针对水下滑翔机对动态、未知的海洋特征的采样问题,提出了自适应覆盖采样算法.首先,定义了基于质心Voronoi分割采样空间的最优覆盖采样准则;然后,设计了在线参数估计算法,利用带遗忘因子的递归最小二乘法估计海洋特征参数;最后,设计了分布式控制算法,能够保证各个水下滑翔机从任意的初始位置收敛于定义的最优的覆盖采样网络配置.利用仿真实验对上述方法进行了有效性验证,结果表明本文提出的算法能够更好地完成对动态海洋特征的覆盖采样. An adaptive overlay sampling algorithm is proposed for underwater glider sampling of dynamic and unknown marine features.Firstly, the optimal coverage sampling criterion based on Voronoi segmentation sampling space is defined. Then, an on-line parameter estimation algorithm is designed, Finally, a distributed control algorithm is designed to ensure that each underwater glider converges to the defined optimal coverage sampling network configuration from any initial position. Using the simulation experiment, Method is validated. The results show that the algorithm proposed in this paper can better cover the dynamic sampling of marine features.