A Three-Step Underwater Moving Target Location Algorithm Based on FDOA

The position and velocity estimation of underwater moving targets is an important part of the application of underwater sensor networks. The commonly used fusion of time difference of arrival (TDOA) and angle of arrival (AOA) can only roughly estimate the target position, but also has some limitations for nonlinear problems. So in order to overcome the nonlinear problem and improve the accuracy of underwater target location.Based on TDOA and AOA, this paper adopts a three-step location method which combines frequency difference of arrival (FDOA).At the same time, the whale algorithm is used to optimize the measurement error based on the weighted least square method (Tswls). Finally, the experimental results show that compared with TDOA location method and tdoa/aoa hybrid location algorithm, this method is superior to the above methods in the accuracy and bias of position and velocity estimation.