Architecture of the real-lake experimental platform. (a) HUSTER-12c USV, (b) M-200 UAV, and the detailed components. (c) Operation procedure of the cross-domain monitoring system, which consists of three HUSTER-12c USVs, three M-200 UAVs, and a WiFi 5G (TP-link TLBS520) wireless communication station. USVs and UAVs have independent communication networks, with USVs not sharing information with UAVs.