水下无人系统学报

A Review of Terrain Elevation Matching Algorithms for Undersea Vehicles

XIONG Lu, LI Jingshu, RAO Zhe, HUO Zhifan

2025, 33(1): 1-14. doi: 10.11993/j.issn.2096-3920.2024-0152

[Abstract](111) [FullText HTML] (20) [PDF 2023KB](39)

Abstract:
The inertial navigation system (INS) errors of an undersea vehicle continuously accumulate over time. A terrain elevation matching technique offers a solution by using measured terrain features to provide continuous position corrections for INS, making it a key research area in underwater navigation aids worldwide. This paper took the development of terrain elevation matching algorithms for undersea vehicles as the research object. Firstly, challenges faced by undersea vehicle navigation and positioning were pointed out. The basic principle and system component of terrain matching for undersea vehicles were then introduced. Additionally, the development of underwater terrain matching algorithm was reviewed chronologically, highlighting the main developmental stages, principles of typical terrain matching algorithms, and their advantages and limitations. Then, advancements in algorithm principles and experimental applications both in China and abroad were examined. Finally, the primary research focus areas in underwater terrain matching algorithms worldwide were briefly summarized, and strategies for enhancing algorithm performance were explored by combining parallel computing, multibeam sonar, and underwater terrain feature analysis, providing references for researchers in this field.

Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment

ZHU Zhongben, ZHANG Jiahao, XUE Yifan, QIN Hongde

2025, 33(1): 15-23. doi: 10.11993/j.issn.2096-3920.2024-0077

[Abstract](88) [FullText HTML] (32) [PDF 1325KB](30)

Abstract:
The improved vector field histogram algorithm(VFH+) tends to overlook the autonomous undersea vehicle(AUV) dynamics and ocean current effects, and it is sensitive to threshold selection. To address this issue, a dynamics-based VFH+(DVFH+) algorithm was proposed in this paper. By incorporating AUV dynamics parameters to limit the expected heading output, this method reduced abrupt changes in the expected algorithm output, thereby improving AUV’s tracking performance. Additionally, by considering the drift angle compensation in the real ocean current environment, the obstacle avoidance algorithm was optimized to improve its robustness and adaptability. By using information about obstacles, the threshold values were adjusted automatically. This enabled the calculation of the planning instructions based on environmental characteristics around AUVs, ensuring the efficiency and safety of navigation. Simulation experiments using the REMUS 100 AUV model show that DVFH+ can provide a smoother and more feasible obstacle avoidance route, making it suitable for AUV obstacle avoidance in complex environments while effectively preventing issues such as detouring and planning failure caused by improper threshold settings in the original algorithm.

Fixed-Time Formation Control for Multi-Unmanned Surface Vessel Systems with Input Delay

LI Jianxiang, ZHANG Wenle, LI Ming

2025, 33(1): 24-36. doi: 10.11993/j.issn.2096-3920.2024-0039

[Abstract](78) [FullText HTML] (28) [PDF 1650KB](24)

Abstract:
In recent years, fixed-time formation control has become a major research focus in multi-unmanned surface vessel(USV) systems. A critical challenge in achieving fixed-time formation in these systems is handling input delays. In view of this, under a general directed interaction topology, an in-depth study on the fixed-time formation control issues in multi-USV systems with input delays was carried out. Firstly, the Artstein reduction method was applied to transform a multi-USV system with input delays into a control system with disturbances in a second-order integral form. To overcome the effect of disturbances on the system, a fixed-time state observer was designed to estimate the system state using only the relative position information of the USV. On this basis, a distributed fixed-time formation control protocol was proposed in combination with the backstepping method, which realized fixed-time formation control for multi-USV systems with input delays. Finally, the correctness of the obtained theoretical results was verified through simulation experiments.

Adaptive Neural Network Control of ROVs under Ocean Current Disturbance

LI Xiangheng, YAN Zhaokun, LOU Jiankun, WANG Hongdong

2025, 33(1): 37-45. doi: 10.11993/j.issn.2096-3920.2024-0045

[Abstract](241) [FullText HTML] (89) [PDF 1391KB](48)

Abstract:
In view of the motion control problem of remotely operated vehicles(ROVs) under uncertain model parameters and ocean current disturbance, an adaptive back-stepping control system was designed based on the limited time command filtering and radial basis function(RBF) neural network. Firstly, a stochastic ocean current model based on the Markov process was constructed, and an ROV mathematical model under ocean current disturbance was established. Secondly, command filtering technology was introduced for the desired velocity to reduce the amount of calculation caused by the iterative derivative of the traditional back-stepping method. Thirdly, the RBF neural network was utilized to estimate the uncertainty terms and external unknown disturbances of the ROV model, and an adaptive neural network controller was designed. Finally, the Lyapunov stability theory was used to prove the stability of the closed-loop control system. The simulation results show that the controller designed in this paper can achieve precise control of ROV navigation and effectively suppress the impact of uncertainty term of the model and ocean current disturbance on ROV motion.

