GIRONA Docking Station

The Girona AUV, characterised by its triple torpedo structure, inspired a vertical docking system (DS) to simplify the docking process, leveraging the AUV’s holonomic control on the horizontal plane. The Girona Docking Station (DS) has three main components: an AUV coupling accessory, a body structure, and an interface structure.

Coupling Accessory
The AUV is equipped with four modular legs, mounted on the bottom of its top torpedoes, to lock it inside the DS. These legs, made from anodised aluminium alloy, are designed to avoid permanent modifications to the AUV and end with cylinders for coupling with the DS.

Body Structure
The DS’s skeleton is built with stainless steel pipes and laser-cut plates. It includes four modular feet, space for pressure vessels, a weight compensation system, and provisions for future upgrades like visual markers or inductive chargers. The top section features an optical modem with a pan-tilt system, USBL, and handles for deployment.

Interface Structure
The docking interface includes a funnel-shaped entrance for tolerance during docking and a locking mechanism using a motorised metallic zip. The interface is made from polyethylene for durability, ensuring precise alignment and secure coupling of the AUV within the DS..