非同期音響ビーコンとマイクロフォンアレイを用いるマルチパスにロバストな屋内測位の静的評価

抄録

In this paper, static evaluation results of an indoor acoustic localization method that uses asynchronous acoustic beacons and two-element microphone array are reported. 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 in a reverberant room. The result showed that the 90th percentile error of the proposed method was 1.46 m while that of the baseline method was 4.61 m.