水下驻留AUV对接关键技术综述

王芸; 王猛; 张喜林; 郭磊; 孙治雷

doi:10.11993/j.issn.2096-3920.2026-0051

水下驻留AUV对接关键技术综述

doi: 10.11993/j.issn.2096-3920.2026-0051

王芸^{1, 2,},
王猛^3,,
张喜林^4,,
郭磊^1,,
孙治雷^4, ,

1.
山东大学海洋研究院, 山东青岛, 266237
2.
崂山实验室, 山东青岛, 266237
3.
上海交通大学船舶海洋与建筑工程学院, 上海, 200240
4.
中国地质调查局青岛海洋地质研究所, 山东青岛, 266071

基金项目: 国家重点研发计划项目课题(2022YFC2807704); 山东省重点研发计划(重大科技创新工程)(2023CXGC010401); 中国地质调查局地质调查专项(DD2026032030).

详细信息

作者简介:
王芸：王　芸(2003-), 女, 在读博士, 主要研究方向为水下长驻系统相关研究

通讯作者:
孙治雷(1975-), 男, 研究员, 主要从事深海极端环境探测技术研发及应用与深海矿产资源调查评价.

中图分类号: TJ630; U663
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- 被引次数: 0
出版历程
- 收稿日期: 2026-03-10
- 修回日期: 2026-04-01
- 录用日期: 2026-04-14
- 网络出版日期: 2026-09-11

A Review of Key Technologies for Underwater Resident AUV Docking

WANG Yun^{1, 2
,},
WANG Meng^3
,,
ZHANG Xilin^4
,,
GUO Lei^1
,,
SUN Zhilei^{4
, ,}

1.
Shandong University, Ocean Research Institute, Qingdao 266237, China
2.
Laoshan Laboratory, Qingdao 266237, China
3.
School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
4.
Qingdao Institute of Marine Geology, China Geological Survey, Qingdao 266071, China

摘要

摘要: 自主水下航行器(AUV)自主对接是水下驻留系统实现长期连续作业、能量补给与数据回传的关键环节, 其性能直接影响系统运行效率与长期可靠性。近年来, 面向复杂海洋环境的AUV对接技术已由早期功能验证发展为涵盖对接站结构、定位导航、规划控制及能源与数据管理的系统化技术体系, 呈现出结构、感知、控制与能源深度耦合的发展特征。然而, 现有研究在环境适应性、感知退化条件下鲁棒性、长期运行可靠性评估及系统级协同设计等方面仍存在不足。文中系统梳理了水下驻留场景下AUV对接站结构、分阶段定位导航、规划控制及能源与数据管理等关键技术进展, 分析其内在关联与面临挑战。研究表明, AUV对接技术正由单项性能提升转向面向不确定环境的系统级容错与协同优化。
- 自主水下航行器 /
- 自主对接 /
- 水下驻留 /
- 定位导航 /
- 规划控制 /
- 能源与数据管理
Abstract: Docking of autonomous underwater vehicles (AUVs) is a key link for underwater resident systems to achieve long-term continuous operation, energy replenishment, and data return, and its performance directly affects system operation efficiency and long-term reliability. In recent years, AUV docking technology for complex marine environments has evolved from early functional verification into a systematic technical framework covering docking station structures, positioning and navigation, planning and control, as well as energy and data management, exhibiting a development trend characterized by the deep coupling of structure, sensing, control, and energy. However, current studies still suffer from insufficient environmental adaptability, limited robustness under sensing degradation, inadequate evaluation of long-term operational reliability, and insufficient system-level collaborative design. This paper systematically reviews the recent progress in key technologies for AUV docking in underwater resident scenarios, including docking station structures, stage-based positioning and navigation, planning and control, and energy and data management, and analyzes their intrinsic relationships and the challenges they face. The results show that AUV docking technology is shifting from isolated performance improvement toward system-level fault tolerance and collaborative optimization under uncertainty.
- autonomous underwater vehicle /
- autonomous docking /
- underwater resident operation /
- positioning and navigation /
- planning and control /
- energy and data management

