Performance comparison among the various underwater acousitic positioning algorithms

The selection of the underwater location algorithm is important to various underwater operations. To compare the performance of various underwater acoustic positioning algorithms refined by Extended Kalman filter (EKF) and avoid the blindness and subjectivity in the process of the underwater positioning, seven different underwater acoustic algorithms are a simulated, they are Time of Arrival (TOA), Time Difference of Arrival (TDOA), Angle of Arrival (AOA), and their fusion algorithms. And then, The differences in accuracy, stability and robustness are systematically compared. The results showed that TOA and TDOA fusion positioning algorithm refined by EKF has the best comprehensive performance. The results of this paper help avoid the blindness and subjectivity in selecting positioning algorithms in the underwater positioning.