Humpback whale song or humpback whale sonar? A reply to Au et al

Au et al.'s arguments against the hypothesis that humpback whale songs function as long-range sonar are based on questionable assumptions rather than on empirical data. Like other echolocating mammals (e.g., bats), singing humpback whales: 1) localize targets in the absence of visual information; 2) possess a highly innervated peripheral auditory system; and 3) modulate the temporal and spectral features of their sounds based on environmental conditions. The sonar equation is inadequate for determining whether humpback whale songs generate detectable echoes from other whales because it does not account for temporal variables that can strongly affect the detectability of echoes. In particular, the sonar equation ignores the fact that much of the noise encountered by singing humpback whales is spectrally and temporally predictable, and that audition in mammals is a dynamic and plastic process. Experiments are needed to test the hypothesis that singing humpback whales listen for and respond to echoes generated by their songs     

Ecological aspects of fin whale and humpback whale distribution during summer in the Norwegian Sea

The Norwegian Sea is a migration and feeding ground for fin whales (Balaenoptera physalus) and humpback whales (Megaptera novaeangliae) in summer. During the last decade, significant structural changes in the prey community, including northerly expansion and movement in the distribution of pelagic fish species, have been reported from this ecosystem. However, little information on whale feeding ecology exists in the Norwegian Sea and surrounding waters. A total of 59 fin whales and 48 humpback whales were sighted during 864 h of observation over an observation distance of about 8200 nmi (15,200 km) in the Norwegian Sea from 15 July to 6 August 2006 and 2007. The fin whale group size, as mean (±SD), varied between one and five individuals (2.1 ± 1.2 ind.) and humpback whale group size varied between one and six individuals (2.5 ± 1.7 ind.). Fin‐ and humpback whales were observed mainly in the northern part of the study area, and were only found correlated with the presence of macro‐zooplankton in cold Arctic water. Humpback whales were not correlated with the occurrence of adult Norwegian spring‐spawning herring (Clupea harengus) except for the northernmost areas. Despite changes in the whale prey communities in the Norwegian Sea, no apparent changes in fin‐ or humpback whale distribution pattern could be found in our study compared to their observed summer distribution 10–15 years ago.     

First insights on spatial and temporal distribution patterns of humpback whales in the breeding ground at Sainte Marie Channel,Madagascar

The Sainte Marie Channel on the northeast coast of Madagascar is an important breeding ground for humpback whales; the first observation of birth was documented there, yet it has never been investigated for phenology and habitat use of humpback whales. The present study was aimed at examining temporal and spatial distribution patterns and the encounter rate of different social groups of humpback whales during the breeding season. We used a large set of opportunistic sightings data collected from whale-watching boats. A total of 3 247 sightings were collected during 897 whale-watching trips conducted between June and September from 2009 to 2013. Our study complements previous information on the seasonal presence of humpback whale social groups by demonstrating a persistent and well-structured temporal pattern in the succession of the different groups. Over the different years of the study period, groups without calves consistently dominated the first 30 days of the breeding season, followed by an increase in groups with calves. Interannual differences were observed in the encounter rates, with significantly higher global encounter rates in 2009, 2011 and 2013 (2.2, 2.3 and 2.3 sightings h^–1, respectively), and likewise for the mean encounter rates for groups with calves. In contrast, the encounter rate of groups without calves was similar over the study period. Although our study area exhibits a narrow configuration and poorly contrasting physiographic features due to its restricted spatial extent, we report a spatially segregated pattern of humpback whale social groups in the Sainte Marie Channel. A general linear model showed that groups with calves were influenced by water depth and distance from shore, being observed mostly in shallow waters (to 20 m depth) and close to the coastline (6 km). Our findings will be useful for the development of strategic sustained management plans by providing baseline information on humpback whale distribution at an important but poorly documented breeding site.     

