Research On Laser Guidance And Docking Technology Of AUV

Laser docking method is researched in this paper to solve the difficulty of docking process between Sea Observatory Networks and Autonomous Underwater Vehicles(AUV).This method replaces traditional short-distance electromagnetic coupling by long-distance laser-coupling to reduce the docking difficulty.This paper researches on overall design and mechanism of laser docking.The technology of underwater free-space laser communication,laser localizing,and laser charging technology is adapted to realize essential function of docking,including guidance,information transfer,and energy delivery.The pool test confirms the communicating and positioning experimental systems.The main attribution of this paper includes:(1)Design of AUV docking systems and research on its mechanismThis paper proposes the overall solution of underwater laser docking,and research on its main technology,including large-scale laser positioning technology,long-range laser communicating technology and long-distance laser charging technology.This paper research on the mechanism of the main technology and proposes its basic technologyical requirements.(2)Development of underwater laser docking systemThis paper builds a laser communicating and localizing system independently,which are integrated into a single device,and designs its mechanical structre,optical system,modulating and demodulating circuit,communicating and positioning algorithms.This paper builds laser localizing hardware,designs optical system to enlarge its view angle,and writes its algorithm based on geometric optics.This paper improves the algorithm’s ability to resist the interference caused by the multipath phenomenon in long-distance underwater communication and reduce the driving power,and analyzes the bandwidth of hardware,which amplifies the optical signal with large gain and high speed,and also improves the communication rate.(3)The underwater experimental research on laser docking systemThe pool test confirms the system’s function.This paper analyzes the accuracy of the positioning system and its main source of error and also proposes the solution to reduce it.The feasibility of underwater laser charging is also researched.This paper design and implement the laser docking system,which integrates the function of communicating and positioning.The system’s ability of underwater energy and information delivery for AUV,supported by sea networks,is confirmed by the experiment.