Abstract:The acoustic localization technique is used to detect and track the acoustic target. The technique is based on the acoustic sensors receiving the acoustic signals, and has many advantages. To the problem that the passive asynchronous multi-acoustic-sensor system only supplies bearing information, a new fusion algorithm using on-line parameter estimation is put forward based on pseudo-linear kalman filter (PLKF). Then the methods of on-line parameter estimation and tracking back the later information based on dynamic model in the algorithm to solve the problems of the time-delay in signal propagation and asynchronous sensors. Monte Carlo computer simulation shows that if the step is adequacy in on-line parameter estimation, this algorithm satisfies the precision of passive detection system and has a quick rate of convergence, lower localization error, and stability.