Localization of humpback whale signals with two directional frequency analysis and recording sonobouys

Abstract

For many years, the navy has used directional frequency analysis and recording (DIFAR) sonobouys to record and track ships. DIFAR sonobouys compute acoustic particle velocity for two bimodal perpendicular hydrophone elements, which, with a magnetic compass, gives a directional bearing to the sound recorded on a third omnidirectional hydrophone. Use of DIFAR represents an easily deployable alternative method to standard time-difference of arrival localization with towed or bottom-mounted hydrophone arrays. In this study, we used two tethered DIFAR sonobouys to record and track playbacks of humpback whale song. GPS positions of playbacks were recorded. Digital signals were recorded at the sonobouy before multiplexing. Song units were recorded on both sonobouys, and then matched between sonobouys using time from the sonobouy GPS. To localize the signals, azimuths from the DIFAR sonobouys were combined with the time difference of arrival parabola to create a three-dimensional likelihood surface that gives the probabilities that a signal originated at a specific point in space. The locations with maximum likelihood were used to estimate source level of whale calls, and singing whales were tracked over time. Comparisons will be made between DIFAR methods and GPS locations from the playback boat, to ground-truth this localization methodology.