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水空跨域航行器能够在空气与水体之间实现跨介质运动，在海洋探测、水下搜救及军事侦察等领域具有广阔应用前景。然而，由于空气与水体之间存在显著的物理特性差异，航行器在跨介质运动过程中面临结构设计复杂度高、动力学建模难度大以及稳定控制难度高等挑战。本文在调研国内外相关研究成果的基础上，对水空跨域航行器领域的研究进展进行了系统综述。首先，从结构设计角度对现有航行器进行了分类，根据结构特点将其划分为仿生驱动型、结构重构型和切换型三类，并分析了各类航行器的特点与适用场景。随后，从动力学建模角度综述了航行器在空气与水体中的动力学特性差异，以及入水、离水等关键跨介质阶段的建模方法，并总结了跨域过程中涉及的关键问题。在控制系统设计方面，归纳了现有研究在姿态控制与跨介质过渡控制等方面的研究进展，对不同控制策略的特点进行了分析与总结。最后，对自主规划、智能控制及多航行器协同控制等未来研究方向进行了展望，以期为水空跨域航行器的后续研究与应用提供参考。
Abstract：Aquatic-aerial cross-domain vehicles are capable of achieving cross-medium motion between air and water, demonstrating broad application prospects in marine exploration, underwater rescue, and military reconnaissance. However, due to significant differences in physical properties between air and water, these vehicles face several challenges during cross-medium operations, including complex structural design, difficulties in dynamic modeling, and challenges in stable control. Based on a comprehensive review of relevant domestic and international studies, this paper systematically summarizes recent advances in aerial-aquatic cross-domain vehicle research. First, existing vehicles are classified into three categories according to structural characteristics: biomimetic-driven, reconfigurable, and transition-type vehicles, and their respective features and application scenarios are analyzed. Second, from the perspective of dynamic modeling, differences in vehicle dynamics between air and water are reviewed, along with modeling approaches for key processes such as water entry and water exit, and the main challenges in cross-medium motion are summarized. Furthermore, recent progress in control system design is reviewed, focusing on attitude control and cross-medium transition control, and the characteristics of different control strategies are discussed. Finally, future research directions, including autonomous planning, intelligent control, and cooperative control of multiple vehicles, are outlined, providing a reference for further development of aerial-aquatic cross-domain vehicle technologies.
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基本信息:
DOI：10.19942/j.issn.2096-5915.2026.03.25
中图分类号:U664.82;TP273.5;V249
引用信息:
[1]孟宇航,吴东,唐浩然,等.水空跨域航行器：跨介质动力学与智能控制研究进展[J].无人系统技术,2026,9(03):1-16.DOI:10.19942/j.issn.2096-5915.2026.03.25.
基金信息:
国家自然科学基金（62373191）; 国家建设高水平大学公派研究生项目（CSC202506840048）; 江苏省研究生科研与实践创新计划项目（SJCX25＿0178）
2026-06-15
2026-06-15