潜空跨介质航行器是一种同时具备水下潜航和空中飞行能力，可在水空跨域活动的新型海洋无人化装备。将潜空跨介质航行器分为“固定翼式”“折叠翼式”“旋翼式”“复合式”“仿生式”五类分别简要介绍其目前的研究成果以及相应的优缺点，并对各类型的样机进行介绍，侧重于潜空跨介质实现过程。该类型航行器应用前景极为广泛，针对跨介质总体技术、跨介质动力与推进技术和跨介质控制技术等关键技术进行了介绍并进行了相关技术的前景分析。
Unmanned aerial–underwater vehicle is a new type of marine unmanned equipment that possess both underwater stealth and aerial flight capabilities, allowing it to operate across air and water domains. In this paper, unmanned aerial–underwater vehicles are categorized into "fixed-wing," "folding-wing," "rotary-wing," " multimodal," and "bionic" types. Each category is briefly introduced with its current research achievements, advantages, and disadvantages, along with examples of prototypes, focusing particularly on the process of transitioning between aquatic and aerial environments. The application prospects of these vehicles are extremely broad. The paper also introduces key technologies such as trans-medium overall design, trans-medium propulsion and power, trans-medium control, and provides a prospective analysis of these technologies.
2025,47(23): 10-18 收稿日期：2025-3-3
DOI：10.3404/j.issn.1672-7649.2025.23.002
分类号：U674.7；V279.2
基金项目：智能海洋航行器技术全国重点实验稳定支持项目资助（JCKYS2023SXJQR-02）
作者简介：夏国锋(2004-),男,研究方向为海洋机器人技术
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