HTML全文

图 1 AUV对接不同对接站的场景

Figure 1. Scenarios of AUV docking with different docking stations

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图 2 作业流程示意图

Figure 2. Schematic diagram of operational process

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图 3 锥形/漏斗形结构

注: 1.电磁铁; 2.WiFi天线; 3.电子罗盘; 4.声学应答器; 5.航行灯; 6.CPDT模块; 7.GPS/电台复合天线; 8.压载块; 9.声光制导模块; 10.摄像头; 11.电池; 12.声学调制解调器; 13.绞车缆绳; 14.声学应答器; 15.航行灯; 16.对接控制舱; 17.光纤; 18.压力传感器; 19.接收线圈; 20.WiFi天线; 21.不锈钢; 22.缓冲垫; 23.声学收发器; 24.摄像头。

Figure 3. Conical/funnel-shaped structures

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图 4 叉杆型与机械导向结构

Figure 4. Fork-type and Mechanical Guiding Structures

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图 5 平面型结构

Figure 5. Planar-type Structure

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图 6 笼形结构

Figure 6. Cage-type structure

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图 7 柔性自适应结构

注: 1.吊环; 2.前端盖; 3.外壳; 4.右端盖; 5.超短基线; 6.LED指示灯; 7.左端盖; 8.减震器; 9.腹板; 10.副执行器; 11.导罩加强件; 12.导罩; 13.橡胶圈; 14.支座; 15.内壳; 16.电子舱; 17.红外测距传感器; 18, 25.摄像头; 19.电动执行器; 20.支架; 21.密封件; 22.吸盘; 23.吸盘连接件; 24.压力传感器; 26.柔性臂; 27.捕获网; 28, 32, 34.AUV; 29.V型架; 30.柔性爪; 31.柔性夹持器; 33, 35.柔性单连杆水下机械手。

Figure 7. Flexible and Adaptive Structure

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图 8 移动式与浮体式结构

Figure 8. Mobile and floating-type structures

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图 9 声学定位技术

Figure 9. Acoustic positioning technology

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图 10 光学导航技术

注: 图中k是二值化算法的可调系数, 用来控制阈值对局部标准差的敏感程度。

Figure 10. Optical navigation technology

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图 11 有线充电设备

Figure 11. Wired charging equipment

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图 12 无线充电设备

注: 1.接收线圈; 2.发射线圈; 3, 4.稳压器; 5.微控制器开发板; 6, 7.高通滤波器; 8.功率放大器; 9.温度传感器; 10.能量缓冲器; 11.整流器; 12.匹配电路; 13.换能器。

Figure 12. Wireless Charging Equipment

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表 1 AUV常规航行与驻留对接任务模式对比

Table 1. Mission mode comparison for AUV normal navigation and station-keeping docking

特征维度	常规航行任务	驻留对接任务
任务距离	中远程	短程
定位精度	米级或分米级	厘米级
动态约束	中动态、弱约束	高动态、强约束
更新频率	低频更新	高实时性
任务阶段	单一策略	多样化动态切换
安全要求	高	极高

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表 2 成熟的水下驻留系统

Table 2. Mature domestic and international underwater long-endurance systems

系统名称	国家及机构	深度等级/m	对接潜器	续航时间/h	主体尺寸/m	出处
REMUS Seafloor Dock	美国伍兹霍尔海洋研究所	6000	REMUS 6000 AUV	22	3.84×Ø 0.71	文献[8]
Subsea Docking System	挪威Blue Logic公司、挪威国家石油公司	330 (设计3000)	Saab Sabertooth	21.6	2.586×2.856 (底部平面)	文献[9]
Hydrone-R Underwater Intervention Drone	意大利塞班集团旗下Sonsub事业部	3000	Hydrone-R UID	12	3.0×1.8×2.1	文献[10]
Freedom	美国国际海洋工程公司	6000	Freedom AUV	续航未给出航程200 km	4.0×1.5×0.8	文献[11]
Sparus Docking Station	西班牙赫罗纳大学水下机器人研究中心	200	Sparus II	8~10	1.6×0.23×0.46	文献[12]
FlatFish autonomous underwater system	德国人工智能研究中心、巴西BIR、壳牌公司	3000	FlatFish	48	2.05×0.96×0.50	文献[13]
CIAM underwater AUV system	德国人工智能研究中心	1000&5000	CIAM Cuttlefish	续航未给出航程500 km	~Ø 2.8×2.0×0.8	文献[14]
ISE Subsea Dock	加拿大国际潜艇工程有限公司	200	ISE Explorer	12~85	2×Ø 1.5	文献[15]
Eelume 500 M	挪威Eelume股份有限公司	500	Eelume 500 M AUV	1~8	2.5–6.0×Ø 0.20	文献[16]

