Abstract:The cooperation between man and unmanned is the inevitable trend of the future system operations. As the key underwater combat equipment developed by the major naval countries in the world, UUV has been widely used in the underwater combat. Combined with the weakness of single platform combat of submarine, typical combat tasks such as cooperative detection, attack and defense of submarine and UUV are studied in this paper. According to the requirements of the battlefield situation assessment on the speed, concealment and security of the solution of the target motion elements, a collaborative solution method of the moving elements based on the target position line was proposed.