A baseline decomposition ultra-short baseline localization algorithm for arbitrary array structures

With the rapid development of the marine economy, hydroacoustic positioning technology plays an increasingly important role in marine engineering. The ultra-short baseline (USBL) hydroacoustic positioning system has the advantages of small size, simple operation, and flexible use, and has been widely used. Aiming at the existing USBL acoustic positioning algorithm with low positioning accuracy and complex calculation, a baseline decomposition localization algorithm with arbitrary array structure is proposed. The algorithm is based on the theory of coordinate system transformation, establishes positioning observation equations for each baseline in the base array, and adopts the least squares method to obtain positioning results by selecting different combinations of baselines. The systematic errors of different positioning models themselves are simulated, and then the effects of the three parameter errors, namely, time delay, element coordinates, and sound speed, on the positioning results are analyzed, respectively. Finally, the simulation results and sea trial data show that, compared with the existing algorithms, this algorithm not only simplifies the complicated computation process, but also improves the positioning accuracy and robustness, and has a better application effect.