| It is difficult to study the behavior and physiology of marine mammals or to understand and mitigate human impact on them because much of their lives are spent underwater. Since sound propagates for long distances in the ocean and since many cetaceans are vocal, passive acoustics is a valuable tool for studying and monitoring their behavior. After a brief introduction to and review of passive acoustic tracking methods, this dissertation develops and applies two new methods. Both methods use widely-spaced (tens of kilometers) bottom-mounted hydrophone arrays, as well as propagation models that account for depth-dependent sound speed profiles.; The first passive acoustic tracking method relies on arrival times of direct and surface-reflected paths. It is used to track a sperm whale using 5 at the Atlantic Undersea Test and Evaluation Center (AUTEC) and gives position estimates that are accurate to within 10 meters. With such accuracy, the whale's pitch and yaw are estimated by assuming that its main axis (which points from the tail to the rostrum) is parallel to its velocity. Roll is found by fitting the details of the pulses within each sperm whale click to the so-called bent horn model of sperm whale sound production. Finally, given the position and orientation of the whale, its beam pattern is reconstructed and found to be highly directional with an intense forward directed component.; Pair-wise spectrogram (PWS) processing is the second passive acoustic tracking method developed in this dissertation. Although it is computationally more intensive, PWS has several advantages over arrival-time tracking methods, especially in shallow water environments, for long duration calls, and for multiple-animal datasets, as is the case for humpback whales on Hawaiian breeding grounds. Results of simulations with realistic noise conditions and environmental mismatch are given and compared to other passive localization techniques. When applied to the AUTEC sperm whale dataset, PWS position estimates are within meters of those obtained using the time-of-arrival method. |