Acoustic interaction of humpback whales and whale-watching boats

The underwater acoustic noise of five representative whale-watching boats used in the waters of west Maui was measured in order to study the effects of boat noise on humpback whales. The first set of measurements were performed on 9 and 10 March, close to the peak of the whale season. The ambient noise was relatively high with the major contribution from many chorusing humpback whales. Measurements of boat sounds were contaminated by this high ambient background noise. A second set of measurements was performed on 28 and 29 April, towards the end of the humpback whale season. In both sets of measurements, two of the boats were inflatables with outboard engines, two were larger coastal boats with twin inboard diesel engines and the fifth was a small water plane area twin hull (SWATH) ship with inter-island cruise capabilities. The inflatable boats with outboard engines produced very complex sounds with many bands of tonal-like components. The boats with inboard engines produced less intense sounds with fewer tonal bands. One-third octave band measurements of ambient noise measured on 9 March indicated a maximum sound pressure level of about 123 dB re 1 microPa at 315 Hz. The maximum sound pressure level of 127 dB at 315 Hz was measured for the SWATH ship. One of the boats with outboard engines produced sounds between 2 and 4 kHz that were about 8-10 dB greater than the level of background humpback whale sounds at the peak of the whale season. We concluded that it is unlikely that the levels of sounds produced by the boats in our study would have any grave effects on the auditory system of humpback whales.     

Management implications for the changing interactions between people and whales in Ha'apai, Tonga

Tongans have a long history of interaction with humpback whales (Megaptera novaeangliae) ranging from imbuing whales with religious and cultural significance to commercial exploitation, originally through hunting and later through whale watching and swimming activities. Excessive commercial harvesting, mostly outside of Tongan waters, means that the number of humpback whales in the Oceania region remains low despite a ban on commercial harvesting since 1978. Concurrently, the opportunity for fee paying tourists to swim with this endangered population is a significant source of income for the Kingdom of Tonga. The Ha'apai island group has until recently experienced only a low density of whale focused tourism compared to the Vava'u island group, but it is showing signs of significant expansion. Photographs of the animals using the Ha'apai region identified a maximum of 331 unique individuals over the period 2006-2010, which generated 26 resightings of 22 individuals. In light of the low whale numbers and the industry expansion it is an appropriate time to implement a precautionary management system in the region. This is particularly important if, as suggested here, individual humpback whales are moving through all Tongan waters meaning management changes in one area impact on the entire population. Options to minimise the impact on these animals include limiting the number of licences issued for Ha'apai and zoning activities to ensure that there are areas closed to whale watching/swimming that can act as a refuge for the animals.     

Cetacean research in the southern African subregion: a review of previous studies and current knowledge

Cetacean research, in terms of the number of papers, and areas for which data are available, has expanded considerably in the southern African subregion in the past decade, especially in the South-West Indian Ocean. We review cetacean research within this subregion from the 1800s to the present to provide an overview of findings, investigate trends and identify knowledge gaps. Data are presented separately for large whales (those subject to commercial whaling) and smaller cetaceans, and are separated by era and ocean basin. Over 550 peer-reviewed papers and books were identified relating to research on cetaceans within the subregion. More than half (284) have been produced since 1990 and 193 relate specifically to South African waters. The most-studied species are those that are most accessible due to their coastal distributions (southern right whale Eubalaena australis: 45 papers, humpback whale Megaptera novaeangliae: 31 papers, killer whales Orcinus orca: 27 papers, Indo-Pacific bottlenose dolphin Tursiops aduncus: 30 papers, Indo-Pacific humpback dolphin Sousa chinensis (plumbea form): 25 papers) and/or were hunted commercially (sperm whale Physeter macrocephalus: 25 papers). Identified conservation concerns vary throughout the subregion, but include bycatch and directed hunts, oil and gas development, ecotourism activities, shifts in prey resources, and noise and chemical pollution. The inshore stocks of Bryde's whales Balaenoptera edeni, the Indo-Pacific humpback dolphin and the Atlantic humpback dolphin S. teuszii were identified as the populations of highest conservation concern, although there are considerable knowledge gaps relating to deep-water species and almost no data (even on species occurrence) are available for several areas and countries.     

