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To address the problem that the traditional generalized cross correlation (GCC) method in ultra-short baseline (USBL) positioning systems has a poor delay estimation accuracy in a low signal-to-noise ratio environment or complex noise background, a generalized quadratic cross correlation (GQCC) time delay estimation algorithm based on signal preprocessing and fourth-order cumulants is proposed. The noisy signal was first preprocessed using singular value decomposition and wavelet denoising. Then, the delay was calculated using an algorithm that combined the GQCC and the fourth-order cumulant. The results of the simulation and sea trial demonstrate that the proposed method is superior to the GCC method and the GQCC method and may significantly increase the positioning accuracy of the USBL system. This technique can offer a fresh technological perspective for weak signal detection and passive positioning of small targets in ocean detection.