Abstract
The sensitivity of a passive horizontal-tracking algorithm to variations in input measurements is investigated. The algorithm determines estimates for depth, range, bearing, horizontal speed, course, and frequency for a cw acoustic source moving with constant velocity at fixed depth. The receiver is a horizontal linear array towed at a constant depth. Both source and receiver move in the upper portion of a deep ocean and are separated by a relatively short range. Dominant acoustic signals are presumed to arrive along two upper-ocean ray paths. The algorithm uses a new combination of input quantities, including multipath information, Doppler frequency shifts, and array directional measurements. Procedures are developed for analyzing effects of input-measurement errors on source localization. The robustness of the algorithm to small variations in acoustic measurements and environmental parameters is demonstrated for a variety of source–receiver configurations. Variance estimates of position and motion are obtained in terms of input-measurement variances. Bounds on tracker performance are developed for measurements that are affected by noise. Results from the several types of analyses corroborate the sensitivity characteristics of the algorithm.
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