Intra- and inter-species differences in persistent organic contaminants in the blubber of blue whales and humpback whales from the Gulf of St. Lawrence, Canada

Biopsy samples of blubber from adult male and female blue whales, and from female and young-of-the-year humpback whales were collected during the summers of 1992-1999 in the Gulf of St. Lawrence, Canada. In blue whales, concentrations of 25 PCB congeners, DDT and metabolites and several other organochlorine compounds were present at higher concentrations in the blubber of males relative to females; reflecting maternal transfer of these persistent contaminants from females into young. Sex-related differences in concentrations were not observed with less persistent contaminants, such as HCHs. In humpback whale samples, there were no significant differences in the concentrations of PCBs and organochlorine compounds in the blubber of females and calves. These data indicate that calves quickly bioaccumulate contaminants by transplacental and lactational routes to concentrations that are in equilibrium with females. In comparisons between contaminant concentrations and patterns in the blubber of female blue and humpback whales, there were no significant differences in concentrations, but the proportions of some PCB congeners, HCH isomers, and DDT and its metabolites were different in the two baleen whale species. These may reflect differences in the diet of the two species, since fish comprise a large part of the diet of humpback whales and blue whales feed exclusively on euphausiid crustaceans (i.e. krill).     

Responses of humpback whales to a changing climate in the Southern Hemisphere: Priorities for research efforts

Globally, baleen whales were severely depleted by historic whaling. Recovering populations have been observed to alter their behaviour. These changes have been attributed to climate change in some cases and raise concerns over the successful recovery of baleen whale populations. Current data-driven statistical habitat and behavioural models have proven useful for addressing questions of whale distribution changes within their limitations. Given observed changes in oceanic conditions, a new approach to managing baleen whale population recovery is necessary. Model predictions of future whale movements and distributions under climate change scenarios are vital to enable adequate conservation management. This paper presents a new perspective on understanding the impacts of climate change on humpback whales, arguing the need for a system-based multidisciplinary research approach. Our approach includes coupled, mechanistic models based upon robust ecological principles, and integrates key physical, biogeochemical, biological and ecological modules to address long-term changes associated with climate change. To illustrate the need for this system-based multidisciplinary approach, we focus on Southern Hemisphere humpback whales, the recovery of which may be impacted by rapid changes in habitat conditions brought about by anthropogenic climate change.     

A Portable Matched-Field Processing System Using Passive Acoustic Time Synchronization

A portable matched-field processing (MFP) system for tracking marine mammals is presented, constructed by attaching a set of autonomous flash-memory acoustic recorders to a rope to form a four-element vertical array, or "insta-array." The acoustic data are initially time-synchronized by performing a matched-field global inversion using acoustic data from an opportunistic source, and then by exploiting the spatial coherence of the ocean ambient noise background to measure and correct for the relative clock drift between the autonomous recorders. The technique is illustrated by using humpback whale song collected off the eastern Australian coast to synchronize the array, which is then used to track the dive profile of the whale using MFP methods. The ability to deploy autonomous instruments into arbitrary "insta-array" geometries with conventional fishing gear may permit nonintrusive array measurements in regions currently too isolated, expensive, or environmentally hostile for standard acoustic equipment     

Acoustic detections of blue whale (Balaenoptera musculus) and fin whale (B. physalus) sounds during a SURTASS LFA exercise

