Sensor localization using helicopter acoustic and GPS data

摘要

In this paper we present an algorithm to determine the location of an acoustic sensor array using the direction of arrival (DOA) estimates of a moving acoustic source whose ground truth is available. Determination of location and orientation of sensor array based on the statistics of errors in the DOA estimation is a nonlinear regression problem. We formulate and derive the necessary equations to solve this problem in terms of the bearing estimates of the acoustic source and its location. The algorithm is tested against helicopter data from three acoustic sensor arrays distributed over a field.