Abstract: To meet the urgent need for the future maritime launch and recovery of spacecraft, and in response to the challenges posed by the vast coverage areas, extensive resource mobilization, and weak system architecture associated with maritime launch and recovery operations, it is imperative to address the difficulties of failing to locate, track, or accurately identify targets in deep-sea and remote environments. To provide theoretical support for search, sensing, and tracking missions during the final reentry phase of spacecraft in predefined areas, there is an urgent need to conduct research on the design of an autonomous sensing system capable of routine monitoring, multi-domain coordination, and unmanned intelligence. By analyzing mission requirements across searching targets, operational entities, searching quipment, searching tasks, and searching environments, and approaching the problem from 4 dimensions, which are frameworks of capability, mission, system, and technology, a heterogeneous fusion system framework is consctructed combining space-based satellite wide-area perception and air/sea/submarine unmanned swarm cross-domain perception. Core capabilities such as multi-medium positioning and orientation, multi-dimensional cross-domain three-dimensional search, and multi-mode intelligent recognition are provided. An autonomous perception system based on multi-source information fusion and multi-domain equipment coordination is proposed.