Abstract: There are defects of fixed working mode and low positioning accuracy in the mono-static sonar detection system, and there is a problem of missing observation and measurement of T-Rn positioning method in the multistatic positioning sonar. By combining the arrival time and amplitude of the received signal and its direction angle obtained by the multi-static sonar in the tracking stage, the positioning algorithm based on the arrival time of the signal and its orientation is deeply studied in this paper. A target position solution algorithm using the intersection of spatial elliptical trajectories is proposed, and the spatial reverse projection algorithm is used to assist in completing the target positioning. The algorithm first obtains the phase relationship of the echo signal, and the generalized cross-correlation delay estimation algorithm is used to obtain the average delay estimation during the working cycle of the system. Then the vertical azimuth observation of the base array is obtained by the bearing estimation of the received signal, and the trajectory solution algorithm is completed by elliptic trajectory intersection and geometric positioning method. Finally, the complete flowchart of the target position solution algorithm is given, and the simulation results of error evaluation verify the effectiveness of the intersection positioning algorithm, which can effectively ensure the execution efficiency of the target positioning tracking task in multi-static mode, and has a certain reference value for the evaluation of system positioning accuracy in practical engineering applications.