Efficient Underwater Acoustical Localization Method Based on TDOA with Sensor Position Errors

Underwater acoustic localization (UWAL) is extremely challenging due to the multipath nature of extreme underwater environments, sensor position uncertainty caused by unpredictable ocean currents, and lack observation data sparse array, which all affect performance. Addressing these issues, this paper proposes a simple effective method using time difference arrival (TDOA) measurements based on channel effect environment. By introducing calibration source, performance was improved, error corrected. The Cramér–Rao lower bound (CRLB) derived, proposed able achieve CRLB with small deviation. Numerical simulations confirm improved method, including (1) 20 dB 30 reduction in for far near source scenarios, respectively, indicating accuracy reliability when estimating unknown sources; (2) better Mean Squared Error (MSE) compared existing methods an efficiency over 90% low noise above 80% moderate several delayed threshold effect; (3) achieving only three sensors 3D space, even under noise, while require at least five comparable Our results demonstrate efficacy enhancing localization.