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January 2021

Sound Source Tracking Using Integrated Direction Likelihood for Drones with Microphone Arrays

  • T. Yamada, K. Itoyama, K. Nishida, K. Nakadai,
  • in Proceedings of the 2021 IEEE/SICE International Symposium on System Integration(SII 2021),
  • IEEE,
  • 2021,
  • pp. 394-399,
  • Conference paper

This paper presents a method for sound source localization and tracking using drones with microphone arrays. Signal processing with multiple microphone arrays enables us to estimate the sound source location via triangulation strategies. However in drone applications, triangulation approaches have difficulties because direction estimation is generally unstable due to drone noise. Accordingly, we propose a novel method we call PArticle Filtering with Integrated MUSIC (PAFIM). PAFIM use the strategy of direct localization which estimates the location likelihood distribution rather then estimating sound source direction. In this way, sound source locations can be estimated robustly than discrete triangulation. Numerical simulation demonstrated PAFIM is effective in tracking moving sound sources with root mean square error within 15% of sound source distance.

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