Multistatic Sonar Localization

This paper develops bistatic contact-localization statistics as a function of source-target-receiver geometry, source and receiver location errors, sound-speed errors, time and bearing errors, and array-heading errors. We verify the analysis through Monte Carlo simulation and illustrate localization accuracy for some representative choices of source-target-receiver geometry and measurement error assumptions. We examine the improved localization accuracy of multistatic contacts that result from the fusion of multiple sonar contacts