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Localization using ground- and air-based acoustic arrays

Techniques were developed to localize acoustic quasiperiodic signals using microphone arrays located on the ground and on an aerostat. The direction of arrival (DOA) was computed at each array and then the position of the source was estimated using algorithms based upon triangulation. Differential time delays between the microphones in a tetrahedral array were estimated in the frequency domain, and then DOA estimates were calculated using a weighted least squares approach. The location of the target was calculated by minimizing the weighted squared error of a cost function for different combinations of DOA estimates. The algorithms were tested offline using data collected by the U.S. Army Research Laboratory on an aircraft. The ground-truth position of the target was recorded using a GPS system as it maneuvered and compared to the results obtained from the localization algorithms. The algorithms performed well when estimating the x and y positions, but had difficulty obtaining consistently good z positions, or equivalently, height estimates.