Three-Dimensional Ultra-Short Base Line Based Underwater Acoustical Localization Utilizing Modified Newton Algorithm

The ultra-short base line (USBL) is a widely used technique in achieving the underwater acoustic localization (UWAL). Aimed at increasing the localization precision, we propose a three-dimensional (3-D) USBL based UWAL method utilizing the modified Newton algorithm. Firstly, a modified Newton algorithm is proposed by introducing the singular value factor to address the non-convergence problem, which dramatically deteriorate the localization precision in the traditional Newton algorithm. Secondly, a localization node selection algorithm is presented to optimize the localization precision and reduce the computational burden. Moreover, the localization precision analysis is implemented to evaluate the theoretical performance of the method. Finally, simulation and lake trial results prove the effectiveness of the method.