Real-Time Array Shape Estimation Method of Horizontal Suspended Linear Array Based on Non-Acoustic Auxiliary Sensors

The horizontal floating linear array is a new type of array used to detect deep-sea targets. Reliable target detection depends on the estimation accuracy of the array shape. So far, it has been proved that the theoretical array line of the array form is parabolic under ideal conditions. This paper constructs a segmented array estimation method based on the measurement data of the attitude depth sensor. The key of this method is to use the translation invariance of the array curve to establish and solve the underdetermined equation of the segment curve on the array state function. The array curve is segmented according to the sensor and the estimated array curve is obtained by iterative splicing. The simulation data of the horizontal floating array shows that the estimation error of this method is small, and the error optimization analysis of the parameters is carried out in this paper. In addition, this method has good universal applicability so that it can be applied to the formation estimation of other types of arrays.