Single Hydrophone Localization Method Based on Matching Multi-path Time Delay Differences

Based on the multi-path arrival structure under the Reliable Acoustic Path (RAP) mode, this paper proposes a target localization method matching multi-path time delay differences. The mathematical model of multi-path time delay in RAP mode is obtained based on the virtual source theory, and the time delay difference vector of the measured data is obtained through the autocorrelation processing of the received signal. The copy time delay difference vector is obtained based on the BELLHOP model, and the cost function between two vectors is established based on the $l_{1}$ paradigm which realizes the simultaneous estimation of the depth and distance of the sound source. The localization effect of the method is analyzed by simulation at different Signal-to-Noise Ratios (SNR) and sound velocity profile mismatch. The results show that the method has good localization effect at SNRs greater than 5dB; when the SNR is 0dB, the depth relative error caused by the sound velocity profile mismatch is no more than 13.3%, and the distance relative error is no more than 4%, which indicates that the method has a certain degree of robustness to the environmental mismatch.