基于信标的一种自主水下无人航行器（UUV）在GNSS受限环境下的隐蔽导航方案
A Beacon Based Solution for Autonomous UUVs GNSS-Denied Stealthy Navigation
AI总结：
该研究提出了一种基于信标的自主UUV在GNSS受限环境下实现隐蔽导航的方案，通过分层规划器和合成地标网络实现精确路径导航。
摘要：
自主水下无人航行器（UUVs）能够在不依赖支援舰艇或全球导航卫星系统（GNSS）的情况下，在沿海区域执行军事和民用的隐蔽任务。此类任务在表面无法接触且需要在受限制环境如保护区或禁入危险区域中进行隐蔽导航时尤为关键。GNSS受限导航对于维持隐蔽性至关重要，因为上浮可能会暴露UUVs给探测。为确保精确的舰队定位，通过空中或水面无人机部署的信标构成一个合成地标网络，将舰队引导沿优化路径从大陆架航行至海岸目标。这些信标无论是沉没还是漂浮，都会发射声学信号用于UUV的定位和导航。一个分层规划器为执行基本动作的无人机生成适应性路线，同时持续监控和重新规划以维持轨迹准确性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