Acoustic data collected on the R/V Cory Chouest in February and March 1996 during an active operation of the U.S. Navy's surveillance-towed-array-sensor-system low-frequency-active (LFA) sonar were analyzed for blue whale (Balaenoptera musculus) and fin whale (B. physalus) sounds. Operational monitoring and mitigation protocols were implemented throughout the exercise to reduce the chances of an acoustic impact on marine mammals and sea turtles. The operational schedule did not include intentional "control" periods without transmissions but did include periods when the LFA sonar was not operating for other reasons (e.g., repairs). There were insufficient detections of blue whales for further analysis. Fin whale acoustic detection probabilities were calculated from the postprocessed data. A local-linear-regression analysis was used to compare fin whale detection probabilities from 2065 11-min intervals under conditions when the LFA sonar was and was not transmitting. There was an indication of a slightly higher probability of detecting fin whale sounds during periods when there were no LFA transmissions than during periods with transmissions. This may be the result of the following: 1) Reduced vocal activity by whales in response to LFA transmissions; 2) the effect of the mitigation protocols; or 3) some combination of 1) and 2). The data presently available do not allow one to distinguish definitively between these explanations, mainly because there were not enough data recorded for periods without LFA transmissions.     

Combining data from a multisensor tag and passive sonar to determine the diving behavior of a sperm whale (Physeter macrocephalus)

Reports on the diving behavior of a sperm whale tagged and tracked on September 6, 2000 during the Sirena 2000 cruise in the Ligurian Sea. A total of about 4.5 h of acoustic and nonacoustic sensor data were recorded when a sperm whale was tagged with a Woods Hole Oceanographic Institution developed tag with a hydrophone, motion, and pressure sensors. The animal was simultaneously tracked with a passive sonar system deployed from the NATO research vessel NRV Alliance. By combining data from the tag and passive sonar, we were able to reconstruct a three-dimensional track of the whale, along with its orientation and vocal behavior. While it was tagged, the whale carried out three deep dives to a depth of about 900 m in an area with a bottom depth of about 2600 m. The inter-click intervals of the diving whale were not consistent with ranging on the bottom, but were consistent with the hypothesis that the whale was possibly echolocating on some target(s) near the depth at which it dove to feed. This study demonstrated an ability to track subtle changes in the behavior of diving whales. This ability is important for three areas: 1) basic research, 2) studies of the responses of these animals to controlled exposures of man-made noise, and 3) studies to infer the biological significance of behavioral disruption.     

Trends and interventions in large whale entanglement along the South African coast

The major causes of large whale entanglement in South Africa are static fishing gear, especially the type associated with the West Coast rock lobster Jasus lalandii industry, and large-mesh gillnets that are set off the coast of KwaZulu-Natal (KZN) to reduce shark attacks (shark nets). The prevalence of entanglements is seasonal with the peaks in activity coinciding with the breeding migrations of humpback whales Megaptera novaeangliae and southern right whales Eubalaena australis, the two large whale species that are the most prone to entanglement. Generalised linear models with a Poisson or quasi-Poisson distribution were used to describe the relationship between the number of incidents and time. Taking into account the combined length of shark-net installations per year as an offset variable, entanglement of humpback whales in shark nets increased at 15.1% per year (95% CI = 9.5–21.6%) from 1990 to 2009. This is comparable to the rate of increase in the numbers of this species migrating past the KZN coast, between 1988 and 2002 (9–11%). The number of reported incidents of southern right whales entangled in gear other than shark nets also increased between 1990 and 2009. This was accounted for by the increase in numbers of this species in South Africa (7% per year), so in neither case are the two species at increasing risk of individual entanglement, and anthropogenic factors including entanglement do not seem to be affecting the recovery of these whale populations. Nevertheless, there is concern regarding the vulnerability to entanglement of a small assemblage of humpback whales that habitually visits the West Coast in spring and summer. The continued recovery of whale populations is likely to lead to greater levels of anthropogenic interaction and heighten the need for adequate mitigation measures. The KZN Sharks Board and the South African Whale Disentanglement Network (since 2006) have respectively released (disentangled) 81% and 23% of confirmed entangled individuals, and recorded relevant information on entanglement incidents. Such information is critical for developing mitigation measures and monitoring the prevalence of entanglement.     

