Prototype Development of Cross-Shaped Microphone Array System for Drone Localization Based on Delay-and-Sum Beamforming in GNSS-Denied Areas

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Prototype Development of Cross-Shaped Microphone Array System for Drone Localization Based on Delay-and-Sum Beamforming in GNSS-Denied Areas

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Hirokazu Madokoro / Satoshi Yamamoto / Kanji Watanabe / Masayuki Nishiguchi / Stephanie Nix / Hanwool Woo / Kazuhito Sato

Abstract

Drones equipped with a global navigation satellite system (GNSS) receiver for absolute localization provide high-precision autonomous flight and hovering. However, the GNSS signal reception sensitivity is considerably lower in areas such as those between high-rise buildings, under bridges, and in tunnels. This paper presents a drone localization method based on acoustic information using a microphone array in GNSS-denied areas. Our originally developed microphone array system comprised 32 microphones installed in a cross-shaped configuration. Using drones of two different sizes and weights, we obtained an original acoustic outdoor benchmark dataset at 24 points. The experimentally obtained results revealed that the localization error values were lower for $0^{\circ}$ and $\pm 45^{\circ}$ than for $\pm 90^{\circ}$ . Moreover, we demonstrated the relative accuracy for acceptable ranges of tolerance for the obtained localization error values.

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Title :

Prototype Development of Cross-Shaped Microphone Array System for Drone Localization Based on Delay-and-Sum Beamforming in GNSS-Denied Areas

Contributors:

Hirokazu Madokoro (author) / Satoshi Yamamoto (author) / Kanji Watanabe (author) / Masayuki Nishiguchi (author) / Stephanie Nix (author) / Hanwool Woo (author) / Kazuhito Sato (author)

Published in:

Drones, Vol 5, Iss 4, p 123 (2021)

Publication date :

2021

ISSN :

2504-446X

DOI :

https://doi.org/10.3390/drones5040123

Type of media :

Article (Journal)

Type of material :

Electronic Resource