Hydrodynamic performance analysis and experiments of a hybrid underwater glider with different layout of wings

A hybrid underwater glider Petrel-II is presented in this paper. It combines behaviors of traditional autonomous underwater vehicle and those of autonomous underwater gliders. It can dive along a saw-tooth trajectory in the gliding mode and autonomously cruise in the level-flight mode. It is characterized by long endurance, long fight range, high cost efficiency, and good maneuverability. The hydrodynamic characteristics are crucial aspects of consideration and computation in scheme design phase. In this paper, the impact of wing layout on the movement efficiency and stability of the hybrid underwater glider is investigated by design of experiments and computational fluid dynamics method. The results of orthogonal test show that the chord length has the most significant influence on the movement efficiency while the sweep angle has the most remarkably impact on the stability of the vehicle. In addition, field trials were conducted to validate the basic motion function and measurement capability of Petrel-II. Results of the field trials are also presented in this paper. This work provides theoretical guidance for hybrid underwater glider design.