Depth estimation method of deep-sea underwater vehicle based on vertical array

The deep sea has a relatively stable sound velocity distribution. Based on the acoustic characteristics of reliable channels, this paper presents a method for estimating the depth of underwater targets for vertical arrays arranged at critical depth. This method is different from the matched field technology and time mirror technology. It does not need to obtain the marine environment information in real time and establish an accurate sound field prediction model. It can track the moving target and estimate the target depth at the same time. Simulation results show that this method can effectively obtain the target depth and has high estimation accuracy.