Underwater Image Enhancement Method Based on Illumination Compensation and Pyramid-Based Blending

YUE Chenghai, XU Huixi, LÜ Fengtian, SHAO Gang, ZHU Baotong, YIN Zhongxun

2025, 33(1): 46-55. doi: 10.11993/j.issn.2096-3920.2024-0082

[Abstract](48) [FullText HTML] (18) [PDF 3423KB](24)

Abstract:
The existing enhancement methods based on deep learning and underwater imaging quality degradation models still suffer from poor robustness due to color deviation, scattering-induced blur, and uneven brightness in underwater optical imaging. In response to these issues, this article proposed a single image-based enhancement method for underwater imaging, which combined illumination compensation and pyramid-based detail blending. First, based on global illumination and color channel characteristics, illumination intensity at the pixel level was estimated and compensated, achieving intensity correction for each color channel. Next, the scatter components of the image were estimated using Gaussian blur, and a multi-scale Gaussian filter residual method was used for descattering. Finally, a multi-image pyramid-based detail blending technique was proposed, combining edge enhancement, adaptive Gamma correction, and brightness equalization. This method effectively preserved image details while addressing uneven brightness. Compared to existing techniques, this method featured improved adaptability and achieved better performance in underwater image quality measures(UIQMs) and underwater image color and quality evaluation(UCIQE) measures.

AUV with Underwater Acoustic-WIFI Link Cooperative Control for Confined Waters

ZHANG Meng, WEI Bowen, JIN Junhao, TONG Feng, ZHANG Fumin

2025, 33(1): 56-64. doi: 10.11993/j.issn.2096-3920.2024-0117

[Abstract](54) [FullText HTML] (21) [PDF 2787KB](17)

Abstract:
Autonomous undersea vehicle(AUV) generally adopts acoustic communication links for underwater control. However, in complex and confined waters such as coastal shoals, reservoirs, lakes, canals, and caves, complex multiple paths can seriously impact the performance of high-speed underwater acoustic communication, while the limited water depth of these environments makes wireless links a viable option. Therefore, a micro-sized AUV, SubseaBuddy-3, was developed that integrated both underwater acoustic and WIFI links for cooperative control. The underwater acoustic link adopted the low-speed spread-spectrum communication mode to ensure communication reliability under strong multipath conditions, while the high-speed WIFI link could work in shallow water, be used for pre-deployment function testing, and assist with the control and observation during retrieval. By coordinating the underwater acoustic and WIFI links based on working depths and data acquisition/transmission states, the system ensured reliable command and control, along with real-time/quasi-real-time underwater image transmission in confined waters. Additionally, the AUV was equipped with an inertial measurement unit(IMU) and a depth sensor for attitude and depth control. The effectiveness of the dual-link communication system for AUVs was validated by the pool experiment.

Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOA

SHUI Xinhua, DUAN Fuhai

2025, 33(1): 65-73. doi: 10.11993/j.issn.2096-3920.2024-0083

[Abstract](65) [FullText HTML] (23) [PDF 1113KB](22)

Abstract:
To evaluate the seakeeping of a hydrofoil-equipped unmanned surface vessel(USV), a linear quadratic regulator(LQR) was adopted, and its parameters were optimized using the zebra optimization algorithm(ZOA), with the amplitudes of roll, pitch, and heave motions as key metrics. First, the kinematics and dynamics models of the hydrofoil-equipped USV were established with differential flap rotation angles and motor thrust as the control variables, and the mathematical model was linearized. Next, the vertical particle acceleration and slope of irregular waves were introduced as disturbance, and the LQR was simulated using Simulink. To minimize the motion amplitude of hydrofoil-equipped USV during navigation, the LQR parameters were optimized using ZOA and particle swarm optimization(PSO) algorithms, respectively under different sampling frequencies and population sizes for comparison. Finally, simulation under random wave disturbances at different encounter angles was performed to validate the effectiveness and feasibility of LQR and ZOA methods, providing the optimal course angle and references for the attitude control and seakeeping research of hydrofoil-equipped USVs.

