We presented foundational findings regarding the occurrence and acoustic characteristics of the finless porpoise through passive acoustic and visual surveys conducted on the southern coast of Korea, specifically at Hadong Jungpyeong Port. Over a survey period spanning from July 8 to August 16, 2023, totaling 40 days, we observed peaks in the number of clicks produced by this species on July 15, July 24, August 4, August 11, and August 16. The highest count, totaling 18,924 clicks, was recorded on July 15th, while the lowest count, at 3,888 clicks, occurred on August 8th. Examining the acoustic characteristics throughout the diurnal cycle, we found that the peak activity in terms of DPM (detection positive minute for one hour), DP10M (DPM for ten minutes), and overall number of click sounds was observed between 05:00 and 08:00, with a secondary peak occurring from 17:00 to 18:00. The quietest period was noted between 23:00 and 02:00. Furthermore, there was a significant increase in the number of clicks from sunrise, with the maximum count of 21,581 clicks recorded at 6 AM. This count gradually decreased until noon, experienced a slight increase thereafter, peaked again at sunset, and then declined. The dominant frequency mode of this species was 126 kHz, with a concentration ranging from 112 to 136 kHz. The average duration of a click sound was 127 ㎲, with approximately 16 sinusoids (cycles) within each click sound and an average cycle length of approximately 7.9 ㎲. These findings from our study are anticipated to serve as foundational data for the development of a Korean pinger and acoustic warning system.

The accuracy of the position fixing with telemetry techniques depends in general on the accuracy of the location of the receiving point(hydrophone). To increase the accuracy of the coordinates of four hydrophones suspended down at both sides of the vessel anchored, each hydrophone motion is compensated using a depth pinger mounted on the seabed of 30m depth. The pinger location is calculated with a hyperbolic method. Using this technique so called hydrophone coordinates calibration, the movement of the Remotely Operated Vehicle(ROV), which has the same type of pinger mentioned above could be tracked down more accurately. Under the maximum variation ranges of a hydrophone of 5.2m in athwartships, 3.2m in alongship, and about 0.2m/s of the moving velocity in both directions, the ROV track with calibration is more close to the reality than that without calibration Tow depth pingers of same frequency can be distinguished by the use of three factors; The pulse period, the phase and the pulse period variation allowed in acquisition of the pinger as far as its pulse period is varied in smooth

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.