Passive sonar target positioning method based on double sensors

The invention relates to the technical field of underwater acoustic equipment design and manufacturing, in particular to a passive sonar target positioning method based on double sensors, which comprises the following steps of: 1, calculating coordinate information of all to-be-selected targets relative to each array at a t1 moment; assuming that the coordinate of a certain array is known to be (x, y), calculating a motion equation y = theta * x + b of the target about the azimuth according to the azimuth (theta) of the target; motion equations of all targets about a certain array are calculated, and every two equations are combined to solve intersection points; 2, initializing parameters, wherein the parameters comprise the number of ant tracking needed by tracking and positioning, an initial value of a target function, a convergence threshold value and a divergence coefficient; and step 3, randomly placing the tracking ant on the target to be selected at the t1 moment. According to the method, the ant colon