Hydrodynamic Analysis of the Underwater Launch Process for a Quadcopter Unmanned Aerial Vehicle Transported by an Autonomous Underwater Vehicle

The foldable quadcopter unmanned aerial vehicle (UAV), transported by an autonomous underwater vehicle (AUV) and launched subaquatically, represents cutting-edge technology for expanding ocean-sensing capabilities. However, its launch stability is severely challenged by complex cross-media flow fields. To address this, this paper employs a high-fidelity CFD method validated by experimental data, combined with dynamic overlapping mesh technology. Within a high-precision numerical wave tank, it systematically investigates the evolution of unsteady hydrodynamic characteristics throughout the entire launch process—from the drone’s emergence from the launch tube to its crossing of the water-air interface. Findings reveal that elevated initial launch velocities substantially alter surface flow patterns, inducing shear stress imbalances and complex flow separation on the trailing surface. This significantly amplifies lateral disturbance forces and yawing moments, constituting primary sources of motion instability. More critically, this study first uncovers and quantifies the hydrodynamic interference mechanism during the synchronous launch of dual vehicles: the wake field generated by the lead vehicle imposes a significant flow-shielding effect on the trailing vehicle. This effect alters its longitudinal forces while introducing an asymmetric pressure distribution, thereby generating substantial lateral interference. This study’s profound elucidation of these core hydrodynamic mechanisms provides crucial theoretical foundations for developing safe launch strategies, trajectory prediction, and anti-interference controller design for future AUV-UAV cooperative systems.