同时具备空中和水中运行模式的水空两栖无人机（AquaUAVs）可应用于民用和军事领域，如海洋环境调查、岛礁巡逻监测等，其具备着广阔发展空间。为了实现从水下运载平台的装载和发射，本文提出了一种两栖无人机——代号为ABDragon，它拥有三种工作模式：浅海海底潜伏、水面漂浮和空中飞行。首先，在总体设计方面，ABDragon采用了共轴动力以及大长细比旋成体布局以及模块化舱室设计；通过设置一个深度控制舱从而调整重力与浮力之间的关系，进而实现水中的下潜、上浮；通过合理布局舱室位置进而获得系统的水动力学稳定性，进而保证水中下潜、漂浮全过程中的姿态稳定性。其次，完成了飞行动力学的建模和水中稳定性的分析，并且基于L1自适应控制方法设计了飞行控制律。最终，制造一个原理样机并进行了包括下潜-上浮、空中飞行、跨介质等多模态验证，试验验证了ABDragon可以在2秒内完成跨域运行过程，其飞行高度控制精度为8cm，角度控制精度为 ，并且在水中运行全过程中均能保持稳定竖直的姿态，验证了设计的有效性。
AquaUAVs which can operate in both air and water, have wide applications in civil and military fields such as ocean environment investigation and island patrol monitoring, indicating great potential for development. In order to achieve loading and launching from underwater platforms, this paper proposes a novel amphibious UAV named ABDragon, which has three operating modes: seabed lurking, water surface floating, and air flight. Firstly, in terms of overall design, a cylindrical layout and modular cabin design are adopted, and a coaxial system is used as the power system, which not only maximizes the convenience of transportation but also enhances its maintainability and reliability. With the integration of a depth control cabin to adjust the relationship between gravity and buoyancy, the attitude stability of sinking, floating, and the entire process in water can be achieved. Secondly, the modeling of flight dynamics and analysis of water stability have been completed, and flight control laws have been designed and preliminarily verified in simulation. Finally, a prototype has been built, and sinking-floating, air flight, and cross-medium tests have been conducted gradually in the laboratory and field, which confirmed the feasibility and effectiveness of the ABDragon's overall design and multi-modal operational capability.
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