Analysis on Error Distribution of Torpedo Water-Entry Point Based on Four-Element Array Localization Algorithm

The accuracy of torpedo water-entry point is one of the main tactical and technical indexes for assessing per-formance of torpedo. For localizating torpedo water-entry point by four-element array, a localization algorithm is derived and simulated in this paper. The error caused by delay difference estimation is analyzed. An error equation is derived, and the main factors leading to larger error are given. Moreover, the localization errors of different array formations are simulated, and the simulation results with co-directional error and reverse error are compared. It shows that the localization error distribution will be compressed to the diagonal part of the original square by changing the placement of four-element array, and the area with larger errors will be reduced. Thus, the aim of reducing errors and improving localization accuracy is achieved.