this post was submitted on 14 Feb 2024
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In addition to all those great suggestions, the addition of surface-scanning radar would do wonders. Seeing small blips slowly approaching your position would be plenty to alert the ship that they need to ID the blips and man the guns.
I don't know what the USVs are made of. If it's fiberglass, they may not provide much of a radar return.
googles
https://christinedemerchant.com/radar.html
They already have a very low profile, need to put their camera on a mast to reliably see the target.
Couldn't they even use a hydrophone to pick up on engine noise?