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This paper describes a low-cost acoustic array designed to locate and track small unmanned aerial vehicles (UAVs). The goal of this project was to create an inexpensive array with dynamically placed microphones that could detect and locate broadband sources in the far-field through algorithms for array calibration and beamforming. Experiments performed using remote controlled airplanes in an open field demonstrated favorable results.
Case et al. (Tue,) studied this question.