Acoustic Detection and Tracking of a Class I UAS with a Small Tetrahedral Microphone Array.

摘要

An analysis of detection and tracking performance for a Class I unmanned aircraft system (UAS) measured with a small tetrahedral microphone array was performed. Detection and tracking algorithms were implemented using beamforming and adaptive Kalman filters. The performance of a coherent energy- based detection algorithm implemented with a delay and sum beamforming algorithm was assessed using receiver operation characteristics (ROC) curves. Angle tracking was implemented using an adaptive Kalman filter with input from a filter and sum beamforming algorithm. For good signal-to-interference-plus- noise ratios (SINR), the estimated azimuth angles had good agreement with ground truth data, but the estimated elevation angles were underestimated inaccurately by a scale factor.