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FIG. 6. The total volume of each localization cloud. Open circles and filled circles show volumes from hyperbolic sensitivity analysis using real hydro- phones and using virtual hydrophones from multipath surface reflections, respectively. Squares and diamonds show isodiachron sequential bound analysis again using real and virtual hydrophones. Solid line indicates the precision threshold. Dashed and dot-dashed lines show reference volumes corresponding to spheres with diameters of 45 and 15 m (3 and 1 whale- length), respectively.

Figure 6 The total volume of each localization cloud. Open circles and filled circles show volumes from hyperbolic sensitivity analysis using real hydro- phones and using virtual hydrophones from multipath surface reflections, respectively. Squares and diamonds show isodiachron sequential bound analysis again using real and virtual hydrophones. Solid line indicates the precision threshold. Dashed and dot-dashed lines show reference volumes corresponding to spheres with diameters of 45 and 15 m (3 and 1 whale- length), respectively.

Related Figures (6)

FIG. 1. (A) Photograph of 4 buoys and boat-based array ready for deploy- ment from the research vessel. (B) Buoy schematic showing arrangement of the Microtrack recorder (REC), GPS receiver, FSK modulation electronics, and power supply (BAT).
FIG. 1. (A) Photograph of 4 buoys and boat-based array ready for deploy- ment from the research vessel. (B) Buoy schematic showing arrangement of the Microtrack recorder (REC), GPS receiver, FSK modulation electronics, and power supply (BAT).
FIG. 2. Data flow for time alignment and demodulation of recorded GPS data.
FIG. 2. Data flow for time alignment and demodulation of recorded GPS data.
FIG. 3. October 30, 2007 array deployment geometry. Bold line shows the track of the boat, while normal lines show the track of the buoys. The thit line with crosses is the whale track, which shown in detail in Fig. 4.
FIG. 3. October 30, 2007 array deployment geometry. Bold line shows the track of the boat, while normal lines show the track of the buoys. The thit line with crosses is the whale track, which shown in detail in Fig. 4.
FIG. 4. Joint X-Y whale position probability from isodiachronic sequential Monte Carlo analysis. The whale circles as he dives initially and then heads from northwest to southeast.
FIG. 4. Joint X-Y whale position probability from isodiachronic sequential Monte Carlo analysis. The whale circles as he dives initially and then heads from northwest to southeast.
FIG. 5. Whale trajectory in 3D from the beginning of the dive (time 00:26: 15—00:35:32). Whale spirals as he descends. Each cloud corresponds to one whale vocalization. For clarity successive clouds have different shad- ings and the solid line connects the median point from each cloud.
FIG. 5. Whale trajectory in 3D from the beginning of the dive (time 00:26: 15—00:35:32). Whale spirals as he descends. Each cloud corresponds to one whale vocalization. For clarity successive clouds have different shad- ings and the solid line connects the median point from each cloud.
FIG. 7. Whale location as a function of time. Dots show the median of the marginal probability distribution from the hyperbolic sensitivity analysis. Squares show the 95% confidence limits from the isodiachronic sequential bound estimation.
FIG. 7. Whale location as a function of time. Dots show the median of the marginal probability distribution from the hyperbolic sensitivity analysis. Squares show the 95% confidence limits from the isodiachronic sequential bound estimation.
Related topics:
AcousticsUnderwater AcousticsAnimal migrationEquipment DesignSound Localization
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