被动声方位估计中消除有效声速影响的方法。基于声传播的平面波模型，采用向量分析方法导出了十字阵和正四面体

阵的测向公式，分析了两者在有效声速变化条件下不同的定位性能；结果表明，对正

四面体阵，采用合适的算式，可在方位估计中避开有效声速的影响。-Passive Acoustic Direction Estimation method to eliminate the effective speed of sound effect. Cross array and regular tetrahedron array finding formulas are derived based on the model of plane wave sound propagation vector analysis method, both the effective speed of sound changes under conditions different positioning performance　The results showed that, of being tetrahedral array, using appropriate the formula, can avoid the effective speed of sound azimuth estimation.