Acoustic emissions from cargo ships transiting coastal waterways, measured by a single hydrophone, can be exploited to estimate both the time-varying source–receiver range and receiver location. In this paper, two parameter-search-based maximum-likelihood estimators are presented: one for $\beta$, the waveguide invariant parameter, and one for source range. $\beta$ characterizes the interference structure inherent to ducted acoustic propagation and is central to the spectral analysis involved in the range estimation. The source ranging method extends prior work by the authors and focuses on the strong narrowband tonals that typically dominate the acoustic spectra of cargo ships. Source ranging results are presented using real data from the SWellEx-96 experiment and are shown to be in close agreement with simulation results obtained using the KRAKEN normal mode program. A technique for estimating the position of a receiver, which can be stationary or moving, is also proposed. The localization technique requires knowledge of the source track, hydrophone data, and an initial estimate of the receiver's position. An application to autonomous underwater vehicle (AUV) navigation is included in which the waveguide-invariant-based range estimates are used to mitigate the position estimation error due to drift in inertial measurement units on submerged AUVs. A specific scenario is examined, using SWellEx-96 data, in which an initial position error of 3 km is reduced to under 1 km using the proposed technique.

中文翻译：

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使用音调机会源的基于波导不变的测距和接收机定位

由单个水听器测量的通过沿海水道的货船的声发射可用于估计随时间变化的源 - 接收器范围和接收器位置。在本文中，提出了两个基于参数搜索的最大似然估计器：一个用于 $\beta$，波导不变参数，另一个用于源范围。$\beta$ 表征了管道声传播固有的干扰结构，并且是距离估计中涉及的频谱分析的核心。源测距方法扩展了作者之前的工作，并侧重于通常在货船声谱中占主导地位的强窄带音调。源测距结果使用来自 SWellEx-96 实验的真实数据呈现，并显示与使用 KRAKEN 正常模式程序获得的模拟结果非常一致。还提出了一种用于估计接收器位置的技术，该接收器可以是静止的也可以是移动的。定位技术需要了解源轨迹、水听器数据和接收器位置的初始估计。包括对自主水下航行器 (AUV) 导航的应用，其中基于波导不变的距离估计用于减轻由于水下 AUV 上惯性测量单元的漂移而导致的位置估计误差。使用 SWellEx-96 数据检查了一个特定场景，其中使用所提出的技术将 3 公里的初始位置误差减少到 1 公里以下。