为了更好地了解AUV水下对接技术，本文对AUV水下对接技术的现状进行梳理，介绍各个国家对于AUV水下对接系统的研究成果。同时，为进一步阐明AUV水下对接系统的结构，按照自动化实现难度对国内外的AUV水下对接系统进行归类总结。根据整个对接过程中使用的传感器、水下环境和需要的定位信息等因素，对国内外AUV水下对接系统的对接阶段进行划分，并分别讨论各个阶段所需要的导航传感器和定位信息。对于对接精度问题，从对接干扰、对接失误等方面阐述了AUV水下对接时存在的问题和解决方案，并归纳对接控制策略。最后结合AUV对接技术的最新成果，从多个方向探讨了其发展趋势。
In order to better understand AUV underwater docking technology, the current situation of AUV underwater docking technology is sorted out. The research results of AUV underwater docking system in various countries are introduced. At the same time, in order to further clarify the structure of AUV underwater docking system, the AUV underwater docking systems at home and abroad are classified and summarized according to the difficulty of automation. According to the factors such as sensors used in the whole docking process, underwater environment and required positioning information, the docking stages of AUV underwater docking system at home and abroad are divided, and the navigation sensors and positioning information required in each stage are discussed respectively. For the problem of docking accuracy, this paper expounds the problems and solutions of AUV underwater docking from the aspects of docking interference and docking error, and summarizes the docking control strategy. Finally, combined with the latest achievements of AUV docking technology, its development trend is discussed.
2023,45(5): 1-8 收稿日期：2022-05-26
DOI：10.3404/j.issn.1672-7649.2023.05.001
分类号：TP242.6
基金项目：中国科学院C类先导科技专项 (XDC30000)
作者简介：袁学庆(1970-),男,研究员,研究方向为水下机器人、检测技术、智能制造