Passive Localization of Underwater Broadband High-Frequency Targets Based on Frequency Difference Matching Field

LI Jiayi, ZHOU Jianbo, LI Shaomeng, SHI Min, WANG Yafen

2025, 33(1): 74-83. doi: 10.11993/j.issn.2096-3920.2024-0136

[Abstract](85) [FullText HTML] (32) [PDF 3688KB](13)

Abstract:
High-frequency signals are susceptible to environmental uncertainties during propagation, leading to degraded localization performance when using traditional matching field methods. To address this issue, this paper proposed a passive localization method for high-frequency signals based on the frequency difference matching field. This method performed quadratic product processing on the received data of arrays at different frequencies within the high-frequency bandwidth, constructing a sound field structure at a difference frequency much lower than the original frequency. By applying the established localization algorithm based on the matching field at difference frequency, the high-frequency broadband signal was reduced to the low-frequency range for processing. Firstly, the principle of the frequency difference method was presented, and the grazing angle of multipath propagation in shallow water was estimated. On this basis, physical models for frequency difference matching fields suitable for shallow and deep-sea environments were proposed. Finally, simulation results show that the proposed method substantially outperforms traditional methods in terms of high-frequency signal localization in uncertain environments.

Application of Structure Tensor-Based Image Fusion Method in Marine Exploration

MA Xiaoyi, CHEN Yihong, WANG Fei, XIE Shuo

2025, 33(1): 84-91. doi: 10.11993/j.issn.2096-3920.2024-0066

[Abstract](45) [FullText HTML] (15) [PDF 1830KB](12)

Abstract:
A single sensor is insufficient for effective marine detection. Infrared light and visible light have strong complementarity, and fusing them can generate high-quality images that enable more accurate and comprehensive detection of marine targets. However, existing fusion methods have not been applied in marine detection and are not specifically developed for it, leading to poor fusion results. Additionally, there is a lack of deep learning datasets tailored for marine image fusion. To obtain high-quality color fusion images with a prominent performance in detecting targets and obtaining comprehensive information, the deep learning-based image fusion method using structure tensors was optimized based on the characteristics of marine targets. Multi-scale convolution was incorporated, and image fusion was performed according to channels. The collected data were used for comparative simulation experiments, with a variety of evaluation metrics applied. The results indicate that the improved image fusion method outperforms the original algorithm in six metrics, and its overall performance is better than the other ten commonly used image fusion algorithms. Furthermore, its generalization has been validated on other public datasets. The improved structure tensor-based image fusion method has an excellent performance in maritime situational awareness, with fusion results highlighting target features and surpassing the performance of other methods.

Threshold-Based Segmentation Method for Underwater Moving Luminous Targets Combined with Background Modeling

WANG Jia, GUAN Xiawei, ZHANG Hao, FU Shaobo, ZHANG Yu'ang, SONG Qinghua

2025, 33(1): 92-98. doi: 10.11993/j.issn.2096-3920.2024-0107

[Abstract](80) [FullText HTML] (27) [PDF 1193KB](23)

Abstract:
This paper presented an adaptive threshold-based segmentation method combined with background modeling for the visual positioning of underwater moving luminous targets. Initially, background modeling was conducted based on the Gaussian mixture model to screen out several dynamic regions in the image. Subsequently, the pixel features within these regions were analyzed in the HSV color space to determine the presence of a target. After identifying the target-containing regions, Otsu’s method was applied to calculate the threshold for segmentation within these regions. Finally, binarization was performed on target-containing regions based on the calculated threshold, facilitating target extraction. The algorithm was designed to alleviate the impact of brightness variations and clutter interference on visual positioning in complex underwater environments. It fully utilized the target’s motion state, as well as its color and brightness, combining background modeling with threshold-based segmentation to enhance the precision and stability of the segmentation. Experimental results indicate that the algorithm demonstrates strong adaptability to common issues in underwater visual positioning, such as changes in brightness, halo blur, and bubble interference. Furthermore, it does not rely on the selection of initial parameters, making it suitable for engineering applications.

