海上跨域集群水下目标协同追踪:关键技术与展望OA

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.