Underwater TDOA localization algorithm with sensor position floating

Aiming at the problem of the uncertainty of the sensor position in underwater sound source localization, an underwater target localization algorithm based on two-stage weighted least squares algorithm was proposed. First, when the sensor position was floating, the acquired time difference of arrival data was used to construct a weighted coefficient matrix from the measured value noise and the sensor position error, and the target position was estimated through the weighted least squares algorithm. Then, a localization equation was constructed by introducing the target localization error. Finally, the target position estimated in the previous stage was adjusted with the solved target localization error. Simulation results show that the proposed algorithm has better localization accuracy when the sensor position noise is low. © 2021, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.