Abstract
Autonomous Unmanned Underwater Vehicles (UUVs) enable military and civilian covert operations in coastal areas without relying on support vessels or Global Navigation Satellite Systems (GNSS). Such operations are critical when surface access is not possible and stealthy navigation is required in restricted environments such as protected zones or dangerous areas under access ban. GNSS denied navigation is then essential to maintaining concealment as surfacing could expose UUVs to detection. To ensure a precise fleet positioning a constellation of beacons deployed by aerial or surface drones establish a synthetic landmark network that will guide the fleet of UUVs along an optimized path from the continental shelf to the goal on the shore. These beacons either submerged or floating emit acoustic signals for UUV localisation and navigation. A hierarchical planner generates an adaptive route for the drones executing primitive actions while continuously monitoring and replanning as needed to maintain trajectory accuracy.
Abstract (translated)
自主无人水下航行器（UUVs）能够在沿海区域执行军事和民用秘密行动，无需依赖支援舰船或全球导航卫星系统（GNSS）。这种操作在表面无法进入并且需要隐蔽导航的受限环境中尤为重要，例如保护区域或禁止进入的危险地区。在这种情况下，没有GNSS信号的自主导航对于保持隐藏至关重要，因为浮出水面可能会使UUV暴露于探测风险中。 为了确保精确的舰队定位，通过无人机（空中或水面）部署的一系列信标建立了一个合成地标网络，该网络将引导UUV舰队从大陆架到岸边目标沿优化路径航行。这些信标无论是沉入水下的还是漂浮在水面上的，都会发出声波信号用于UUV的定位和导航。 一个分层规划器生成了一条适应性路线供无人机执行基本动作，并且会不断监控并根据需要重新规划路线以保持航迹精度。
URL
https://arxiv.org/abs/2601.15802
