Doppler estimation method for moving target location

The article presents an algorithm for target location based solely on Doppler shift of echo acoustic signals of a moving underwater object. The algorithm is designed for use in multi-static systems for protecting bodies of water from terrorist attacks by divers or submerged vehicles. The original source of signals is a transmitter emitting continuous acoustic waves. The echo signals from moving object are received by hydrophones located at fixed and known points in the water. Doppler shifts are determined from discrete Fourier transforms of hydrophone signals. The proposed iterative algorithm for target location calculates the approximate values of target speed vector and target coordinates which correspond to speed vectors as calculated previously