Long-range glider localization using broadband acoustic signals and a linearized model of glider motion

Broadband acoustic source transmissions recorded on Seagliders at ranges up to 700 km are used to estimate subsurface glider position. Because the sources transmitted at 9-minute intervals the glider moved appreciably between source receptions. Source-glider ranges estimated from acoustic arrivals were combined using least-squares analysis to estimate a single glider position and velocity offset during the reception period. The analysis was applied to 387 sets of source transmissions and resulted in data residuals of 73 m rms. The estimated offsets were 845 m rms and 16.6 cm/s rms with a posteriori error estimates of 106 m rms and 11.7 cm/s rms, respectively. Overall glider speed is estimated at 21.1 cm/s rms.