YingLong-I: A Hybrid Aerial Underwater Vehicle Using Integrated Coaxial Counter-Rotating Propulsion
Le Huang, Qirong Lei, Shuxiang Guo, Chunying Li, Guoheng Ma, Haotian Sun, Shuaixin Peng
Abstract
A compact and lightweight hybrid aerial underwater vehicle(HAUV) named YingLong-I is proposed in this letter. The system primarily consists of an integrated coaxial counter-rotating propulsion module, a rudder-based air-water compatible attitude control module, and an attitude switching module, with a compact size of 292×292×405 mm and a total weight of 2.5 kg. Compared to seperate air-water propulsion modules, the integrated coaxial counter-rotating propulsion module significantly reduces structural volume and weight. Simultaneously, consistent attitude regulation across both aerial and underwater environments is ensured by the unified rudder-based attitude control module. A payload-to-weight ratio of 0.46 (maximum payload: 1.2 kg) is demonstrated by YingLong-I, surpassing quadrotor HAUVs, where ratios are typically below 0.3. The capabilities of YingLong-I, including cross-domain transition, stable aerial flight, underwater navigation, depth-keeping, and vertical takeoff/landing, were verified through field experiments.
BibTeX
@inproceedings{ral2025_yinglongiahybrid,
title = {YingLong-I: A Hybrid Aerial Underwater Vehicle Using Integrated Coaxial Counter-Rotating Propulsion},
author = {Le Huang and Qirong Lei and Shuxiang Guo and Chunying Li and Guoheng Ma and Haotian Sun and Shuaixin Peng},
booktitle = {RA-L 2025},
year = {2025}
}