Autonomous Launch and Recovery Mechanism for USV

In recent years, there is a rapid development in unmanned surface vehicle(USV) for marine exploration and military maritime research. While the launch and recovery of USV have always confused academic and industrial fields. So this paper gave a system for launch and recovery, which is composed of 3 mechanisms: the ejection mechanism, the PTZ mechanism and the docking mechanism. The ejection mechanism needed to launch the gas cannon into the mother ship's hatch, which is an important step for the recovery to be completed successfully. Therefore, this paper combined the principle of wave compensation, made dynamic analysis and MATLAB simulation of the ejection mechanism, then controlled the launch angle of the gas cannon, analyzed the gas track and the mother ship's roll state to ensure that the gas cannon can be successfully launched into the hatch of the mother ship. And the best launch angle of the gas cannon was given in the last.