Time delay correction algorithm for underwater positioning based on clock error modeling

In order to solve the problem that the clock error in synchronous positioning mode affects the positioning accuracy, a synchronization clock correction algorithm for underwater acoustic positioning system is proposed. In this paper, the clock error correction model is established by long time observing the time delay of a fixed single submersible buoy and measuring the change of the time delay, and the positioning accuracy is improved significantly. This model is validated by the data from sea trial, and the accuracies of two subsurface buoys' relative positions are improved by 31.1% and 64.6% respectively. In addition, the calculation of clock error model coefficient is consistent with the equipment precision. The results show the validity and accuracy of the algorithm.