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.

翻译：自主无人水下航行器（UUV）可在不依赖支援舰船或全球导航卫星系统（GNSS）的情况下，在沿海区域执行军事与民用隐蔽任务。当无法通过水面途径进入，且需在保护区或禁入危险区等受限环境中进行隐蔽航行时，此类任务至关重要。GNSS拒止导航对于保持隐蔽性极为必要，因为上浮可能导致UUV暴露而被侦测。为确保编队精确定位，通过空中或水面无人机部署的信标星座将构建合成地标网络，引导UUV编队沿大陆架至岸上目标点的优化路径航行。这些沉底式或漂浮式信标通过发射声学信号为UUV提供定位与导航支持。分层规划器为执行基础动作的无人机生成自适应航线，同时持续监测并在必要时重新规划，以维持轨迹精度。