Preliminary results on three dimensional localization of underwater acoustic sources

Acoustic source localization is one of the most essential problems for acoustic based navigation of underwater vehicle. For this purpose, this paper addresses three dimensional acoustic source localization in underwater environment. TDOA based localization using multiple hydrophones is used. A simplified configuration of four hydrophones is used to acquire analytic solution of source localization. As a preliminary result, experimental results conducted in an anechoic basin are shown.