An Underwater Passive Electric Field Positioning Method Based on Scalar Potential

In order to fulfill the practical application demands of precisely localizing underwater vehicles using passive electric field localization technology, we propose a scalar-potential-based method for the passive electric field localization of underwater vehicles. This method is grounded on an intelligent differential evolution algorithm and is particularly suited for use in three-layer and stratified oceanic environments. Firstly, based on the potential distribution law of constant current elements in a three-layer parallel stratified ocean environment, the mathematical positioning model is established using the mirror method. Secondly, the differential evolution (DE) algorithm is enhanced with a parameter-adaptive strategy and a boundary mutation processing mechanism to optimize the key objective function in the positioning problem. Additionally, the simulation experiments of the current element in the layered model prove the effectiveness of the proposed positioning method and show that it has no special requirements for the sensor measurement array, but the large range and moderate number of sensors are beneficial to improve the positioning effect. Finally, the laboratory experiments on the positioning method proposed in this paper, involving underwater simulated current elements and underwater vehicle tracks, were carried out successfully. The results indicate that the positioning method proposed in this paper can achieve the performance requirements of independent initial value, strong anti-noise capabilities, rapid positioning speed, easy implementation, and suitability in shallow sea environments. These findings suggest a promising practical application potential for the proposed method.