An Average Speed of Sound Method for Underwater Positioning Based on Time of Arrival

Abstract This article uses the distance and sound spread time of each monitoring base station in the underwater positioning system, calculates the effective sound speed of the sound wave to the base station, and proposes a TOA underwater positioning method based on the average speed. The influence of small underwater sound changes the system positioning accuracy, reducing system positioning errors. Simulation experiments show that compared with the traditional fixed sound velocity method, this method has higher positioning accuracy and lower error. The positioning effect in a long baseline underwater positioning system is less dependent on the number of monitoring base stations. The cumulative probability of positioning error within 5 m can reach 70%, and the cumulative probability of error within 10 m can reach over 95%.