The performance of conventional direction of arrival (DOA) methods is susceptible to the uncertainty of acoustic velocity in the underwater environment. To solve this problem, an underwater DOA estimation method with L-shaped array for wide-band signals under unknown acoustic velocity is proposed in this paper. The proposed method refers to the idea of incoherent signal subspace method and Root-MUSIC to obtain two sets of average roots corresponding to the subarray of the L-shaped array. And the geometric relationship between two vertical linear arrays is employed to derive the expression of DOA estimation with respect to the two average roots. The acoustic velocity variable in the DOA estimation expression can be eliminated in the proposed method. The simulation results demonstrate that the proposed method is more accurate and robust than other methods in an unknown acoustic velocity environment.

This paper presents a two-dimensional (2D) DOA algorithm for double L-shaped arrays. The algorithm is applied to the underwater environment for eliminating the performance error caused by the sound speed uncertainty factor. By introducing the third dimensional array, the algorithm eliminates the sound velocity variable in the depression angle expression, so that the DOA estimation no longer considering the true value of unknown sound velocity. In order to determine the parameters of a three-dimensional array, a parameter matching method with the double L-shaped array is also proposed. Simulations show that the proposed algorithm outperforms the conventional 2D-DOA estimation algorithm in unknown sound velocity environment.

This paper investigated a Subsample Time delay Estimation (STE) algorithm based on the amplitude of cross-correlation function to improve the estimation accuracy. In this paper, a rough time delay estimation is applied based on traditional cross correlator, and a fine estimation is achieved by approximating the sampled cross-correlation sequence to the amplitude of the theoretical cross-correlation function for linear frequency modulation (LFM) signal. Simulation results show that the proposed algorithm outperforms existing methods and can effectively improve time delay estimation accuracy with the complexity comparable to the traditional cross-correlation method. The theoretical Cramér-Rao Bound (CRB) is derived, and simulations demonstrate that the performance of STE can approach the boundary. Eventually, four important parameters discussed in the simulation to explore the impact on Mean Squared Error (MSE).