Range and depth estimation using a vertical array in a correlatedmultipath environment

The effects of correlation between time-difference-of-arrival (TDOA) estimates on the localization of an underwater source in a direct-surface reflected propagation environment is investigated for a two-element vertical array with omnidirectional sensors. Expressions for the covariance matrix of the noisy TDOAs are derived. The results show that the estimated TDOAs are correlated and that the degree of correlation depends on the relative location of the source. Expressions for variances of range and depth estimators are developed using a least-squares technique. The results show that the expressions for variances of the range and depth estimators can be in error by as much as a factor 3.3 if the correlation among the TDOAs is ignored. The expressions for the covariances of the TDOAs and the expressions for the variances of the range and depth, which incorporate the correlation in the TDOAs, are corroborated with Monte Carlo simulations