Algorithm 1: Target Acquisition and Tracking Algorithm.

Input: The distance between the three hydrophones on the buoy and the central acoustic beacon of the underwater vehicle: ρ1, ρ2, ρ3;

The depth of UUV:H;

Capture tolerance and tracking tolerance.

Output: The speed at which the buoy moves forward at the current moment;

Input the desired speed into the controller to calculate the PWM value of the thruster;