Abstract：A distributed acoustic tracking algorithm for underwater targets, employing the Cramer-Rao Lower Bound (CRLB), was proposed in this study to improve air detection for underwater preset unmanned platforms. Firstly, this algorithm employed underwater distributed sonar to capture the radiated noise of aerial targets and applied signal processing methods to acquire the target's azimuth information. Then, integrating the pure azimuth observations from multiple underwater unmanned detection platforms enabled distributed pure azimuth tracking of targets. Finally, the underwater distributed unmanned detection system was optimized using the CRLB to enhance the robustness of air target tracking. Simulation results demonstrate that, in typical air-to-sea mission scenarios, the proposed algorithm successfully achieves a tracking error of within 5% and presents real-time node adjustment capabilities.
