Performance bounds for passively locating a moving source of a known frequency in oceanic waveguide using a vertical array

This work obtains analytical expressions for the Cramer-Rao lower bounds on the accuracy of location and velocity estimates obtainable by observing the signal radiated from a moving acoustic source at a vertical array of stationary sensors in oceanic waveguide using normal mode description of the sound field. The source radiates a continuous wave of a known frequency, and the source motion is assumed to be uniform. The observations are made in a background of spatially incoherent Gaussian noise. The results provide physical insights into how each mode contributes to the localization process, and can be easily evaluated for a wide range of source positions in a sound channel using eigenfunctions, eigenvalues, and the number of modes involved. Simulations of the bounds for an Arctic enviornment illustrates the coupling of ocean environment to localization performance