High Precision Algorithms of Diver Tracking and Location in the Shallow Water

摘要

A processing method for the diver location tracking is proposed. First, the nonlinear simultaneous equations of time difference of arrival (TDOA) or time of arrival (TOA) is solved by using Iterated Nonlinear Least Squares Estimation (INLSE). Second, time-delay was got exactly, especially when the signal is corrupted with the effect of multi-path propagation by using the combining of cross-correlation function (CCF) and Yule-Walker Solution of the AR Model (AR). The experiment in the tank shows that the precision of the estimation of time-delay was improved.