自动化学报2026，Vol.52Issue(1)：1-17,17.DOI:10.16383/j.aas.c250309
海上跨域集群水下目标协同追踪:关键技术与展望
Underwater Cooperative Target Tracking Using Maritime Cross-Domain Swarms:Key Technologies and Future Perspectives
摘要
Abstract
With the continuous advancement of marine development,underwater target tracking,as a foundational technology,enables continuous navigation of unmanned swarms toward the target and plays a crucial role in vari-ous applications such as maritime search and rescue,ocean monitoring,and seabed resource exploration.Meanwhile,maritime cross-domain swarms composed of heterogeneous platforms,including unmanned aerial,surface,and un-derwater vehicles,demonstrate significant potential in achieving efficient detection and tracking of underwater tar-gets through information interaction and autonomous cooperation,which,compared to underwater single-domain swarms,holds significant potential for improving the effectiveness of perception and operation in complex marine environments.However,current technologies still face challenges including insufficient sensing capabilities,imma-ture cross-domain cooperation mechanisms,and compromised environmental adaptability.To address these issues,this paper first analyzes the development trends of underwater target tracking.Subsequently,focusing on four fun-damental modules,localization,tracking,communcation,and planning,we summarize existing research difficulties and review domestic as well as international research progress.Finally,emerging concepts,such as co-design,and frontier requirements are discussed,aiming to provide references for advancing underwater cooperative target track-ing technologies with cross-domain swarms.关键词
跨域集群/水下目标/协同追踪/趋势分析/联合设计Key words
cross-domain swarms/underwater target/cooperative tracking/trend analysis/co-design引用本文复制引用
李一辰,关新平,黄沛烁,王布依祎,杨紫雯,于文彬..海上跨域集群水下目标协同追踪:关键技术与展望[J].自动化学报,2026,52(1):1-17,17.基金项目
国家自然科学基金(62203299,62373246),上海交通大学深蓝计划(SL2023MS007),深海载人装备全国重点实验室基金(2024SKLDMV04)资助 Supported by National Natural Science Foundation of China(62203299,62373246),Oceanic Interdisciplinary Program of Shanghai Jiao Tong University(SL2023MS007),and Research Fund of State Key Laboratory of Deep-Sea Manned Vehicles(2024SKLDMV04) （62203299,62373246）
