Authors:
Frédéric Caudal
and
Hervé Glotin
Affiliation:
System & Information Sciences Laboratory (LSIS - UMR CNRS 6168), Université du Sud Toulon Var, France
Keyword(s):
Delay estimation, marine mammals, acoustic tracking, Crame´r-Rao Lower Bound, acoustic propagation.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Audio and Speech Processing
;
Digital Signal Processing
;
Multidimensional Signal Processing
;
Multimedia
;
Multimedia Signal Processing
;
Pattern Recognition
;
Software Engineering
;
Telecommunications
Abstract:
This paper provides a real-time passive underwater acoustic method to track multiple emitting whales using four or more omni-directional widely-spaced bottom-mounted hydrophones and to evaluate the performance of the system via the Crame´r-Rao Lower Bound (CRLB) and Monte Carlo simulations. After a non-parametric Teager-Kaiser-Mallat signal filtering, rough Time Delays Of Arrival are calculated, selected and filtered, and used to estimate the positions of whales for a constant or linear sound speed profile. The complete algorithm is tested on real data from the NUWC and the AUTEC. The CRLB and Monte Carlo simulations are computed and compared with the tracking results. Our model is validated by similar results from the US Navy and Hawaii univ labs in the case of one whale, and by similar whales counting from the Columbia univ. ROSA lab in the case of multiple whales. At this time, our tracking method is the only one giving typical speed and depth estimations for multiple (5) emitting
whales located at 1 to 5 km from the hydrophones.
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