Localization of sperm whales in a group using clicks received at two separated short baseline arrays

Ryo Hirotsu*, Masao Yanagisawa, Tamaki Ura, Masao Sakata, Harumi Sugimatsu, Junichi Kojima, Rajendar Bahl

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


In this paper, a sperm whale click analysis scheme is proposed in order to calculate the position of individual sperm whales in a group using data received at two arrays deployed near the surface. The proposed method mainly consists of two parts: short baseline (SBL) with classification and long baseline (LBL) with class matching. In SBL with classification, a click is automatically detected, and its direction of arrival is calculated. The clicks are then classified based on their direction vectors. The class data are then sent together with direction data and matched to the other array's class data. LBL with class matching is used for localization. The classification algorithm can be used to estimate the number of whales clicking and to list potential candidates for LBL matching. As a result, the proposed method is able to localize the positions of the whales in a group. The performance of the proposed method is evaluated using data recorded off Ogasawara islands with two arrays near the surface. The three-dimensional underwater trajectories of six sperm whales are extracted to demonstrate the capability of the proposed method.

Original languageEnglish
Pages (from-to)133-147
Number of pages15
JournalJournal of the Acoustical Society of America
Issue number1
Publication statusPublished - 2010

ASJC Scopus subject areas

  • Arts and Humanities (miscellaneous)
  • Acoustics and Ultrasonics


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