The invention relates to the technical field of
underwater acoustic navigation, and provides an
underwater acoustic navigation method and
system, a medium, equipment and a
computer program. The
underwater acoustic navigation method comprises the following steps: calculating a sound
ray total displacement value by adopting a sound
ray tracking
algorithm based on underwater carrier position information,
transponder position information, and one-way
propagation time and a sound velocity profile of a
signal between an underwater carrier and a
transponder; constructing an acoustic navigation observation model based on the underwater carrier position information, the
transponder position information, the total displacement value of the sound rays, and depth and elevation anomalies at the underwater carrier; defining
a weighting function according to the one-way
propagation time and the dynamic value of the
signal between the underwater carrier and the transponder; and solving the acoustic navigation observation model and the weighting function to obtain position information and speed information of the underwater carrier for acoustic navigation. According to the method, the navigation
algorithm can be optimized from the two aspects of the acoustic navigation observation model and the weighting function, and the accuracy of acoustic navigation is greatly improved.