A Correction Algorithm for Acoustic Localization Via Square Pyramid Array

An unattended laser target designator was designed to adapt the up-to-date requirement, with an acoustic array used to locate target preliminarily, its estimated results will be used to control imaging sensors for accomplishing accurate positioning. The feature of passive acoustic localization is estimation accuracy of directional parameters is higher than that of distance parameters. Because tangent of azimuth angle varies linearly with the ratio of the two plane coordinate values, we can search the optimal plane coordinate values in the vicinity of the first estimated results after getting estimation value of azimuth angle. We devised a correction algorithm to make optimal searching in an interval around the estimated results. The final optimal results are confirmed to make the error of location equations to be smallest in least-squares approach. This correction algorithm shows perfect performance in simulation experiments while getting precise directional estimation. Some enhanced methods are also mentioned to advance real time ability, robustness, and flexibility.