kaltoa: Kalman filtered time-of-arrival positioning

Kalman filtered (kal-) time-of-arrival positioning (-toa) for underwater acoustic telemetry. Broadly, this package contains a collection of functions for fine-scale positioning of tagged animals within acoustic telemetry arrays.

The functions in the package cover:

• Loading and visualizing detections datasets
• Correcting for receiver clock drift and location error
• Point positioning models (TDOA and PMC-TOA)
• Track positioning models (CTCRW)
• Interpolation of fitted tracks.

The intent of kaltoa is to provide a comprehensive toolset for loading, visualizing, preprocessing, and positioning acoustic telemetry data. This user guide provides a quick walk through of the main features. All examples shown in this user guide and in the package documentation are reproducible using the datasets embedded in the package.

To install the package, you can use devtools.

# Install Kaltoa
devtools::install_git(url = "https://gitlab.com/RTbecard/kaltoa.git", build_manual = T)

You can also download the source package here to install it locally.

install.packages("./kaltoa_[VERSION].tar.gz", repos = NULL)

Note the package follows the version numbering convention: [major].[minor-breaking].[minor-non-breaking].[bugfix]. When a [minor-breaking] version is released, kaltoa will no longer be compatible with some objects created by previous versions. On the other hand, [minor-non-breaking] versions may add new functionality to kaltoa while remaining compatible with previously made scripts or stored objects. The [major] version represents some significant milestone of development and [bugfix] updates address bugs without affecting the compatibility with previous versions.