A Passive Localization Method with Multipath Time Delays Based on Underwater Glider Platforms in the Deep Sea

The underwater glider is a new type of observation platform, which relies on its own static buoyancy to float and dive along the set path. It can be equipped with acoustic sensors to achieve passive acoustic monitoring in a large area of sea. In the South China Sea environment, hydrological data obtained by gliders were used to first study the motion characteristics and noise properties of the underwater glider platform. The glider's underwater trajectory was obtained, and the multipath arrival signals received during its movement were processed for autocorrelation to obtain time differences. These time differences were matched with those simulated by Bellhop to estimate the distance to the sound source. Using 17 sets of signals received by underwater gliders during experiments in the South China Sea, the feasibility of the method in distance measurement direction was verified, with errors within 10%. The research results indicate that underwater gliders equipped with acoustic sensors can achieve acoustic signal observation, thus having certain research significance and application value in passive acoustic monitoring and deep sea localization technology.