Electromagnetic fusion guided docking method for AUV based on rotating current field

This study introduces an innovative electromagnetic guidance and docking positioning method for autonomous underwater vehicles (AUV), utilizing electromagnetic signal fusion within rotating current fields. To address the challenges of achieving precise spatial guidance and docking of AUVs in complex underwater environments, a docking system has been developed. This system comprises a uniform circular array transmitting electrode array and an electromagnetic receiving system. The transmitter generates a stable rotating current field through a current excitation mode characterized by equal amplitude and fixed phase differences. The receiving system includes four orthogonally arranged electrode pairs and a three-axis magnetic sensor for comprehensive field characterization. An electromagnetic signal processing framework is established to extract amplitude characteristics and phase information from the received signals, thereby enabling three-dimensional coordinate determination through the integration of electromagnetic field analysis and spatial geometric constraints. Numerical simulations demonstrate that the system can achieve high guidance and docking accuracy across various docking paths. The proposed method represents a novel approach in the field.