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. 2017 Oct 30;7:14294. doi: 10.1038/s41598-017-14278-z

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Spatial component of estimation error. Overall, both models performed well inside the hydrophone array, but estimation accuracy deteriorated more in the TDOA model as distance to array centre increased. (a and b) True trajectories of all 200 simulated tracks. Colours represent distance from estimated to true position for model TDOA (a) and YAPS (b); notice that colour scale is non-linear. Root mean square distances to true position was 1.21 for model TDOA and 0.44 for YAPS. The simulated hydrophone array () is indicated. (c and d) Distance from estimated to true position as a function of distance to array centre from model TDOA (c) and YAPS (d). Notice y-axis is log(y + 0.1)-transformed.

Inline graphic — Spatial component of estimation error. Overall, both models performed well inside the hydrophone array, but estimation accuracy deteriorated more in the TDOA model as distance to array centre increased. (a and b) True trajectories of all 200 simulated tracks. Colours represent distance from estimated to true position for model TDOA (a) and YAPS (b); notice that colour scale is non-linear. Root mean square distances to true position was 1.21 for model TDOA and 0.44 for YAPS. The simulated hydrophone array () is indicated. (c and d) Distance from estimated to true position as a function of distance to array centre from model TDOA (c) and YAPS (d). Notice y-axis is log(y + 0.1)-transformed.