Underwater Positioning Method Based on Vision-Inertia-Pressure Fusion

ZHANG Jian, HU Qiao, XIA Yin, SHI Lin, LI Yangyang

2025, 33(1): 99-107. doi: 10.11993/j.issn.2096-3920.2024-0061

[Abstract](153) [FullText HTML] (54) [PDF 2602KB](40)

Abstract:
In underwater unstructured environments, robots face difficulties in relying on external base stations for localization. Therefore, autonomous localization using multi-sensor fusion has significant application value in such settings. This paper aimed to address issues such as poor stability in visual localization and substantial drift in inertial navigation within underwater multi-sensor fusion localization and proposed a tightly integrated multi-sensor fusion localization method that combined visual, inertial, and pressure sensors. By utilizing graph optimization techniques for multi-sensor fusion and identifying errors in visual-inertial data based on depth information, the quality of the fused data was enhanced. To address drift and localization loss during the fusion localization process, a depth sensor was employed for weight allocation to provide more detailed system initialization. Additionally, closed-loop detection and relocalization methods were introduced to effectively mitigate drift and localization loss. Experimental validation demonstrates that the proposed fusion localization algorithm improves accuracy by 48.4% compared to visual-inertial fusion localization methods, achieving superior precision and robustness. The actual positioning accuracy can reach the centimetre level.

A Holographic Antenna Based on Surface Wave Launcher

REN Ming

2025, 33(1): 108-112. doi: 10.11993/j.issn.2096-3920.2024-0122

[Abstract](40) [FullText HTML] (19) [PDF 1783KB](9)

Abstract:
In this paper, a semi-open waveguide structure of a half-band ground medium was selected to improve the design of the TM-mode surface wave launcher(SWL), and the surface wave field generated by this SWL was simulated and analyzed. Based on the improved SWL, a corresponding holographic modulation surface was designed, enabling the design of a holographic surface wave antenna based on the SWL. Fourier analysis was then performed on both the designed SWL and the holographic surface wave antenna to verify the correctness of the theoretical design.

Airfoil Preference and Adjustable Camber Impact Analysis for Trans-Medium Fixed-Wing Vehicles

LU Jixin, SONG Wenbin, CAO Runzhen, LIANG Yifan, FENG Liuzhu, QI Yang

2025, 33(1): 113-123. doi: 10.11993/j.issn.2096-3920.2024-0125

[Abstract](53) [FullText HTML] (36) [PDF 2395KB](19)

Abstract:
The key to the realization of air-water trans-medium flight lies in the profile design of trans-medium flight and the satisfaction of different requirements of aerodynamic efficiency for air cruise and airfoil for underwater glide. In this paper, a trans-medium flight profile scheme based on the fusion design of traditional fixed-wing vehicles and underwater gliders was proposed with a small trans-medium vehicle as the platform. Several typical working conditions were determined, and alternative airfoils based on NACA00 and NACA44 series were selected according to the working conditions. The compressible flow model of Fluent was used to carry out numerical analysis on the alternative airfoil set. The aerodynamic and hydrodynamic characteristics of the alternative airfoils in air and water, such as lift-to-drag ratios, lift line slope, lift and drag coefficients, and torque coefficients were calculated by numerical simulation, which were then used as the optimal objective function and constraint conditions of the airfoil of the trans-medium fixed-wing vehicle. The relationship between the preferred airfoil under the underwater navigation profile and the corresponding flight/underwater motion parameters was emphatically analyzed, especially the influence of the change in airfoil camber on the underwater endurance time and range, so as to provide the airfoil optimization decision for the scheme design of the trans-medium vehicle, and the established analysis process can provide a reference for the parameter optimization of the airfoil.

Control System for Underwater Hexapod Robot Based on Inverse Kinematics and Foot Trajectory Optimization

LU Gangtai, YANG Ke, CHEN Hui

2025, 33(1): 124-130. doi: 10.11993/j.issn.2096-3920.2024-0087

[Abstract](147) [FullText HTML] (51) [PDF 1796KB](43)

Abstract:
The underwater hexapod robot has a strong load carrying ability and terrain adaptability, which is very suitable for near-earth observation and sampling in complex and changeable seabed environments. The control system is the key technology to realize the stable walking of underwater hexapod robots. In this paper, a control system design method for underwater hexapod robots based on inverse kinematics and foot trajectory optimization was proposed. The D-H coordinate system was established to derive the analytical relationship between the foot trajectory and the joint angle(positive kinematics). Through polynomial optimization, a smooth foot trajectory was planned, and then the corresponding joint angle(inverse kinematics) was solved. With PC104 as the main control unit, the foot trajectory optimization and inverse kinematics solving were conducted in the ROS2 environment, and the synchronous tracking of the joint motor was realized through EtherCAT technology. The control system suitable for underwater hexapod robots was designed. The typical movement patterns(straight and turning) of the underwater hexapod robot were verified in the pool. Experimental results show that the control system designed in this paper can realize the stable walking of the underwater hexapod robot.

