Localization of an underwater acoustic source for acoustic pinger-based transit task in 2016 Maritime RobotX Challenge

This paper introduces a work for localization of underwater acoustic source using two hydrophones. The work is for acoustic pinger-based transit task as a part of 2016 Maritime RobotX Challenge. The designed scheme calculates direction of arrival based on time difference of arrival. Calculation of the direction of arrival is conducted two times at two different positions. With the two direction of arrivals, the scheme chooses a candidate with the maximum posterior probability of the acoustic source exists. The scheme was validated through a test.