Sea-Whale Series AUV-Extending the range to 4000 kilometers

Sea-whale series AUVs have been researched and developed by Shenyang Institute of automation, CAS, since 2016 [1]. In 2021, they threw down a new challenge to the cruise range and successfully realize continuous sail of 4196 kilometers in the sea trial, which presents an outstanding advantage over the other AUVs in endurance. Plenty of key technologies have been applied in improving the range [2]. This paper is based on the overall design power consumption requirements of AUV, emphatically describes a kind of self-developed low-power control system architecture, and the hardware optimization and the software design are presented in detail. Finally, the 4196 kilometers sea trial results by Sea-whale 1000 AUV are provided to prove the low-power characteristics of this proposed control system architecture.