Optimal configuration of bistatic sonar system using Cramer Rao Lower Bound of position estimation

In order to study the optimization configuration problem of bistatic sonar system,the optimal configuration model of bistatic sonar system was established.By calculating the Cramer Rao Lower Bound(CRLB) accuracy,the positioning accuracy of the bistatic sonar at different separation angles was obtained based on the optimized configuration model.And the effect of system timing error and angle measurement error on positioning accuracy is analyzed by simulation.When the target is the center of the circle and the transceiver sonar is deployed on the same radius,the simulation experiment results of positioning accuracy show that the system positioning accuracy is the highest at the separation angle of 2π/3,and this research has certain reference significance for the optimal configuration of bistatic/multistatic sonar system.