The significance of passive acoustic array-configurations on sperm whale range estimation when using the hyperbolic algorithm
Abstract
In cetacean monitoring for population estimation, behavioural studies or mitigation,
traditional visual observations are being augmented by the use of Passive Acoustic
Monitoring (PAM) techniques that use the creature’s vocalisations for localisation.
The design of hydrophone configurations is evaluated for sperm whale (Physeter
macrocephalus) range estimation to meet the requirements of the current mitigation
regulations for a safety zone and behaviour research.
This thesis uses the Time Difference of Arrival (TDOA) of cetacean vocalisations with a
three-dimensional hyperbolic localisation algorithm. A MATLAB simulator has been
developed to model array-configurations and to assess their performance in source
range estimation for both homogeneous and non-homogeneous sound speed profiles
(SSP). The non-homogeneous medium is modelled on a Bellhop ray trace model, using
data collected from the Gulf of Mexico. The sperm whale clicks are chosen as an
exemplar of a distinctive underwater sound.
The simulator is tested with a separate synthetic source generator which produced a set
of TDOAs from a known source location. The performance in source range estimation
for Square, Trapezium, Triangular, Shifted-pair and Y-shape geometries is tested. The
Y-shape geometry, with four elements and aperture-length of 120m, is the most
accurate, giving an error of ±10m over slant ranges of 500m in a homogeneous medium,
and 300m in a non-homogeneous medium. However, for towed array deployments, the
Y-shape array is sensitive to angle-positioning-error when the geometry is seriously
distorted. The Shifted-pair geometry overcomes these limits, performing an initial
accuracy of ±30m when the vessel either moves in a straight line or turns to port or
starboard. It constitutes a recommendable array-configuration for towed array
deployments.
The thesis demonstrates that the number of receivers, the array-geometry and the arrayaperture
are important parameters to consider when designing and deploying a
hydrophone array. It is shown that certain array-configurations can significantly
improve the accuracy of source range estimation. Recommendations are made
concerning preferred array-configurations for use with PAM systems.