A Hydroacoustic Positioning Method Based on Analysis of the Error Region of Three-circle Intersection

A hydroacoustic positioning method based on three-circle intersection presented in this paper is used to locate the underwater measuring units equipped with sensors to measure magnetic and electric field. Due to the existence of controllable and non-controllable error sources such as measurement distance of underwater acoustic and entry depth of the surface positioning device in the positioning process, there is a triangle error area that makes the positioning results not satisfactory. In order to improve the positioning accuracy, the convergence and diffusion law of the triangle error area are studied with data analysis software by setting error ranges of the positioning circle radius and the step size in response to the measured results in sea test. The analysis results show that the optimized positioning method based on the three-circle intersection can well reduce the size of the triangle error area and effectively improve the positioning accuracy.