关键词: 隐蔽航路, 水下航行器, 声纳探测, 累积探测概率

Abstract: The proposed method addresses the issue of insufficient conceal and poor robustness in path planning for underwater vehicles in complex marine environments, where current methods only consider hydrological conditions for stealth planning. This method first calculates the acoustic propagation loss through temperature and salinity data and the Bellhop model, thereby obtaining the instantaneous detection probability of the aircraft affected by the hydrological environment; Then, by introducing models of target lateral distance and patrol width, terrain data is used to combine the probability of detection platforms constrained by geographical factors with sonar contact time and instantaneous detection probability, thus constructing a hidden effectiveness model that takes into account the influence of multiple environmental factors. Finally, an A* algorithm that considers concealment is used to automatically calculate the concealed route. Experimental results show that, compared to traditional concealment planning methods, the proposed method integrates hydrological and geographical factors into a normalized stealth effectiveness value and applies it to the stealth planning algorithm, which (1) significantly reduces the average cumulative detection probability of the vehicle when navigating complex straits, enhancing the concealment of the planned route; (2) results in a more robust concealment route that better meets practical application requirements.

Key words: concealed route, underwater vehicle, sonar detection, cumulative detection probability