Aiming at the problem of 3D target imaging based on 2D ultrasonic array

a three-dimensional（ 3D）target imaging algorithm based on time of flight and superquadrics model is proposed. The algorithm uses the improved Unitary-ESPRIT algorithm to obtain the azimuth of the feature points

and use the time of flight（ TOF）method to obtain the distance of the spatial feature points. Combined with azimuth of feature point and distance

using triangular geometric relationship

transform it into coordinates of the feature points. Uses the improved Levenberg-Marquardt algorithm to fit the parameters

and finally the imaging of 3D target is realized. Simulation results show that the algorithm can realize imaging of 3D target based on 2D ultrasonic array

and the fitting parameter error is basically controlled within 10 %.