US 12,174,285 B2
Single-receiver doppler-based sound source localization to track underwater target
Erin Fischell, Woods Hole, MA (US); and Peter Traykovski, Woods Hole, MA (US)
Assigned to WOODS HOLE OCEANOGRAPHIC INSTITUTION, Woods Hole, MA (US)
Appl. No. 18/025,869
Filed by Woods Hole Oceanographic Institution, Woods Hole, MA (US)
PCT Filed Sep. 14, 2021, PCT No. PCT/US2021/050246
§ 371(c)(1), (2) Date Mar. 10, 2023,
PCT Pub. No. WO2022/060720, PCT Pub. Date Mar. 24, 2022.
Claims priority of provisional application 63/078,978, filed on Sep. 16, 2020.
Prior Publication US 2023/0341507 A1, Oct. 26, 2023
Int. Cl. G01S 13/00 (2006.01); G01S 5/18 (2006.01); G01S 13/90 (2006.01)
CPC G01S 13/00 (2013.01) [G01S 5/18 (2013.01); G01S 13/90 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A combination of a vessel and a non-transient computer readable medium containing program instructions for causing a computer in the vessel to perform a method, the method comprising:
selecting a vessel configured to move on water and/or underwater, the vessel having the computer with the computer readable medium, having a propulsor capable of providing a motive force to move the vessel at a velocity on water and/or underwater, and having a receiver with a single hydrophone;
receiving, from the receiver, over time a plurality of samples n, each sample of said plurality of samples having a received frequency fr and originating from a selected source emitting signals into an underwater environment, said signals having a source frequency fs;
generating a first vessel velocity magnitude |vr|;
forming a virtual array with a first sample and a second sample of said plurality of samples n, said first sample having a first received frequency and said second sample having a second received frequency; and
determining a relative angle to said source from said receiver using said source frequency fs, said virtual array including said first received frequency and said second received frequency, and said first vessel velocity magnitude |vr| to provide an estimate of location of the selected source in the underwater environment.