YingLong-Hel: Design and Implementation of a Hybrid Aerial Underwater Vehicle with Integrated Adaptive Rotor Module

Hybrid Aerial Underwater Vehicle (HAUV), capable of aerial flight, underwater navigation, and seamless air-water medium transition, hold significant potential for cross-domain missions. However, current HAUV still encounter significant challenges regarding cross-medium stability, transition success rates, and integrated air-water propulsion. To address these limitations, a novel HAUV, YingLong-Hel, featuring a coaxial dual-rotor architecture and an integrated adaptive rotor module, is proposed. The prototype, which has dimensions of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$445\times 240$</tex> x 485 mm and a total mass of 2.6 kg, achieves a thrust-to-weight ratio of 2: 1, enabling high-efficiency propulsion across both aquatic and aerial environments through the integrated adaptive rotor module. Through field experiments, the aerial flight, underwater navigation, and cross-medium capabilities of YingLong-Hel are validated. YingLong-Hel presents a practical solution for HAUV applications and offers a platform for future collaborative research in this domain.