In an underwater channel, sound rays often propagate along a bended curve for the existence of gradient in ocean sound speed, which would cause great error in acoustic navigation. The sound ray revision must be considered carefully to get high-precision acoustic autonomous navigation of UUV. In this paper, the concept of effective sound velocity is adopted to revise sound ray. An acoustic navigation method based on the correction of slope distance is proposed and the application of effective sound velocity under different sound speed gradients in acoustic navigation is investigated. Simulation shows that the correction can improve the precision of navigation effectively.
A new model for bistatic sonar system is established, in which frequency hopping (FH) signals are used for targets
detection according to some rules. This model can decrease the time between adjacent signals and obtain more
information in a unit time. The receiving system will receive and process the signals of different frequency respectively,
according the FH pattern, for detecting and locating targets. This method can helps yield more stable and accurate
outputs, using the characteristic of the FH signals, increase the ability of anti-detection and anti partial-band jamming.
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