Three-dimensional source tracking in an uncertain environment.

This paper develops an approach to three-dimensional source tracking in an uncertain ocean environment using a horizontal line array (HLA). The tracking algorithm combines matched-field focalization for environmental (seabed and water column) and source-bearing model parameters with the Viterbi algorithm for range-depth estimation and includes physical constraints on source velocity. The ability to track a source despite environmental uncertainty is examined using synthetic test cases for various track geometries and with varying degrees of prior information for environmental parameters. Performance is evaluated for a range of signal-to-noise ratios in terms of the probability of estimating a track within acceptable position/depth errors. The algorithm substantially outperforms tracking with poor environmental estimates and generally obtains results close to those obtained with exact environmental knowledge. The approach is also applied to measured narrowband data recorded on a bottom-moored HLA in shallow water (the Barents Sea) and shown to successfully track both a towed submerged source and a surface ship in cases where simpler tracking algorithms failed.