【摘要】 水空跨介质航行器是指既能够实现在空中飞行又可以在水面以及水下航行，同时能够完成多次水空介质跨越的新型无人平台。作为具有广阔应用前景的无人平台，其复杂任务环境下的高效运行对导航技术提出更高的要求。为实现其在不同任务剖面下的无缝导航，首先系统梳理了水空跨介质航行器的国内外研究与发展现状。其次深入分析了在跨介质导航过程中面临的难点与挑战，总结了跨介质导航需求，详细阐述了水空跨介质导航的关键技术思路。最后展望了未来水空跨介质无人平台导航技术的发展方向。更多还原

【Abstract】 An unmanned aerial-underwater vehicle(UAUV) refers to a new type of platform that can not only fly in the air, navigate on the water surface and underwater, but also can complete multiple water-air medium crossings. Given the broad application prospects of unmanned vehicles, their efficient operation in complex mission environments imposes ever-more stringent requirements on navigation technologies. In order to achieve seamless navigation in different mission profiles, the current research and development status of UAUV at home and abroad is systematically sorted out first. Secondly, an in-depth analysis is conducted on the difficulties and challenges faced throughout UAUV navigation. The requirements for cross-media navigation are summarized, and the key technical ideas for UAUV navigation are elaborated comprehensively. Finally, the development direction for future navigation technology of UAUV is prospected.更多还原