Abstract
In this paper, we describe a basic underwater sound source localization system designed for mounting in underwater robots aimed at a robust localization against noises. The developed system uses four hydrophones and a pinger. Time delays of each hydrophone is detected and obtained by micro controller. Sound source positions are calculated by the time delays and baseline length. Then, particle filter is calculated by external PC for developing a robust sound source localization system. Estimation of three dimensional positions are simulated by particle filter. According to the simulation results, estimation errors of a sound source position are within 0.21[m] even sensors have envisaged interference-noises following gaussian noise σ_0^2=0.005625.
