Calling depths of baleen whales from single sensor data: Development of an autocorrelation method using multipath localization

Abstract

Multipath localization techniques have not previously been applied to baleen whale vocalizations due to difficulties in application to tonal vocalizations. Here it is shown that an autocorrelation method coupled with the direct reflected time difference of arrival localization technique can successfully resolve location information. A derivation was made to model the autocorrelation of a direct signal and its overlapping reflections to illustrate that an autocorrelation may be used to extract reflection information from longer duration signals containing a frequency sweep, such as some calls produced by baleen whales. An analysis was performed to characterize the difference in behavior of the autocorrelation when applied to call types with varying parameters (sweep rate, call duration). The method's feasibility was tested using data from playback transmissions to localize an acoustic transducer at a known depth and location. The method was then used to estimate the depth and range of a single North Atlantic right whale (Eubalaena glacialis) and humpback whale (Megaptera novaeangliae) from two separate experiments.