Efficient artifacts filter by density-based clustering in long term 3D whale passive acoustic monitoring with five hydrophones fixed under an Autonomous Surface Vehicle

Maxence Ferrari 1, 2 Marion Poupard 3, 2 Pascale Giraudet Ricard Marxer 4, 2 Jean-Marc Prévot Thierry Soriano 5 Hervé Glotin 6, 2
1 LIS - Laboratoire d'Informatique et Systèmes
2 DYNI - DYNamiques de l’Information
LIS - Laboratoire d'Informatique et Systèmes
3 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
4 University of Sheffield [Sheffield]
5 Quartz - Laboratoire Quartz
6 UTLN - Université de Toulon
Abstract : Passive underwater acoustics allows for the monitoring of the echolocation clicks of cetaceans. Static hydrophone arrays monitor from a fixed location, however, they cannot track animals over long distances. More flexibility can be achieved by mounting hydrophones on a mobile structure. In this paper, we present the design of a small non-uniform array of five hydrophones mounted directly under the Autonomous Surface Vehicle (ASV) Sphyrna (also called an Autonomous Laboratory Vehicle) built by SeaProven in France. This configuration is made challenging by the 40cm aperture of the hydrophone array, extending only two meters below the surface and above the thermocline, thus presenting various artifacts. The array, fixed under the keel of the drone, is numerically stabilized in yaw and roll using the drone's Motion Processing Unit (MPU). To increase the accuracy of the 3D tracking computed from a four hour recording of a Sperm Whale diving several kilometers away, we propose an efficient joint filtering of the clicks in the Time Delay of Arrival (TDoA) space. We show how the DBSCAN algorithm efficiently removes any outlier detection among the thousands of transients, and yields to coherent high definition 3D tracks.
Keywords : High Sampling Rate Biosonar Clustering DBSCAN Weak Signal Detection Transient Analysis Tortuosity Sperm Whale Physeter macrocephalus Autonomous Laboratory Vehicle Drone ASV Passive Acoustic Monitoring Cetacean Survey Abyss Monitoring 3D Tracking Long Term Survey
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Maxence Ferrari, Marion Poupard, Pascale Giraudet, Ricard Marxer, Jean-Marc Prévot, et al.. Efficient artifacts filter by density-based clustering in long term 3D whale passive acoustic monitoring with five hydrophones fixed under an Autonomous Surface Vehicle. OCEANS 2019, Jun 2019, Marseille, France. ⟨hal-02313922⟩

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