Abstract:UUV (Unmanned Underwater Vehicle) characterized by its high maneuverability, intelligence, and operability, is increasingly becoming a focal point of research in the underwater offensive and defensive fields for various countries. Given the limited energy resources carried by UUV, the need for energy replenishment through docking with surface platforms or motherships necessitates the exploration of underwater autonomous docking research. Previous studies have predominantly concentrated on the motion planning and control algorithms of UUV or the mutual influence between UUV and docking station during the docking process, with a dearth of systematic research on underwater perception systems. This paper, set against the backdrop of underwater dynamic docking missions, reviews the guidance technology schemes for related tasks by institutions worldwide, analyzes the principles and characteristics of multi-beam sonar, laser radar, and underwater electromagnetic sensors, and conducts simulation experiments on multi-beam imaging sonar. A collaborative perception guidance system architecture and scheme for underwater dynamic docking are proposed. This architecture is capable of flexibly adjusting the operational priority of sensors based on the requirements of each phase of the underwater dynamic docking mission and the characteristics of the relevant sensors, ensuring that effective docking information is provided for both the recovery platform and the UUV platform throughout the entire docking mission phase.
