Acoustic correction of ultra-short baseline positioning based on stereoscopic five-element array

For ultra-short baseline positioning system, the acoustic curve caused by the inhomogeneity of seawater medium affects the positioning accuracy of the system, so it is necessary to correct the acoustic curve. In this paper, a stereoscopic five-element array is established by optimizing the formation to improve the system orientation accuracy, and then a method for correcting the horizontal distance and direction angle is proposed according to the theory of ray acoustics. Through theoretical analysis and simulation experiments, the results show that the method can effectively reduce the positioning error and greatly improve the positioning accuracy of ultra-short baseline positioning system.