Array Shape Estimation Algorithm Based on Single Attitude Sensor and Hydroacoustic Signal Combination

Shape of towed array can be estimated in real time by installing attitude sensors on the array, at the same time, processed hydroacoustic signal received by hydrophone can also provide the depth of hydrophones. In this paper, the depth of the array element obtained by the hydroacoustic signal is used as the observation in the Kalman filtering algorithm to filter the estimated array shape. The estimation method through integrating single attitude sensor data and processed hydroacoustic signal has higher accuracy and robustness compared with single acoustic method or non-acoustic sensor measurement method.