Prediction of Water Entry Trajectories for Hybrid Aquatic-Aerial Vehicle

Unlike traditional vehicles that operate in a single medium, Hybrid Aquatic-Aerial Vehicles (HAAV) have the capability to function across mediums, which necessitates stable and controllable trajectories for water entry. Due to the highly nonlinear nature of the forces during the water entry process and the complex configuration of HAAVs, it is challenging to establish precise dynamic models. This paper, through extensive numerical simulations, has developed a sample database of HAAV water entry trajectories. It also introduces a trajectory planning and prediction method based on FCN and LSTM networks, and has completed training and validation based on the water entry trajectory database. The results indicate that this method can achieve high prediction accuracy and effectively solve the water entry trajectory planning problem.