TDOA-DOA underwater target passive localization algorithm with sensor position errors

To address the problem of poor localization accuracy due to sensor position error in passive localization of underwater target, a two-step least squares (LS) based time difference of arrival-direction of arrival (TDOA-DOA) target localization algorithm is proposed. Firstly, an idealized error-free model of TDOA-DOA is constructed, and the target position is coarsely estimated through the LS algorithm. Secondly, the joint equation of target positioning error and sensor position is constructed with the measurement error and the sensor position error, and weighted LS algorithm is employed to solve the equations. Finally, the coarse estimation of the target position is corrected to obtain a more accurate localization result using target positioning error. Simulation results show that the proposed algorithm can jointly estimate both of the target position and the sensor position. Compared with the existing algorithms, the proposed algorithm has higher localization accuracy, and is more suitable for underwater target localization in the presence of sensor position errors. © 2024 Chinese Institute of Electronics. All rights reserved.