AUV在未知海洋环境下与单一方向结构(Dock)对接，在终端对接过程中实时获取目标的位置和姿态是对接成功的关键。提出了一种基于超短基线结合单目视觉实现终端导航的方法。介绍了AUV水下对接终端导航的国内外方法，结合现有终端导航传感器的特点，设计了超短基线结合视觉的方法，在平行Dock中心轴上两个位置分别布置了超短基线应答器和光源协作目标，通过图像处理获得了视觉目标的图像坐标，结合应答器目标和光源目标的相对距离推导了Dock的空间位置和姿态，为实时终端AUV导航提供基础。

 The ability to know dock position and its pose is a key requirement for AUV (Autonomous Underwater Vehicle) docking with a singe-direction dock in unknown underwater environments. A terminal guidance method is presented based on USBL (Ultra Short Baseline) combined with a CCD camera. The underwater terminal docking guidance methods are introduced. With the characteristics of terminal underwater guidance sensors, a USBL combined with a CCD camera is designed. A light is arranged in dock centerline for vision co-target, with another center point for transponder of USBL. After image processing, the image coordinates of the light source is got, with the known distance between the transponder and the vision source, the dock position and pose is derived, which is help for online guidance for AUV underwater docking.