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This study presents an application of acoustic source localization using microphone array installed on a drone. Although recent technology of drone enables to record audio and video, there are still acoustic problems such as engine noise, propeller-induced flow noise, microphone directivity, etc. Such unwanted noise shows strong tonal characteristics with broad band noise contents. To acquire usable acoustic signal from array measurements while a drone is flying, we implemented acoustic signal conditioning and array processing. The approach to the problem is to adapt beamforming and TDOA techniques that provide localization capability of multiple sources and the position or direction of arrival of source, respectively. The array configuration and angle resolution are adjusted depending on the application requirements. We limit our attention to stable hovering condition to rule out position and heading error occurred by the drone motion. The experimental results of position estimation under a various noise conditions are discussed in the study.
Oh et al. (Sat,) studied this question.