An Algorithm for the Localization of Multiple Interfering Sperm Whales Using Multi-Sensor Time Difference of Arrival

In this paper an algorithm is described for the localization of individual sperm whales in situations where several near-by animals are simultaneously vocalizing. The algorithm operates on TDOA measurements observed at sensor pairs. The algorithm is able to resolve association “disputes” where a given TDOA measurement may fit to more than one position estimate. The algorithm also provides estimates of Cramer-Rao lower bound for the position estimates. We tested the algorithm with real data using TDOA estimates obtained by cross-correlating click-trains. The click-trains were generated by a separate algorithm that operated independently on each sensor to produce click- trains corresponding to a given whale and to reject click-trains from reflected propagation paths.

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