Journal
SENSORS
Volume 17, Issue 11, Pages -Publisher
MDPI
DOI: 10.3390/s17112535
Keywords
robot audition; sound source localization; multiple signal classification; outdoor-environment measurement; real-time measurement; unmanned aerial vehicle
Funding
- JSPS (Japan Society for the Promotion of Science) KAKENHI Grant [16H02884, 16K00294, 17K00365]
- ImPACT (Impulsing Paradigm Change through Disruptive Technologies Program) of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan)
- Grants-in-Aid for Scientific Research [17K00365, 16K00294] Funding Source: KAKEN
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In search and rescue activities, unmanned aerial vehicles (UAV) should exploit sound information to compensate for poor visual information. This paper describes the design and implementation of a UAV-embedded microphone array system for sound source localization in outdoor environments. Four critical development problems included water-resistance of the microphone array, efficiency in assembling, reliability of wireless communication, and sufficiency of visualization tools for operators. To solve these problems, we developed a spherical microphone array system (SMAS) consisting of a microphone array, a stable wireless network communication system, and intuitive visualization tools. The performance of SMAS was evaluated with simulated data and a demonstration in the field. Results confirmed that the SMAS provides highly accurate localization, water resistance, prompt assembly, stable wireless communication, and intuitive information for observers and operators.
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