METHOD FOR UNDERWATER OBJECT LOCATION DETERMINATION USING PROXIMITY SENSOR OF COMPASS DIRECTION AND DEVICE THEREOF

摘要

A method for estimating underwater target position using bearing information of a proximity sensor and an apparatus thereof according to the present invention can reduce the quantity of sensors as compared with a prior frequency closest point approach (CPA) using at least four proximity sensors in case a Doppler phenomenon is not detected, by estimating distance and speed parameter of a target using a first and a second proximity sensor when the apparatus estimates the position of the target, and thus can achieve weight lightening, and also can perform rapid target parameter estimation. Especially, the method and the apparatus of the present invention can perform comparatively accurate estimation by reducing delay time after detection through rapid calculation by the estimation of the target parameter through an accurate envelope CPA method with low calculation quantity and the first and the second proximity sensors which are relatively simple.