Ray-theoretic localization of an impulsive source in a stratified ocean using two hydrophones

Abstract

A method is presented for passive localization of impulsive acoustic sources in a stratified ocean by measuring relative times of direct and surface-reflected arrivals at two hydrophones. The proposed method is based on ray theory and takes into account the effects of refraction on the geometry of acoustic paths (ray bending) and travel times, generalizing previous approaches based on the homogeneous-ocean assumption (straight-line localization). If the hydrophone depths are known, then the source depth and distance from each hydrophone can be estimated from the three differential arrival times. If in addition the hydrophone separation is known, the bearing of the source can be estimated as well. Apart from the effects on ray geometry and travel times, stratification affects localization by introducing shadow zones and caustics. For source locations in the neighborhood of caustics, the localization problem accepts two solutions, one of which is the true source location and the other one which is an artifact (ghost solution). This ambiguity can be resolved in the case of tracking moving sources since as the source moves away from the caustic only the track corresponding to the true source position will be continued. The present method has been developed primarily for monitoring the dive behavior of sperm whales producing acoustic clicks, yet it is general and can be applied for the localization and tracking of any kind of impulsive acoustic source in the ocean.