水面无人艇发展与应用

无人水面艇（USV）是当前无人系统研究的热点领域之一，由于USV收放技术涉及到回收引导、对接、挂脱钩等难点而成为目前的前沿研究课题。通过收集整理国内外现有及在研USV的收放技术要点，归纳出USV收放操作过程通常采用吊放式、艉滑道式、坞舱式3种收放装置。在此基础上，从设备配置、空间需求、波浪影响、母船航速、适应海况、操作情况和收放耗时等方面，分别对上述3种USV收放技术进行对比分析，得出艉滑道式收放技术更适合于USV收放需要的结论。同时，指出当前USV及其收放装置在实现自主收放时需要开展的实用化研究方向，期望能对USV及其收放技术的发展起到一定的指导作用。

Development and application of unmanned surface vehicle

The Unmanned Surface Vehicle(USV)is one of the hot research fields of unmanned vehicle, and its launch and recovery technology has become a frontier research topic due to the difficulties in recovery guidance, docking, coupling or uncoupling and so on. Through collecting and sorting out the technical points of the launch and recovery technology for USV that has existed and been under development in domestic and abroad, this paper concludes with three kinds of launch and recovery systems, i.e. davit, stern ramp and dock cabin. Then the comparison among these three kinds is carried out in aspects of equipment configuration, space demand, wave influence, mothership speed, adaptive sea state, operation condition, launch and recovery duration, etc., and then it is concluded that the stern ramp type is more suitable for the USV; in the meanwhile, practical research direction that contributes to realizing autonomous launch and recovery is pointed out, which plays a guiding role in the development of the USV and its launch and recovery technology.