Acoustic Source Localization From Multirotor UAVs
Acoustic Source Localization From Multirotor UAVs
复制标题
多旋翼无人机的声源定位
DOI：
--
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
G. Foresti
中科院分区：
文献类型：
--
作者：
D. Salvati;C. Drioli;G. Ferrin;G. Foresti
在这篇文章中，我们解决的问题，声源定位使用麦克风阵列安装在多旋翼无人机（UAV）。传统的定位波束形成技术在这些特定条件下尤其具有挑战性，这是由于影响所记录的声学信号的干扰的性质和强度。主要的干扰与高频、窄带噪声有关，这些噪声是由电动发动机产生的，并且与由螺旋桨引起的宽带空气动力噪声有关。针对这一问题，提出了一种有效的波束形成技术，用于声源的波达方向估计，并采用与多旋翼飞行器分离的圆形阵列，以减小螺旋桨产生的噪声的影响。用于定位源的方法依赖于对角卸载波束形成与一种新的范数变换频率融合。所提出的算法进行了测试的多旋翼无人机配备了一个紧凑的均匀的圆形阵列的八个麦克风，放置在底部的无人机定位目标声源放置在地面上，而四轴飞行器是悬停在不同的高度。在室外悬停条件下进行的实验结果进行了说明，并在各种记录条件和源特性的定位性能报告。
In this article, we address the problem of acoustic source localization using a microphone array mounted on multirotor unmanned aerial vehicles (UAVs). Conventional localization beamforming techniques are especially challenging in these specific conditions, due to the nature and intensity of the disturbances affecting the recorded acoustic signals. The principal disturbances are related to the high-frequency, narrowband noise originated by the electrical engines, and to the broadband aerodynamic noise induced by the propellers. A solution to this problem is proposed, which adopts an efficient beamforming technique for the direction of arrival estimation of an acoustic source and a circular array detached from the multirotor vehicle body in order to reduce the effects of noise generated by the propellers. The approach used to localize the source relies on a diagonal unloading beamforming with a novel norm transform frequency fusion. The proposed algorithm is tested on a multirotor UAV equipped with a compact uniform circular array of eight microphones, placed on the bottom of the drone to localize the target acoustic source placed on the ground while the quadcopter is hovering at different altitudes. The experimental results conducted in outdoor hovering conditions are illustrated, and the localization performances are reported under various recording conditions and source characteristics.