This article deals with the detection of low-frequency noise sources and the estimation of their direction of arrivals using an acoustic vector sensor hosted on a buoyancy Slocum glider. The sensor used is a 3-D directional hydrophone capable of acquiring both the acoustic pressure and the components of the particle velocity vector. This article presents experimental results with data collected at sea and describes the signal processing chain, including detection, direction of arrival, and clustering. The vehicle is equipped with a modem and is supported by an ultrashort baseline (USBL) located on a mother ship or gateway to achieve the navigational accuracy required for correct target localization. The surface vessel localizes the glider via the USBL and then transmits position fixes, which are used by the underwater vehicle to reset the drift error of its navigation filter. The results discussed in this article demonstrate two important achievements, i.e., an underwater glider can produce accurate bearing estimates on a target and the feasibility of the integration of an acoustic modem and a USBL positioning system on a glider. The results obtained open up the possibility of using multiple autonomous sensorized gliders integrated in intelligent surveillance robotic networks.

中文翻译：

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使用安装在浮力滑翔机上的 3-D 声学矢量传感器进行低频无源声学信号处理

本文涉及使用位于浮力 Slocum 滑翔机上的声学矢量传感器检测低频噪声源和估计其到达方向。所使用的传感器是一个 3-D 定向水听器，能够获取声压和粒子速度矢量的分量。本文介绍了在海上收集的数据的实验结果，并描述了信号处理链，包括检测、到达方向和聚类。该车辆配备调制解调器，并由位于母舰或网关上的超短基线 (USBL) 支持，以实现正确目标定位所需的导航精度。水面舰艇通过 USBL 定位滑翔机，然后传输定位，用于水下航行器重置其导航滤波器的漂移误差。本文讨论的结果证明了两个重要的成就，即水下滑翔机可以对目标产生准确的方位估计，以及在滑翔机上集成声学调制解调器和 USBL 定位系统的可行性。获得的结果开辟了使用集成在智能监视机器人网络中的多个自主传感器滑翔机的可能性。