A portable high precision three-dimensional trace measure system for underwater high-speed moving target

The paper describes a portable high precision three-dimensional trace measure system for high-speed underwater target. The mathematical model for location, the main error sources, the calibration method for underwater array and the way to correct the state of the underwater array are discussed. Some problems about the distance ambiguity and multi-path interference are also analysed. Some experiment results on the lake and the sea are given.