Time reversal processing （TRP） might be regarded as matched field processing with known environmental knowledge. However, the performance of TRP is degraded in an uncertain environment. A technique based on the Maximin criterion is pro- posed for enhancing the robustness of TRP in a waveguide with uncertain water depth. The relationship between the water depth and the focal spot translation is examined based on the waveguide-invariant theory. Then the time reversal transmissiou scheme with the Maximin criterion is performed to maximize the minimum transmission power on a target of interest. At the receiving end, coherent summation operation is carried out over the received data by a reception focusing bank. If it is neces- sary to enhance the target echo further, the iterative time reversal can be considered where the target echo corresponding to the first time reversal transmission is regarded as a secondary source. Numerical simulations and experimental results of the target localization in a waveguide tank have verified the effectiveness of robust TRP.
