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Cross-medium relay-aware motion planning of unmanned surface vehicles for remote underwater target localization
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DOI：10.1016/j.oceaneng.2026.127351.png)
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Abstract
En 中文
• A relay-enabled cross-medium framework is proposed to connect underwater acoustic sensing with shore-side information access. • A mutual-information metric is developed to jointly evaluate localization accuracy and relay delivery reliability at the base station. • Relay-aware USV motion planning integrates TDOA/UKF estimation with empirically calibrated LoRa links. • Multi-USV simulations include four baselines and 50-run evaluation, while single-USV sea trials validate the practical cross-medium information-access chain.
Keywords:
Unmanned surface vehicles
Underwater target localization
Time difference of arrival
Cross-medium relaying
Mutual information
Relay-aware motion planning
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