UUVs（Unmanned Underwater Vehicles）characterized by high maneuverability，intelligence，and operability，are becoming a focal point of research in the underwater offensive and defensive fields for various countries. Due to the limited energy carried by the UUV，the need for energy replenishment through docking with surface platforms or motherships necessitates the exploration of underwater autonomous docking research. Previous studies predominantly concentrated on motion planning and control algorithms of the UUV or the mutual influence between UUV and docking station during the docking process，but there are few systematic studies on underwater perception systems. In This paper，some guidance technology schemes related to underwater dynamic docking mission of institutions at home and abroad are invested， the principles and characteristics of multibeam sonars，laser radar，and underwater electromagnetic sensors are analyzed，and simulation experiments on multi-beam imaging sonar are conducted. A collaborative perception guidance system architecture for underwater dynamic docking is proposed. This architecture can flexibly adjust the operational priority of sensors according to the requirements of each stage of the underwater dynamic docking mission and the characteristics of the relevant sensors，so as to ensure that effective docking information can be provided for both the recovery platform and the UUV platform throughout the entire docking mission stage.
