水下无人艇在无卫星导航时，靠空中或水面无人机布设信标实现隐蔽定位与路径规划。
A Beacon Based Solution for Autonomous UUVs GNSS-Denied Stealthy Navigation
- 用空/水面无人机部署声学信标，构建水下定位网络。
- 通过层级规划器动态调整路径，确保导航精度。
- 适合军用或禁区探测任务，强调隐蔽性与自主性。
自主水下无人艇（UUV）可在不依赖支援舰船或全球导航卫星系统（GNSS）的情况下，执行沿海区域的军事与民用隐蔽任务。当水面无法进入且需在受保护区域或禁入区保持隐蔽时，避免暴露于水面至关重要。因此，无GNSS导航成为维持隐蔽性的关键。本方案由空中或水面无人机部署一组信标，构建合成地标网络，引导UUV编队从大陆架沿优化路径抵达海岸目标。这些信标可为悬浮或漂浮状态，发射声学信号供UUV定位与导航。一个分层规划器生成自适应路径，通过执行基础动作并持续监控与重规划，确保轨迹精度。
原文摘要 · Abstract (English)
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.
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