Long-term trends in cetacean occurrence during the annual sardine run off the Wild Coast,South Africa

During the austral winter, cetaceans and other apex predators follow the annual northeastward movement of shoaling sardines, known as the sardine run, along the southeast coast of South Africa, including a 400-km stretch called the Wild Coast. In total, 131 opportunistic aerial surveys were conducted between May and July, from 1996 to 2014, to monitor sardine movement. Cetacean-sighting data from these surveys were analysed, focusing on long-term trends in frequencies of the cetaceans. In total, 630 sightings involving five cetacean species were recorded: 268 (approximately 32 400 individuals) of Indo-Pacific bottlenose dolphin Tursiops aduncus, 108 (approximately 79 400 individuals) of long-beaked common dolphin Delphinus capensis, 242 (approximately 670 individuals) of humpback whale Megaptera novaeangliae, 1 (two individuals) of southern right whale Eubalaena australis, and 11 (16 individuals) of Bryde’s whale Balaenoptera edeni. The occurrence of common dolphins, typically associated with sardines, decreased significantly in average group size over the study period (p = 0.0343); bottlenose dolphins, considered generalist feeders, demonstrated no such trend (p = 0.916). Humpback whales were most frequently sighted between 2010 and 2014, and with significantly larger groups observed towards the end of the study period (p = 0.0121). For all these species, more sightings were made inside than outside of marine protected areas (>70% of the dolphin species, and >65% of the humpback whales), both pre- and post-2005 (from 2005 the size of the survey area increased). The results indicate that movements of the common dolphin may be employed as a proxy for sardine occurrence. Long-term trends evident in the data also demonstrate the importance of this coastal region for bottlenose dolphins as well as use as a migratory corridor for humpback whales.     

Twelve years of tracking 52-Hz whale calls from a unique source in the North Pacific

A unique whale call with 50–52 Hz emphasis from a single source has been tracked over 12 years in the central and eastern North Pacific. These calls, referred to as 52-Hz calls, were monitored and analyzed from acoustic data recorded by hydrophones of the US Navy Sound Surveillance System (SOSUS) and other arrays. The calls were noticed first in 1989, and have been detected and tracked since 1992. No other calls with similar characteristics have been identified in the acoustic data from any hydrophone system in the North Pacific basin. Only one series of these 52-Hz calls has been recorded at a time, with no call overlap, suggesting that a single whale produced the calls. The calls were recorded from August to February with most in December and January. The species producing these calls is unknown. The tracks of the 52-Hz whale were different each year, and varied in length from 708 to 11,062 km with travel speeds ranging from 0.7 to 3.8 km/h. Tracks included (A) meandering over short ranges, (B) predominantly west-to-east movement, and (C) mostly north-to-south travel. These tracks consistently appeared to be unrelated to the presence or movement of other whale species (blue, fin and humpback) monitored year-round with the same hydrophones.     

Multi-stakeholder collaboration yields valuable data for cetacean conservation in Gamba,Gabon

Private industry, the Government of Gabon and two international NGOs collaborated to conduct marine surveys off the coast of Gabon, Central Africa. Surveys addressed multiple objectives of surveillance and monitoring, the documentation of the distribution of and threats to the marine megafauna, and capacity-building among government agents and local early-career scientists. During 22 days of survey effort over a two-year period, observers documented humpback whales Megaptera novaeangliae, bottlenose dolphins Tursiops truncatus, Atlantic humpback dolphins Sousa teuszii and common dolphins Delphinus delphis. Humpback whale presence was limited to the months of July to November. Bottlenose dolphins were present year-round and photo-identification of individuals indicated a closed, resident population, with an abundance estimate of 118 (CV = 21.6%, 95% CI 78–180). Small open-decked fishing vessels with gillnets were observed concentrated around river mouths within 2 km of shore, while commercial trawlers were at least 10 km offshore; all were confirmed to be registered and legal. Observations of marine turtles, flocks of marine birds, and floating logs and other debris were sparse. This multi-stakeholder collaboration to conduct a marine survey can serve as an effective model by which funding and logistic support from private industry paired with technical expertise from NGOs and academic institutions can benefit marine and coastal conservation.     

