The performance of conventional direction of arrival (DOA) methods is susceptible to the uncertainty of acoustic velocity in the underwater environment. To solve this problem, an underwater DOA estimation method with L-shaped array for wide-band signals under unknown acoustic velocity is proposed in this paper. The proposed method refers to the idea of incoherent signal subspace method and Root-MUSIC to obtain two sets of average roots corresponding to the subarray of the L-shaped array. And the geometric relationship between two vertical linear arrays is employed to derive the expression of DOA estimation with respect to the two average roots. The acoustic velocity variable in the DOA estimation expression can be eliminated in the proposed method. The simulation results demonstrate that the proposed method is more accurate and robust than other methods in an unknown acoustic velocity environment.

This paper presents a two-dimensional (2D) DOA algorithm for double L-shaped arrays. The algorithm is applied to the underwater environment for eliminating the performance error caused by the sound speed uncertainty factor. By introducing the third dimensional array, the algorithm eliminates the sound velocity variable in the depression angle expression, so that the DOA estimation no longer considering the true value of unknown sound velocity. In order to determine the parameters of a three-dimensional array, a parameter matching method with the double L-shaped array is also proposed. Simulations show that the proposed algorithm outperforms the conventional 2D-DOA estimation algorithm in unknown sound velocity environment.

This paper presents an efficient wideband two-dimensional direction-of-arrival (DOA) estimation for an L-shaped microphone array. We propose a way to construct a wideband sample cross-correlation matrix without any process of DOA preliminary estimation, such as beamforming technique, by exploiting sample cross-correlation matrices of two different frequencies for all frequency bins. Subsequently, wideband DOAs can be estimated by using this wideband matrix along with a scheme of estimating DOA in a narrowband subspace method. Therefore, a contribution of our study is providing an alternative framework for recent narrowband subspace methods to estimating the DOA of wideband sources directly. It means that this framework enables cutting-edge techniques in the existing narrowband subspace methods to implement the wideband direction estimation for reducing the computational complexity and facilitating the estimation algorithm. Theoretical analysis and effectiveness of the proposed method are substantiated through numerical simulations and experiments, which are performed in reverberating environments. The results show that performance of the proposed method performs better than others over a range of signal-to-noise ratio with just a few microphones. All these advantages make the proposed method a powerful tool for navigation systems based on acoustic signal processing.

This paper proposes a novel method for two-dimensional (2-D) direction-of-arrival (DOA) estimation of multiple signals employing a sparse L-shaped array structured by a sparse linear array (SLA), a sparse uniform linear array (SULA) and an auxiliary sensor. In this method, the elevation angles are estimated by using the SLA and an efficient search approach, while the azimuth angle estimation is performed in two stages. In the first stage, the rough azimuth angle estimates are obtained by utilizing a noise-free cross-covariance matrix (CCM), the estimated elevation angles and data from three sensors including the auxiliary sensor. In the second stage, the fine azimuth angle estimates can be achieved by using the shift-invariance property of the SULA and the rough azimuth angle estimates. Without extra pair-matching process, the proposed method can achieve automatic pairing of the 2-D DOA estimates. Simulation results show that our approach outperforms the compared methods, especially in the cases of low SNR, snapshot deficiency and multiple sources.