaBuddy-3,was developed that integrated both underwater acoustic and WIFI links for cooperative control.The underwater acoustic link adopted the low-speed spread-spectrum communication mode to ensure communication reliability under strong multipath conditions,while the high-speed WIFI link could work in shallow water,be used for pre-deployment function testing,and assist with the control and observation during retrieval.By coordinating the underwater acoustic and WIFI links based on working depths and data acquisition/transmission states,the system ensured reliable command and control,along with real-time/quasi-real-time underwater image transmission in confined waters.Additionally,the AUV was equipped with an inertial measurement unit(IMU)and a depth sensor for attitude and depth control.The effectiveness of the dual-link communication system for AUVs was validated by the pool experiment.关键词
自主水下航行器/水声通信/WIFI双链路/协同控制/受限水域Key words
autonomous undersea vehicle/underwater acoustic communication/dual-WIFI link/cooperative control/confined waters分类
武器工业引用本文复制引用
张檬,魏博文,金均昊,童峰,张福民..一种面向受限水域应用的水声-WIFI双链路协同控制AUV[J].水下无人系统学报,2025,33(1):56-64,9.基金项目
国家重点研发计划项目资助(2018YFE0110000) （2018YFE0110000）
上海市科委"科技创新行动计划"项目资助(21DZ1205502) （21DZ1205502）
厦门市海洋产业项目资助(22CZB012HJ13). （22CZB012HJ13）