Mechanism Design and Simulation Analysis of Hybrid Serial-Parallel Underwater Dredging Manipulator

XIA Yin, SU Wenbin, HU Qiao, ZHANG Jian, SHI Lin

2025, 33(1): 131-141. doi: 10.11993/j.issn.2096-3920.2024-0067

[Abstract](50) [FullText HTML] (22) [PDF 3809KB](18)

Abstract:
In recent years, underwater robots have emerged as a novel solution for the removal of sediments at the bottom of reservoirs, with underwater manipulators being the primary tool for dredging operations. To address issues faced by serial manipulators, such as low structural stiffness and poor reliability, a hybrid serial-parallel underwater manipulator was designed, integrating serial and parallel manipulator mechanisms. By using screw theory, a hybrid mechanism and the manipulator structure were designed. A finite element analysis(FEA) software was then used for strength verification and static stiffness simulation analysis. The results indicate that the hybrid serialiparallel manipulator has higher structural stiffness than serial manipulators. The result can provide theoretical and technical support for optimizing underwater manipulator design.

Feasibility of Anti-Submarine Buried Target Destruction Technologies

LI Weichen, KANG Songyi, CAI Yi, GAO Yuan, JIA Xiyu

2025, 33(1): 142-149. doi: 10.11993/j.issn.2096-3920.2024-0124

[Abstract](53) [FullText HTML] (21) [PDF 1030KB](17)

Abstract:
This paper discussed the technologies and methods for the effective destruction of submarine buried targets in modern warfare and maritime security. As these targets are highly concealed and difficult to destroy, they are mainly dealt with by kinetic energy penetrators and blasting loads. Due to its efficient penetration capability and design simplicity, kinetic energy penetrator is more suitable to deal with deeply buried targets and enhance the destruction effect through secondary explosion. The paper analyzed the influence of different submarine media on the penetration effect and optimized the design of the penetrator through numerical simulation and experimental research. Blasting load is widely used because of its wide range of action and high hit rate. The paper also discussed the effects of shock wave propagation characteristics, cratering effect, blast cavity characteristics, and liquefaction effect on target destruction. Future research recommendations include strengthening the basic research on the penetration and explosion mechanism of submarine media, establishing high-precision models, and developing experimental platforms to simulate submarine environments, so as to enhance the capability of destroying submarine buried targets.

Investigation of Acoustic Target Strength of a Cylindrical Shell Partially Covered with Anechoic Coating

MA Qi, NI Shifeng, GENG Hao, YANG Haibin

2025, 33(1): 150-155. doi: 10.11993/j.issn.2096-3920.2024-0105

[Abstract](44) [FullText HTML] (14) [PDF 1363KB](14)

Abstract:
The primary structural configuration of underwater equipment consists of cylindrical shells. To study the characteristics of the acoustic target strength(TS) of a cylindrical shell partially covered with anechoic coatings, an anechoic coating with an embedded transverse cylindrical cavity was selected for analysis. Based on the Kirchhoff-Helmholtz integral formula, a dimensionality reduction method for acoustic TS of a cylindrical shell partially covered with anechoic coating was established through two-dimensional cylindrical differential element approximation and axial integration with significantly reduced computational complexity. By using this method, the control pattern of the anechoic coating on the acoustic TS of the cylindrical shell was further analyzed. The results show that in the case of a partially coated shell, the acoustic TS can be significantly reduced due to effects such as the sound absorption by the anechoic coating, the coupling resonance between the coating and the shell, and the destructive interference of scattering waves from different regions. Furthermore, optimizing the coated area can enhance the control of acoustic TS, beyond just sound absorption, providing useful references for the engineering design and applications of anechoic coatings.

