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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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Performance comparison of positioning models applied on field data. Comparison of known track () obtained using DGPS positioned above the transmitter and tracks estimated () by (b) TDOA, (c) U-MAP and (d) YAPS. Track duration was 109 minutes yielding 3,244 transmissions of the transmitter. Physical boundary of the system is indicated by — and hydrophone positions () are indicated. Special attention (i.e. increased hydrophone density) was given to an area midway on the northern side as this constituted a hydro power intake.

Inline graphic — Performance comparison of positioning models applied on field data. Comparison of known track () obtained using DGPS positioned above the transmitter and tracks estimated () by (b) TDOA, (c) U-MAP and (d) YAPS. Track duration was 109 minutes yielding 3,244 transmissions of the transmitter. Physical boundary of the system is indicated by — and hydrophone positions () are indicated. Special attention (i.e. increased hydrophone density) was given to an area midway on the northern side as this constituted a hydro power intake.