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表 3 现有驻留相关综述成果

Table 3. Existing review achievements relevant to station-keeping

覆盖范围	特点	不足	出处
导航、充电、控制	总结了对接站类型、定位导航、路径规划、充电和数据传输技术的进展	聚焦于传统主流方案, 更多关注国内的研究	文献[17]
控制、充电、导航	讨论了AUV完整的技术体系及功能模块, 涵盖全球各国研究进展	技术深度不均衡, 未深入挖掘驻站各技术特殊需求	文献[18]
充电	总结了传统电力传输方式和新兴无线充电技术	对新兴智能技术讨论较少, 实验数据可比性有限	文献[19]
导航、控制	从发展历史入手, 总结了动力学建模、定位导航、规划控制技术	缺乏系统性评估标准, 对系统的安全性与可靠性讨论不足	文献[20]

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表 4 多模态混合导航技术

Table 4. Multimodal hybrid navigation technology

融合方式	优势	出处
声-光	提供远近连续高精度定位	文献[58]
声-磁	高浑浊环境下仍能定位	文献[59]
光-磁	弱光环境下捕获轴线	文献[60]
声-惯	保持平滑连续轨迹	文献[61]
声-光-惯	提升复杂环境鲁棒性	文献[62]

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表 5 任务规划与决策方法

Table 5. Mission Planning and Decision-Making Methods

规划层级	代表方法	决策内容	优势和局限	出处
执行层+路径层	滑模控制、二次规划	任务阶段切换、引导方式和控制指令决策	响应快, 闭环紧耦合; 全局协调能力有限	文献[37]
任务分配层	改进遗传局部搜索算法	任务分配、编队组合、对接调度	兼顾路径与任务分配; 对通信和任务先验性依赖强	文献[63]
执行层+行为决策层	任务优先级框架	任务调度、优先级管理	适用于在线调度; 复杂场景下解释性和泛化性有限	文献[64]
任务分配层	强化自组织映射算法	任务分配、编队组合、负载平衡调度	负载均衡能力好; 对模型参数和任务规模敏感	文献[65]
任务分配层	协同动态任务分配框架	任务分配、优先级管理	层级清晰; 难以直接处理连续轨迹约束	文献[66]
任务分配层+协同规划层	分层学习方法	任务分配、轨迹优化、异构平台匹配	协同能力强; 求解复杂度高, 实施部署难度大	文献[67]

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表 6 应急管理技术的典型场景与技术手段

Table 6. Typical Scenarios and Technical Means of Emergency Management Technology

管理类别	典型场景	应急目标	技术手段	出处
对接失败与中止管理	对接未捕获, 入口偏差过大, 姿态不满足约束	避免碰撞, 安全中止对接	中止判据设计、对接窗口评估、成功概率估计	文献[74]
能源不足与功耗异常	电量不足、充电失败、能耗异常增长	防止失电、保证返航或驻留安全	能量阈值判定、任务降级、优先返航	文献[75]
环境扰动应急管理	强流、波浪、突发障碍物	保证稳定接近或主动避险	风险感知、在线再规划、鲁棒控制	文献[76]
系统级故障容错管理	推进器失效、控制通道异常	维持最小可控能力	容错控制、控制重构、降阶运行	文献[77]
学习与自适应应急策略	复杂或未知异常组合	提升长期成功率	强化学习、概率推理、自适应决策	文献[78]

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表 7 驻留系统补能方式典型性能比较

Table 7. Typical Performance Comparison of Energy Replenishment Methods for Resident Systems

充电方式	功率量级	充电效率/%	主要约束
有线充电	kW级~10 kW级	90~98	对接精度和电接触可靠性要求高
感应式无线充电	100 W级~kW级	85~95	易受海水涡流损耗和失配影响
电容式无线充电	100 W级	80~91	对间隙变化和介质环境较敏感
超声能量传输	mW级~10 mW级	2~4	功率密度低且远距离衰减明显
波浪能供电	kW级	20~40	输出波动大, 需依赖储能与能量管理

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