Real-time Target Localization Method Integrating Multi-Beam Tracing and Acoustic Refraction Correction

This study proposes a real-time target localization method based on acoustic refraction correction to enhance the accuracy of mine avoidance sonar systems for safe submarine operations. Conventional mine avoidance sonars typically assume either straight-line or single eigen-ray propagation paths for estimating target locations, which can result in detection errors due to insufficient consideration of acoustic refraction effects in complex and varying oceanic sound speed profiles. To address these limitations, this paper introduces a real-time sonar imaging method employing multi-ray tracing based on transmission angles and detailed sound speed profiles, effectively correcting mismatches in target localization. Performance validation through simulations and ocean experiments involving variable depths and complex sound speed environments demonstrated significantly improved localization accuracy compared to traditional approaches, confirming the capability for accurate real-time target localization in multi-target and complex maritime scenarios.