Localisation of sperm whales using bottom-mounted sensors

This paper describes the results of applying acoustic localisation methods to data from a free ranging sperm whale (Phyester macrocephalus) recorded using an array of five bottom-mounted hydrophones. The data analysed were supplied as part of the 2nd International Workshop on Detection and Localisation of Marine Mammals, Monaco, 2005. The localisation technique employed is based on a weighted least squares optimisation procedure applied to estimated delays. The method by which these delays are estimated in a robust manner is detailed. Three analytic acoustic models for the environment are explored and the effects of noise and model mismatch are considered.