{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/53166"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/53166","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Nonlinear filtering for narrow-band time delay estimation","abstract":"This thesis presents a method for improving passive acoustic tracking. A large family of acoustic tracking systems combine estimates of the time difference of arrival (TDoA) between pairs of spatially separated sensors - this work improves those estimates by independently tracking each TDoA using a Bayesian filter. This tracking is particularly useful for overcoming spatial aliasing, which results from tracking narrowband, high frequency sources. I develop a theoretical model for the evolution of each TDoA from a bound placed on the velocity of the target being tracked. This model enables an efficient form of exact marginalization. I then present simulation and experimental results demonstrating improved performance over a simpler nonlinear preprocessor and Kalman filtering, so long as this bound is chosen appropriately.","abstract_html":"This thesis presents a method for improving passive acoustic tracking. A large family of acoustic tracking systems combine estimates of the time difference of arrival (TDoA) between pairs of spatially separated sensors - this work improves those estimates by independently tracking each TDoA using a Bayesian filter. This tracking is particularly useful for overcoming spatial aliasing, which results from tracking narrowband, high frequency sources. I develop a theoretical model for the evolution of each TDoA from a bound placed on the velocity of the target being tracked. This model enables an efficient form of exact marginalization. I then present simulation and experimental results demonstrating improved performance over a simpler nonlinear preprocessor and Kalman filtering, so long as this bound is chosen appropriately.","abstract_has_math":false,"creators":["Tobenkin, Mark M"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.","school":null,"contributors":[],"advisors":["Gerald Jay Sussman."],"committee_chairs":[],"committee_members":[],"year":2009,"date_issued":"2009","date_published":"2009","updated_at":"2026-07-22T22:21:00Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/53166","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Gerald Jay Sussman."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."]},{"key":"dc:creator","label":"Author","values":["Tobenkin, Mark M"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2010-03-25T15:09:25Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2010-03-25T15:09:25Z"]},{"key":"dc:date.issued","label":"Date","values":["2009"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Electrical Engineering and Computer Science."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1721.1/53166"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.","Includes bibliographical references (p. 101-103)."]},{"key":"dc:description.abstract","label":"Abstract","values":["This thesis presents a method for improving passive acoustic tracking. A large family of acoustic tracking systems combine estimates of the time difference of arrival (TDoA) between pairs of spatially separated sensors - this work improves those estimates by independently tracking each TDoA using a Bayesian filter. This tracking is particularly useful for overcoming spatial aliasing, which results from tracking narrowband, high frequency sources. I develop a theoretical model for the evolution of each TDoA from a bound placed on the velocity of the target being tracked. This model enables an efficient form of exact marginalization. I then present simulation and experimental results demonstrating improved performance over a simpler nonlinear preprocessor and Kalman filtering, so long as this bound is chosen appropriately."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["M.Eng."]},{"key":"dc:title","label":"Title","values":["Nonlinear filtering for narrow-band time delay estimation"]}]}],"canonical_facts":{"dc:contributor.advisor":["Gerald Jay Sussman."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."],"dc:contributor.other":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."],"dc:creator":["Tobenkin, Mark M"],"dc:date.accessioned":["2010-03-25T15:09:25Z"],"dc:date.available":["2010-03-25T15:09:25Z"],"dc:date.issued":["2009"],"dc:description":["Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.","Includes bibliographical references (p. 101-103)."],"dc:description.abstract":["This thesis presents a method for improving passive acoustic tracking. A large family of acoustic tracking systems combine estimates of the time difference of arrival (TDoA) between pairs of spatially separated sensors - this work improves those estimates by independently tracking each TDoA using a Bayesian filter. This tracking is particularly useful for overcoming spatial aliasing, which results from tracking narrowband, high frequency sources. I develop a theoretical model for the evolution of each TDoA from a bound placed on the velocity of the target being tracked. This model enables an efficient form of exact marginalization. I then present simulation and experimental results demonstrating improved performance over a simpler nonlinear preprocessor and Kalman filtering, so long as this bound is chosen appropriately."],"dc:description.degree":["M.Eng."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/53166"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Electrical Engineering and Computer Science."],"dc:title":["Nonlinear filtering for narrow-band time delay estimation"],"dc:type":["Thesis"]},"updated_at":"2026-07-22T22:21:00Z"}