Improving underwater localization accuracy with machine learning.

Machine learning classification and regression algorithms were applied to calibrate the localization errors of a time-difference-of-arrival (TDOA)-based acoustic sensor array used for tracking salmon passage through a hydroelectric dam on the Snake River, Washington, USA. The locations of stationary and mobile acoustic tags were first tracked using the approximate maximum likelihood algorithm. Next, ensembles of classification trees successfully identified and filtered data points with large localization errors. This prefiltering step allowed the creation of a machine-learned regression model function, which decreased the median distance error by 50% for the stationary tracks and by 34% for the mobile tracks. It also extended the previous range of sub-meter localization accuracy from 100 m to 250 m horizontal distance from the dam face (the receivers). Median distance errors in the depth direction were especially decreased, falling from 0.49 m to 0.04 m in the stationary tracks and from 0.38 m to 0.07 m in the mobile tracks. These methods would have application to the calibration of error in any TDOA-based sensor network with a steady environment and array configuration.