AUSLUN: 一种用于GNSS拒止环境下海上搜索与导航的固定悬停无人机-无人艇系统
AUSLUN: A Fixed-Hover UAV--USV System for GNSS-Denied Maritime Search and Navigation
AI总结：
提出AUSLUN系统，利用固定悬停无人机通过视觉惯性里程计和变焦吊舱扫描，结合门控递归估计器实现非合作目标定位与无人艇导航，在GNSS拒止环境下验证了搜索-导航完整流程。
摘要：
全球导航卫星系统（GNSS）拒止会阻止无人水面艇（USV）发现远处船只并保持全局参考的接近。本文提出AUSLUN（自动无人机搜索、定位与USV导航），一种固定悬停空中-水面系统，使用沿海无人机（UAV）通过视觉惯性里程计（VIO）估计自身姿态，作为远程感知和导航锚点。核心设计将感知运动从无人机平移转移到变焦吊舱，并通过三个耦合元素形成闭环：多边形感知环形吊舱扫描、模态感知方位-距离定位、以及带视觉丢失恢复的目标相对USV引导。同一门控递归估计器对非合作目标使用激光测距，对合作USV使用数据链测距。搜索规划仿真表明，自适应偏航边界相比匹配的固定扇区扫描减少了扫描时间和冗余覆盖；GPS参考的现场数据显示，门控递归估计器在定位精度上优于非递归基线。综合海上任务进一步展示了从搜索到导航的完整序列，包括故意触发的视觉丢失恢复。这些结果确立了固定悬停无人机辅助在沿海GNSS拒止环境下对静止目标接近的可行性和操作边界。源代码和视频演示公开于https://github.com/xirhxq/pod_search 和 https://youtu.be/S-5RkJs35JI。
英文摘要：
Global navigation satellite system (GNSS) denial can prevent an unmanned surface vehicle (USV) from both finding a distant vessel and maintaining a globally referenced approach. This paper presents AUSLUN (Automatic UAV Search, Localization, and USV Navigation), a fixed-hover aerial-surface system that uses a coastal unmanned aerial vehicle (UAV), which estimates its own pose through visual-inertial odometry (VIO), as a long-range sensing and navigation anchor. The central design shifts sensing motion from UAV translation to a zoom pod and closes the loop through three coupled elements: polygon-aware annular pod scanning, modality-aware bearing-range localization, and target-relative USV guidance with visual-loss recovery. The same gated recursive estimator uses laser range for the non-cooperative target and datalink range for the cooperative USV. Search-planning simulations show that the adaptive yaw bounds reduce scan time and redundant coverage relative to a matched fixed-sector scan, and GPS-referenced field data show that the gated recursive estimator outperforms non-recursive baselines in localization accuracy. An integrated maritime mission further demonstrates the complete search-to-navigation sequence, including a deliberately triggered visual-loss recovery. These results establish the feasibility and operating boundary of fixed-hover UAV assistance for stationary-target approach in coastal GNSS-denied environments. The source code and a video demonstration are publicly available at https://github.com/xirhxq/pod_search and https://youtu.be/S-5RkJs35JI.
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。
