An improved localization method consisting of ＂filtering-time delay estimationhyperbolic localization＂ is proposed. Combining the empirical mode decomposition（EMD）and time delay estimation method based on generalized average magnitude difference function,the original signals are decomposed into intrinsic mode function（IMF） components. The energy distribution criterion and spectrum consistency criterion are used to select the IMFs, which can represent the physical characteristics of the source signal. Several sets of signals are applied to estimate the time delay, and then a vector matching criterion is proposed to select the correct time delay estimation. Considering the hydrophones location, a shell model is established and projected to a plane according to the quadrant before the hyperbolic localization. Results of mooring and sailing tests show that the proposed method improves the localization accuracy,and reduces the error caused by time delay estimation.