Distribution and seasonal abundance of large cetaceans in the Durban whaling grounds off KwaZulu-Natal,South Africa, 1972–1975

Daily charts of the aerial search effort (432 206 nautical miles) of the Union Whaling Company and 1 099 sightings of 10 497 whales were available from 628 flights off Durban between 1972 and 1975. Densities of whales were analysed by month and water depth distribution over the four-year period. Low observed densities of blue Balaenoptera musculus, right Eubalaena australis, sei B. borealis and humpback Megaptera novaeangliae whales most likely resulted from earlier whaling pressure. Seasonality of blue, sei and humpback whales was bimodal, indicative of winter migrations to the north of the Durban whaling grounds, whereas the unimodal seasonality of fin whales B. physalus and minke whales B. bonaerensis or B. acutorostrata suggest the offshore region as the northern terminus of their migrations. Sperm whales Physeter macrocephalus migrate northwards offshore of the KwaZulu-Natal coast in autumn/early winter and southwards in late winter/spring, with larger males migrating later than the smaller males and females. Killer whale Orcinus orca presence was coincident with that of offshore minke whales and the southward migrations of other baleen whales, whereas densities of animals deemed as bottlenose whale Hyperoodon planifrons suggest strong early and late summer seasonal abundance in the offshore region. Such extensive surveys offshore of the KwaZulu-Natal coast are unlikely to be repeated; hence, data-extraction of whaling records provides a valuable source of seasonal and distributional information for marine management.     

Predictive habitat modelling of humpback (Megaptera novaeangliae) and Antarctic minke (Balaenoptera bonaerensis) whales in the Southern Ocean as a planning tool for seismic surveys

Seismic surveys are frequently a matter of concern regarding their potentially negative impacts on marine mammals. In the Southern Ocean, which provides a critical habitat for several endangered cetacean species, seismic research activities are undertaken at a circumpolar scale. In order to minimize impacts of these surveys, pre-cruise planning requires detailed, spatio-temporally resolved knowledge on the likelihood of encountering these species in the survey area. In this publication we present predictive habitat modelling as a potential tool to support decisions for survey planning. We associated opportunistic sightings (2005–2011) of humpback (Megaptera novaeangliae, N=93) and Antarctic minke whales (Balaenoptera bonaerensis, N=139) with a range of static and dynamic environmental variables. A maximum entropy algorithm (Maxent) was used to develop habitat models and to calculate daily basinwide/circumpolar prediction maps to evaluate how species-specific habitat conditions evolved throughout the spring and summer months. For both species, prediction maps revealed considerable changes in habitat suitability throughout the season. Suitable humpback whale habitat occurred predominantly in ice-free areas, expanding southwards with the retreating sea ice edge, whereas suitable Antarctic minke whale habitat was consistently predicted within sea ice covered areas. Daily, large-scale prediction maps provide a valuable tool to design layout and timing of seismic surveys as they allow the identification and consideration of potential spatio-temporal hotspots to minimize potential impacts of seismic surveys on Antarctic cetacean species.     

Swimming with whales in Tonga: Sustainable use or threatening process?

