A Study on Multistatic Sonar Localization Method with Consideration of AUV Mobility

In this article, a mathematical model has been developed for underwater target positioning using a dynamic multistatic sonar system based on Autonomous Underwater Vehicle (AUV) clusters. A simulation calculation model for the dynamic multistatic sonar system positioning process has also been constructed. The study focuses on the arrival time positioning algorithm of the multistatic sonar system in a moving state. Additionally, simulation calculations of dynamic multistatic sonar target positioning of three receiving stations have been carried out. The research results can provide a new technical way for underwater detection and positioning of AUV clusters.