The invention relates to a tracking and positioning method four double-synchronization
underwater cooperative targets, wherein the
system according to the method comprises a sea-level
underwater acoustic
buoy measurement array and a measurement mother ship. The tracking and positioning method finishes positioning through the following steps: laying the sea-level
underwater acoustic
buoy measurement array; transmitting a double-synchronization cooperative acoustic
signal by underwater targets; receiving returned data of the sea-level underwater acoustic
buoy measurement array by the measurement mother ship through a mounted antenna, and finishing target time
delay period matching, target position combined resolving, spherical
surface equation set solved value returning and target position depth interval by a
base station which is composed of a master control computer and an on-ship comprehensive processor, thereby realizing resolving and display to the target position, and realizing tracking and positioning for each underwater target in an area. The tracking and positioning method has functions of effectively reducing
frequency band resource required in tracking and positioning multiple underwater targets, reducing confliction or interference between frequency bands used by a
positioning system and other mounted equipment, reducing risk in
engineering practice, saving designing cost, effectively reducing calculation amount, effectively reducing
power consumption of a hardware circuit, and reducing size of the mounted equipment.