An Underwater Localization Algorithm for Airborne Moving Sound Sources Using Doppler Warping Transform

When an airborne sound source is in rapid motion, the acoustic signal detected by the underwater sensor experiences a substantial Doppler shift. This shift is intricately linked to the motion parameters of the sound source. Analyzing the Doppler shift characteristics of received acoustic signals enables not only the estimation of target motion parameters but also the localization of the airborne sound source. Currently, the predominant methods for estimating parameters of uniformly moving targets are grounded in classical approaches. In this study, the application of the Doppler warping transform, traditionally applicable to sound sources in uniform linear motion, is extended to encompass a broader spectrum of sound source trajectories. Theoretical and experimental data validate the efficacy of this transform in linearizing the Doppler shift induced by a source in curved motion. Building upon this foundation, a methodology is proposed for locating airborne acoustic sources in curved motion from underwater. Sea experimental data corroborate the method's effectiveness in achieving underwater localization of a helicopter target during curved motion.