Research on Intelligent Switching and Control Strategy of Air-Sea Amphibious WIG Craft Based on Multi-Sensor Fusion

Aiming at the core problems of abrupt changes in dynamic characteristics and poor smoothness in mode switching during the cross-medium operation of amphibious wing-in-ground (WIG) craft, this paper develops an intelligent switching and control system based on multi-sensor fusion. The system integrates measurement data from the Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), and Light Detection and Ranging (LiDAR) to construct a state observation module for mode switching decision-making. On this basis, a fuzzy switching logic centered on flight altitude and sea state characteristics is proposed, and a hybrid control strategy combining Linear Quadratic Regulator (LQR) and Proportional-Integral-Derivative (PID) is designed to realize the smooth transition between water surface and flight modes. Numerical simulations conducted in Python demonstrate that the proposed control scheme can accurately determine the mode switching timing, stabilize the pitch angle fluctuation within ±3° during the transition process, and effectively enhance the ability of WIG craft to operate autonomously and stably of the WIG craft in complex sea conditions.