Underwater source localization using a hydrophone-equipped glider

Buoyancy-driven underwater gliders are autonomous underwater vehicles that were originally developed to collect oceanographic data. CMRE is studying the use of this technology for the characterization of denied areas, including alternate sensor payloads and applications. During the Rapid Environmental Assessment phase of the Noble Mariner 2012 NATO exercise, Conducted in Gulf of Lions in September 2012, an omnidirectional hydrophone was mounted on a shallow water glider to sample the spatial distribution of the acoustic and oceanographic fields at different ranges and depths. This paper presents a study of the potential to localize acoustic sources by using the acoustic and environmental data collected by the glider. During the experiment, a bottom moored acoustic source was deployed in an area with benign bathymetry. Continuous wave and frequency modulated pulses were broadcast for approximately 6 h. The glider was flying along predefined tracks and the distances from the source were typically from 5 to 9 km. A Ray tracing model is used to evaluate the arrival structures of the acoustic signal, and to estimate the source location. The impact of the range dependent water column sound speed profile on the uncertainty of the source localization is also discussed.