Naval Undersea Warfare Center, 1176 Howell Street, Newport, Rhode Island 02841, USA.
J Acoust Soc Am. 2011 Jul;130(1):102-12. doi: 10.1121/1.3598454.
In this paper an algorithm is described for the localization of individual sperm whales in situations where several near-by animals are simultaneously vocalizing. The algorithm operates on time-difference of arrival (TDOA) measurements observed at sensor pairs and assumes no prior knowledge of the TDOA-whale associations. In other words, it solves the problem of associating TDOAs to whales. The algorithm is able to resolve association disputes where a given TDOA measurement may fit to more than one position estimate and can handle spurious TDOAs. The algorithm also provides estimates of Cramer-Rao lower bound for the position estimates. The algorithm was tested with real data using TDOA estimates obtained by cross-correlating click-trains. The click-trains were generated by a separate algorithm that operated independently on each sensor to produce click-trains corresponding to a given whale and to reject click-trains from reflected propagation paths.
本文描述了一种算法，用于在多个附近的动物同时发声的情况下定位个体鲸鱼。该算法基于传感器对观测到的到达时间差 (TDOA) 测量值，并且不假设 TDOA-鲸鱼关联的先验知识。换句话说，它解决了将 TDOA 与鲸鱼相关联的问题。该算法能够解决给定 TDOA 测量值可能适合多个位置估计的关联争议，并能够处理虚假 TDOA。该算法还提供了位置估计的克拉美罗下限的估计。该算法使用通过互相关生成的点击序列的 TDOA 估计值，通过真实数据进行了测试。点击序列是由一个单独的算法生成的，该算法独立于每个传感器运行，生成与给定鲸鱼对应的点击序列，并拒绝来自反射传播路径的点击序列。