Simulation of Anti-Submarine Warfare Model of Unmanned Undersea Vehicles

CAO Chi, SHI Wentao, WANG Baihe, ZHANG Qunfei

2025, 33(1): 156-163. doi: 10.11993/j.issn.2096-3920.2024-0116

[Abstract](70) [FullText HTML] (19) [PDF 1034KB](31)

Abstract:
In view of the requirement of establishing an underwater weapon simulation system in an anti-submarine warfare scenario, this paper analyzed the tactical characteristics of unmanned undersea vehicle(UUV), clarified the whole flow of the sub-modules of the UUV for warfare operations, including launch control, wire guide, target detection, target search and tracking, underwater target attack, and other functions. By modelling the various functional sub-modules, a comprehensive anti-submarine warfare simulation model of UUVs was constructed, providing a corresponding dynamic link library to be called for underwater warfare simulation missions. After simulation verification, the constructed UUV simulation model can realize the underwater anti-submarine strike mission according to the battlefield environment information provided by users, such as two-party location and acoustic parameters and provide technical support for the establishment of an underwater weapon countermeasure simulation system.

Target Threat Assessment Method for UUVs Based on EBM

LIU Shuwei, CHENG Jianqing, LIU Kai

2025, 33(1): 164-172. doi: 10.11993/j.issn.2096-3920.2024-0121

[Abstract](73) [FullText HTML] (73) [PDF 2732KB](11)

Abstract:
In order to solve the problems of lack of data mining ability and insufficient explanatory nature of neural network algorithms when traditional target threat assessment methods process complex battlefield situation data, this paper proposed a threat assessment model for unmanned undersea vehicles(UUVs) based on explainable boosting machine(EBM). As an advanced machine learning technology, EBM cleverly integrates gradient boosting and generalized additive model to achieve the perfect combination of high interpretability of linear model and accuracy of gradient boosting algorithm. In this paper, the performance of the EBM model was comprehensively evaluated and compared with several other mainstream machine learning methods, including classification enhancement, adaptive enhancement, and deep learning. The simulation experiments find that the EBM model not only maintains high interpretability but also has an accuracy of 98.10% in the identification of threat levels. This result verifies the effectiveness of the EBM model in complex battlefield situation analysis and provides a solid theoretical foundation and technical support for UUV’s autonomous decision-making.

Research Progress on Composite Structure of Warships in Impact Protection

ZHANG Tao, SUN Qingzhen, ZHANG Lei, LI Xiangmei

2025, 33(1): 173-182. doi: 10.11993/j.issn.2096-3920.2024-0072

[Abstract](154) [FullText HTML] (47) [PDF 1812KB](16)

Abstract:
As modern naval battles become increasingly complex, the structural protection of warships has become the key to enhancing survivability and combat effectiveness. This paper reviewed the research progress in impact protection structures of warships, particularly focusing on the evolution from traditional homogeneous protection structures to multilayer composite protection structures. The paper also discussed challenges related to the strength of material interfaces, the complexity of structures, and manufacturing difficulties, noting that poor interlayer bonding under extreme impact conditions may lead to material layer separation or cracking and weaken the protective efficacy. Future research should focus on the development of nanomaterials, polymer materials, and smart materials, as well as the implementation of multifunctional integrated designs, so as to enhance the stealth, anti-detection, and active defence functions of protective structures. It also emphasized the pivotal role of simulation technology in design optimization and performance prediction, as well as the potential of additive manufacturing and laser processing technologies in improving production efficiency and product quality. Through technological innovation and material development, the comprehensive performance of composite protective structures can be effectively enhanced, meeting the needs of modern military and civil sectors for high-performance protective materials.

Application of Anti-Submarine Warfare Strategy Ship-Aircraft Coordination

ZHANG Xuelun, PENG Junyu, GUO Kun, ZHANG Huaying

2025, 33(1): 183-191. doi: 10.11993/j.issn.2096-3920.2024-0141

[Abstract](95) [FullText HTML] (24) [PDF 1336KB](41)

Abstract:
Given the complex security situation in China’s surrounding waters and the large number of submarines, developing coordinated anti-submarine warfare(ASW) systems and effective ASW strategies is a critical priority. This paper took ASW as the research background and explored ASW strategies based on ship-aircraft coordination. Coordinated ASW systems and weapons and equipment of various countries were first reviewed. Then, the applications of the ASW strategy based on ship-aircraft coordination were analyzed, and simulations were conducted to evaluate their effectiveness. Additionally, with the rapid advancement of unmanned systems, how manned-unmanned coordination enhances ASW capabilities was assessed, providing references for the development and improvement of ASW strategies based on the ship-aircraft coordination.

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2025, Volume 33, Issue 1

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Current Issue 2025, Volume 33, Issue 1

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Current Issue
2025, Volume 33, Issue 1