The invention discloses a tetrahedral array three-dimensional passive direction finding method for an
underwater glider, and belongs to the field of detection
signal processing. An
underwater glider platform cannot perform three-dimensional direction finding on
underwater line spectrum sound signals. Four hydrophones are combined in pairs into vectors, in a rectangular coordinate
system, of combinations; a theoretical time
delay difference of a
signal, corresponding to a cosine included angle formed by each vector and an
incident wave direction vector, reaching the two hydrophones is calculated; the received signals of the hydrophones are converted into
frequency domain signals,
cross spectrum calculation results of the
frequency domain signals are subjected to modulo averaging to obtain across spectrum amplitude spectrum average value, and then
signal frequencies are detected through line spectrum detection; a
phase difference of the line spectrum signals of each group of the hydrophones is obtained through the signal frequencies; an actually measured time
delay difference is obtained by the line spectrum frequency and the
phase difference of the line spectrum signals; two time
delay differences are correspondingly simultaneous to obtain a signal incidence
direction vector in a carrier coordinate
system; and a binary equation set is solved to obtain an
azimuth angle and a
pitch angle in a geodetic coordinate
system. The three-dimensional
azimuth angle of a target in the geodetic coordinate system can be measured. In addition, the direction finding process is simple.