The present invention discloses a passive
underwater sound positioning method based on moving a time window periodically. The method is composed of a strapdown
inertial navigation system (SINS), a single
hydrophone (
receiver) at the bottom of an autonomous
underwater vehicle (AUV) and a seafloor single
hydrophone (band sound source), adopts a time
window model which moves based on the cycle of an ultrasonic wave sent out by the seafloor
hydrophone, and comprises the steps of carrying out the generalized cross correlation on the sound source signals received when the AUV is located at different positions in a time window to obtain the
delay inequality, and then calculating a time window internal AUV multi-
point model to obtain the latest position coordinate of the AUV. According to the present invention, by calculating the time window internal AUV multi-
point model, the AUV does not need to navigate too far, so that a positioning error of an
inertial navigation system which accumulates along with the time continuously is reduced effectively. According to the present invention, the AUV does not need to emerge from the water to update the position, does not need the digital communication, and receives an ultrasonic
signal passively, so that the position of the AUV is difficult to
expose, and the
invisibility and the safety of the AUV are improved.