Localizing Sources Using a Network of Asynchronous Compact Arrays

This paper considers the problem of passive acoustic localization of sources using a network of stationary compact arrays of acoustic sensors providing azimuth and elevation measurements of detected sounds. The maximum-likelihood estimator and Cramér–Rao bounds are derived. The localization accuracy is evaluated using statistical simulations and in situ tests. The plots of azimuth, range, and position estimation accuracy are presented. Test results demonstrated that superefficient position estimates with an error lower than the Cramér–Rao bounds can be achieved for surface vessels and other sound sources with known depths.