For the problem of direction-of-arrival (DOA) estimation using a coprime array, there are high spatial spectrum outputs of false alarms caused by the overlap of main and grating lobes from subarrays. In this paper, a DOA estimation method of more than two co-frequency sources for a coprime vector hydrophone array is proposed. The method is based on vector cross terms (VCTs), making full use of the directivity of channel combinations for vector hydrophones. Based on VCTs, the characteristic data point identification method is conducted and ensures that the bearing data with the characteristic can be preserved. For further interference rejection, the paper designs Queue Selection (QS) method based on inverse beamforming. The influence of grating lobes can be weakened with the QS, further improving the accuracy of direction extraction. The algorithm in this work does not require decoherence processing, and the simulation work shows that it achieves stable DOA estimation with a low signal-to-noise ratio (SNR).

The pressure-gradient Micro-Electro-Mechanical Systems (MEMS) vector hydrophone is a novel type of sensor capable of simultaneously acquiring both scalar and vectorial information within an acoustic field. Conventional azimuth estimation methods struggle to achieve high-resolution localization using a single pressure-gradient MEMS vector hydrophone. In practical marine environments, the multiple signal classification (MUSIC) algorithm is hampered by significant resolution performance loss. Similarly, the complex acoustic intensity (CAI) method is constrained by a high-resolution threshold for multiple targets, often resulting in inaccurate azimuth estimates. Therefore, a cross-spectral model between the acoustic pressure and the particle velocity for the pressure-gradient MEMS vector hydrophone was established. Integrated with an improved particle swarm optimization (IPSO) algorithm, a high-resolution azimuth estimation method utilizing this hydrophone is proposed. Furthermore, the corresponding Cramér-Rao Bound is derived. Simulation results demonstrate that the proposed algorithm accurately resolves two targets separated by only 5° at a low signal-to-noise ratio (SNR) of 5 dB, boasting a root mean square error of approximately 0.35° and a 100% success rate. Compared with the CAI method and the MUSIC algorithm, the proposed method achieves a lower resolution threshold and higher estimation accuracy, alongside low computational complexity that enables efficient real-time processing. Field tests in an actual seawater environment validate the algorithm’s high-resolution performance as predicted by simulations, thus confirming its practical efficacy. The proposed algorithm addresses key limitations in underwater detection by enhancing system robustness and offering high-resolution azimuth estimation. This capability holds promise for extending to multi-target scenarios in complex marine settings.

Sonar is a fundamental tool for underwater target detection. However, conventional detection systems often suffer from poor sensor consistency and high fabrication costs. More critically, for low-frequency operation, the required array aperture becomes prohibitively large, limiting their deployment on small, mobile underwater platforms. To address the demand for compact, high-performance sensing solutions, this paper presents a miniaturized Micro-electromechanical Systems (MEMS) hydrophone array designed for underwater target detection. The array consists of six elements with a spacing of 0.25 m. Each element is approximately 22 mm in diameter and encapsulated in polyurethane via a casting and curing process. The core sensing element, a MEMS acoustic pressure hydrophone, exhibits a sensitivity of −177.2 ± 1.5 dB (re: 1 V/µPa) across the 20 Hz to 4 kHz frequency range and a noise resolution of approximately 59.5 dB (re: 1 µPa/√Hz) at 1 kHz. A key challenge in array-based detection is the phase mismatch among acquisition channels, which degrades algorithm performance. To mitigate this, we propose a phase self-correction method based on interleaved ADC acquisition control, enabling synchronous multi-channel sampling and effectively eliminating system-level phase errors. Furthermore, to overcome the inherent aperture limitations of conventional beamforming (CBF) applied to a miniaturized array, a differential beamforming (DBF) algorithm is adopted. This approach is less frequency-dependent and can approximate a frequency-invariant beam pattern, making it well-suited for miniaturized arrays. Simulation results confirm the theoretical validity of the DBF algorithm for the proposed MEMS hydrophone array. Sea trial data further demonstrate that this method achieves higher target detection accuracy compared to CBF techniques.

Coprime arrays enable enhanced degrees of freedom through the construction of virtual array equivalent signals. However, the presence of large “holes” leads to discontinuous co-arrays, which severely hampers direction-of-arrival (DOA) estimation techniques that rely on uniform array structures. This paper explores the practical application of co-array domain signal processing for underwater acoustic coprime arrays. We propose a novel array configuration based on coprime minimum disordered pairs, enabling the formation of continuously connected co-arrays without interpolating. To address the challenge of limited snapshots in underwater environments, DOA estimation can be achieved by utilizing traditional multipath matching pursuit (MMP) algorithms under the proposed continuous co-array implementation scheme. In practical applications, physical array element failures are inevitable, and faulty elements can create holes in the originally continuous co-array. While interpolation techniques can mitigate small gaps, their performance deteriorates significantly in the presence of large holes or uneven data distribution. To overcome these limitations, we introduce a sparse signal recovery (SSR) method using a fragment array data validation technique for sparse DOA estimation with an underwater acoustic coprime array. Based on the designed continuous array expansion scheme, the resulting continuous co-array is used to map the positions of element failures, revealing the gaps in the co-array. A validation model is established for partially continuous sub-arrays within the discontinuous co-array, enabling signal direction estimation based on the fragmented array validation. Both simulation and sea trial results confirm that the proposed approach maximizes the utilization of co-array elements without relying on interpolation or prediction, offering a robust solution for scenarios involving sensor failures.