非同期音響ビーコンと2素子のマイクアレイを用いる到来時間差に基づく音響測位

抄録

In this paper, an indoor acoustic localization method which uses asynchronous acoustic beacons and two-element microphone array is proposed. The location likelihood is calculated by projecting the cross-correlation functions of two elements of microphones to the state space. This projection enables likelihood calculation without unique direction-of-arrival detection and relieves constraint of microphone number. The proposed method was evaluated by an experiment with four acoustic beacons and mobile robot. The results showed that the proposed method with two microphones achieves 90% error of approximately 0.4 m, which is reasonable comparing to the result with four microphones.