High-Precision Underwater Acoustical Localization of the Black Box Based on an Improved TDOA Algorithm
Sibo Sun, Chen Zhao, Ce Zheng, Chunhui Zhao, Yilin Wang
Abstract
Underwater acoustic localization (UWAL) of the black box is a significant technique for transportation safety. The traditional UWAL algorithm based on the time difference of arrival (TDOA) suffers from large localization error due to the signal period drift in the scenario of high pressure and low temperature under sea. To solve this problem, an improved TDOA algorithm is proposed in this letter. We define the second-order time difference of arrival, which eliminates the drifted signal period. Utilizing the second-order time difference of arrival information, we establish the equations to solve the position of the black box. Precision analysis is presented to theoretically calculate the localization precision of the proposed algorithm and test the robustness with respect to the input errors. Experiments in different scenes validate the effectiveness of the algorithm.