Localization of Moving Source in the Shallow Layer of Deep Ocean Based on the Arriving Time Difference between the First and Second Waves

In this paper, moving source localization with improved positioning accuracy was achieved with the Extended Kalman Filter (EKF) method by exploiting the time flight difference of multi-path arrivals of a hydrophone. Considering the lager SNR of the first and second waves, the time difference between them was analyzed by applying the single frequency signal as the matching sequence and calculating the time-domain correlation. Thus, through the constructed EKF model and with the collected time difference, the depth, horizontal distance and moving speed of the source can be obtained. The localization results of the EKF method matched well with the experiment data, which proves that EKF method can be applied to the localization of the underwater moving source.