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Real-world networks are composed of diverse interacting and evolving entities, while most of existing researches simply characterize them as particular static networks, without consideration of the evolution trend in dynamic networks. Recently, significant progresses in tracking the properties of dynamic networks have been made, which exploit changes of entities and links in the network to devise network embedding techniques. Compared to widely proposed static network embedding methods, dynamic network embedding endeavors to encode nodes as low-dimensional dense representations that effectively preserve the network structures and the temporal dynamics, which is beneficial to multifarious downstream machine learning tasks. In this paper, we conduct a systematical survey on dynamic network embedding. In specific, basic concepts of dynamic network embedding are described, notably, we propose a novel taxonomy of existing dynamic network embedding techniques for the first time, including matrix factorization based, Skip-Gram based, autoencoder based, neural networks based and other embedding methods. Additionally, we carefully summarize the commonly used datasets and a wide variety of subsequent tasks that dynamic network embedding can benefit. Afterwards and primarily, we suggest several challenges that the existing algorithms faced and outline possible directions to facilitate the future research, such as dynamic embedding models, large-scale dynamic networks, heterogeneous dynamic networks, dynamic attributed networks, task-oriented dynamic network embedding and more embedding spaces.