Methods of array element localization for a towed underwater acoustic array

The location of the hydrophones on a towed underwater acoustic array as a function of time (array element localization) is needed for signal processing. Methods to perform this localization using least squares polynomial fitting to data from depth sensors, heading sensors, and sensors detecting a ping from a single source are discussed. Arc distance along the array is used as the independent parameter so that all solutions are constrained to be space curves. Examples of application to real data are presented, and techniques to discriminate against bad sensor data are discussed.< >