The Oceania population of humpback whales (Megaptera novaeangliae) using Tongan waters is a listed Endangered subpopulation that supports a large swim-with whale industry focussed primarily on mothers and calves. This raises concerns about the industry's potential to impact on the subpopulation's breeding success and recovery. This study investigated whether whales responded differently to approaches by swimmers from boats than to boat approaches alone and whether different types of swimming (quiet approach, loud splashing or diving following a quiet approach) induced different avoidance responses. An avoidance response was defined as whales moving away from boats or swimmers and the strength of the response was defined by how far the whales moved away and whether there was an increase in surface activity. Animals responded more quickly to a loud splashing approach than to quiet approaches. There were no significant differences in measures relating to the strength of the response caused by swim type, however closer approaches by a boat did significantly increase the level of whale activity. These results suggest that managing swimmer behaviour around whales, particularly ensuring quiet approaches, will contribute to the ability of the industry to minimise disturbance of the animals and support the industry's sustainability.     

Spatiotemporal modelling for policy analysis: Application to sustainable management of whale-watching activities

Anticipating the impacts of a new policy before implementation on a complex social–ecological system is a challenging task for managers and policymakers. This paper reports on the development and use of an agent-based model (ABM) dedicated to support marine park managers in their effort to devise policies to sustainably manage whale-watching activities. The ABM, called the Marine Mammal and Maritime Traffic Simulator (3MTSim), represents the spatiotemporal dynamics of marine mammals and navigation activities in and around the Saguenay–St. Lawrence Marine Park in Canada. In the context of updating the current regulations on whale-watching in the Marine Park, 3MTSim was run to evaluate the merits of a proposed set of rules compared to the current regulations. To do so, a set of variables related to policies’ impacts on the three spheres of sustainable development, namely the impact on whales (Environment), on whale-watching companies (Economy), and tourist experience (Society) was analysed. 3MTSim's simulations highlighted that the proposed rules are expected to improve the situation regarding whale conservation and tourist experience with only marginal impact on the whale-watching industry. In the proposed regulations, one rule is expected to be very influential on whale-watching activities. This rule limits to 10 the number of whale-watching boats allowed to stand within 926 m of any boat in observation mode. Assuming efficient law enforcement, 3MTSim predicts a significant decrease in overall boat concentration around whales in the Marine Park, which is one of the management objectives benefiting both whales and tourists. Interestingly, 3MTSim reveals that this rule could indirectly force some boats to observe second-choice whales present in higher abundance rather than some more attractive species scarcer in the region. This highlights the following management tradeoffs: Reducing boat exposure for the humpback whale and endangered blue whale is likely to increase it for the more abundant fin whale listed as of special concern (Canada's Species at Risk Act) and minke whale. This work demonstrates the utility of ABMs to support policy analysis in the context of sustainable management in a Marine Park. ABMs developed in close relationship with end-users are unarguably a tool of choice to manage complex social–ecological systems since they provide insight into phenomena hard or impossible to measure in the real system. Despite the labour intensive nature of their implementation, this investment is worth the effort.     

Simulation of non-Rayleigh reverberation and clutter

The simulation of active sonar reverberation time series has traditionally been done using either a computationally intensive point-scatterer model or a Rayleigh-distributed reverberation-envelope model with a time-varying power level. Although adequate in scenarios where reverberation arises from a multitude of scatterers, the Rayleigh model is not representative of the target-like non-Rayleigh reverberation or clutter commonly observed with modern high-resolution sonar systems operating in shallow-water environments. In this paper, techniques for simulating non-Rayleigh reverberation are developed within the context of the finite-number-of-scatterers representation of K-distributed reverberation, which allows control of the reverberation-envelope statistics as a function of system (beamwidth and bandwidth) and environmental (scatterer density and size) parameters. To avoid the high computational effort of the point-scatterer model, reverberation is simulated at the output of the matched filter and is generated using efficient approximate methods for forming K-distributed random variables. Finite impulse response filters are used to introduce the effects of multipath propagation and the shape of the reverberation power spectrum, the latter of which requires the development of a prewarping of the K distribution parameters to control the reverberation-envelope statistics. The simulation methods presented in this paper will be useful in the testing and evaluation of active sonar signal processing algorithms, as well as for simulation-based research on the effects of the sonar system and environment on the reverberation-envelope probability density function.