Analysis of circular-walking underwater localization algorithm considering transceiver separation

The submarine base array provides the calculation datum for long-baseline tracking and positioning, and the positioning results of subsea beacon directly affect the accuracy of long-baseline navigation. Therefore, the establishment of a tight underwater positioning model is the key issue to improve the accuracy of undersea beacon point position, and the traditional monostatic underwater positioning model fails to take into account the displacement of the shipborne transducer in the acoustic signal round-trip process, which leads to a large error introduced into the positioning results. To address the above problems, the positioning accuracy of the transceiver separation underwater positioning model in the round-trip mode is investigated and analyzed, and the positioning accuracy of the monostatic and transceiver separation underwater positioning models is compared and analyzed through simulation. The experimental results show that, in the case of the transponder deviating from the center of the track or the speed of the ship fluctuating, the positioning accuracy of the transceiver separation model is higher than that of the monostatic model, and more accurate positioning results can be obtained.