Acoustic Positioning Using Multiple Microphone Arrays


Hui Liu
Evangelos Milios

Author Addresses: 

Faculty of Computer Science
Dalhousie University
6050 University Ave.
PO Box 15000
Halifax, Nova Scotia, Canada
B3H 4R2


An important problem associated with the navigation of an autonomous vehicle is its accurate localization. We are investigating acoustic techniques to solve the localization problem. In the case of an autonomous underwater robot, we use an array of hydrophones floating at the surface, whose absolute position can be measured via GPS. We estimate the direction of arrival of sound at the hydrophone array from a source emitting sound in the audio range that is mounted on the robot. Estimation of the direction of arrival at multiple hydrophone arrays allows the positioning of the underwater robot in 3D space. Novel array designs are considered, and an optimal position estimation approach in the presence of measurement errors is provided. Experimental results with real data are provided both in the air (using arrays of condenser microphones) and in the water.

Tech Report Number: 
Report Date: 
January 23, 2004
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