Bearing Calculation Accuracy for a Simulated Noise Source Using a Hydroacoustic Tetrahedral Antenna

A moving object in the marine environment is a source of hydroacoustic disturbances. Detection of the acoustic disorder is possible using a single hydrophone, while tracking changes of object bearing requires a multi-sensor solution. There are well known solutions such as linear and tetrahedral multisensor antennas. The advantage of the second solution is the use of 4 sensors located on the vertices of a regular tetrahedron instead of 6, i.e. 3 pairs for each axis of the Cartesian coordinate system. The proper rotation of the tetrahedron around the center of the coordinate system makes it easier to determine the object bearing in the vertical and horizontal planes. The publication will present the results of the algorithm calculating the bearing angle of the apparent moving object and discrepancies depending on the input values.