Method of triangulation passive locating torpedo

Locating and tracing torpedo is the key to warship anti-torpedo. Sonar can detect noise of underwater target and get the target's bearing information, but the bearing information is insufficient to locating the torpedo at present. So the method of locating torpedo by two platforms' bearing information is studied. Furthermore, several algorithms are established using EKF, UKF and SUKF methods. The results of simulation demonstrate that SUKF is applicable and has the characteristic of higher accuracy and the stronger convergence for passive locating and tracking torpedo application, which has large observation error. Finally, the application prospect of this method is presented.