Search Results (3)

This paper proposes a 1000 W high-frequency three-phase power inversion underwater capacitive wireless power transfer (UCWPT) system for power delivery to autonomous underwater vehicles (AUVs). The multi-phase coupling structure is designed as a columnar configuration that conforms to the shape of AUVs. This paper innovatively presents a curved coupling coupler composed of six metal plates. This design significantly enhances the mutual capacitance of the coupling structure and the power transfer capacity of the UCWPT system. Utilizing the columnar structure, the receiver of the capacitive wireless power transfer system can be easily integrated into AUVs, reducing the installation space. Furthermore, the cylindrical dock-transmitter terminal structure of the system greatly improves the anti-misalignment capability. This addresses issues such as charging voltage and current fluctuations caused by vehicle rolling in dynamic ocean environments. Additionally, the wireless power transfer capacity is notably enhanced. An experimental platform was constructed, and tests were conducted in both air and water media. A 1000 W experimental setup was developed to validate the theoretical analysis and simulations. The experimental results align closely with the theoretical predictions. At a fixed distance of 3 cm between transmitter and receiver, peak power transfer efficiencies of 80% in air and 74% in water were achieved with stable operational performance. The cylindrical structure demonstrates robust anti-misalignment properties. Full article

This study introduces a groundbreaking approach for real-time 3D localization, specifically focusing on achieving seamless and precise localization during the terminal guidance phase of an autonomous underwater vehicle (AUV) as it approaches an omnidirectional docking component in an automated deployable launch and recovery system (LARS). Using the AUV’s magnetometer, an economical electromagnetic beacon embedded in the docking component, and an advanced signal processing algorithm, this novel approach ensures the accurate localization of the docking component in three dimensions without the need for direct line-of-sight contact. The method’s real-time capabilities were rigorously evaluated via simulations, prototype experiments in a controlled lab setting, and extensive full-scale pool experiments. These assessments consistently demonstrated an exceptional average positioning accuracy of under 3 cm, marking a significant advancement in AUV guidance systems. Full article

To address the poor effect of optical/visual guidance used in AUV terminal docking with strong background light and turbid water quality, an underwater electromagnetic guidance method based on the magnetic dipole model is proposed in this paper. According to the magnetic dipole model, the electromagnetic field of 1 kHz frequency generated by the coil in the range of terminal docking is the near field, where the position can be figured out through the amplitude and phase information of three orthogonal magnetic field intensity vectors. A triaxial-coil magnetometer with three orthogonal coils and a method for extracting the amplitude and phase information of the induced voltage are presented in this paper. According to Faraday’s law, the amplitude and phase information of the induced voltage of a triaxial-coil magnetometer replace the information of magnetic field intensity in relation to positioning. The underwater positioning results show that the average positioning error within 6 m can reach the centimeter level. Five underwater terminal docking tasks were carried out, and four of them were successfully completed, which verified the feasibility of the proposed method. Full article