Bowhead whale localization using time-difference-of-arrival data from asynchronous recorders

Model-based localization of deep-diving cetaceans using towed line array acoustic data

Passive acoustic monitoring using a towed line array of hydrophones is a standard method for localizing cetaceans during line-transect cetacean abundance surveys. Perpendicular distances estimated between localized whales and the trackline are essential for abundance estimation using acoustic data. Uncertainties in the acoustic data from hydrophone movement, sound propagation effects, errors in the time of arrival differences, and whale depth are not accounted for by most two-dimensional localization methods. Consequently, location and distance estimates for deep-diving cetaceans may be biased, creating uncertainty in abundance estimates. Here, a model-based localization approach is applied to towed line array acoustic data that incorporates sound propagation effects, accounts for sources of error, and localizes in three dimensions. The whale's true distance, ship trajectory, and whale movement greatly affected localization results in simulations. The localization method was applied to real acoustic data from two separate sperm whales, resulting in three-dimensional distance and depth estimates with position bounds for each whale. By incorporating sources of error, this three-dimensional model-based approach provides a method to address and integrate the inherent uncertainties in towed array acoustic data for more robust localization.

Enhanced Pulsed-Source Localization with 3 Hydrophones: Uncertainty Estimates

The uncertainty behavior of an enhanced three-dimensional (3D) localization scheme for pulsed sources based on relative travel times at a large-aperture three-hydrophone array is studied. The localization scheme is an extension of a two-hydrophone localization approach based on time differences between direct and surface-reflected arrivals, an approach with significant advantages, but also drawbacks, such as left-right ambiguity, high range/depth uncertainties for broadside sources, and high bearing uncertainties for endfire sources. These drawbacks can be removed by adding a third hydrophone. The 3D localization problem is separated into two, a range/depth estimation problem, for which only the hydrophone depths are needed, and a bearing estimation problem, if the hydrophone geometry in the horizontal is known as well. The refraction of acoustic paths is taken into account using ray theory. The condition for existence of surface-reflected arrivals can be relaxed by considering arrivals with an upper turning point, allowing for localization at longer ranges. A Bayesian framework is adopted, allowing for the estimation of localization uncertainties. Uncertainty estimates are obtained through analytic predictions and simulations and they are compared against two-hydrophone localization uncertainties as well as against two-dimensional localization that is based on direct arrivals.

Acoustic localization of crows in pre-roost aggregations

Crows are highly intelligent and social creatures. Each night during the non-breeding period, they gather on large pre-roost aggregations as they move towards their communal roost where they sleep. Crows make numerous and varied vocalizations on these pre-roost aggregations, but the purpose of these calls, and vocal communication in general, in these pre-roost aggregations is not fully understood. In this paper, an array of four microphones is used as a non-intrusive means to observe crow vocal behavior in pre-roost aggregations in the absence of human observers. By passively localizing animal vocalizations, the location of individuals can be monitored while simultaneously recording the acoustic structure and organization of their calls. Simulations and experiment are undertaken to study the performance of two time difference of arrival-based methods (hyperbolic location estimator and maximum likelihood estimator) for call localization. The effect of signal-to-noise ratio and uncertainty in measurement on the localization error is presented. By describing, modeling, and testing these techniques in this innovative context, the authors hope that researchers will employ the authors' approaches in future empirical studies to more fully understand crow vocal behavior.