Performance evaluation of sound source localisation and tracking methods using multiple drones

This study evaluates methods to improve sound source localisation and tracking performance using microphone arrays from multiple drones. Previous studies have demonstrated the feasibility of multi-drone sound source tracking by triangulating their respective direction estimations using the MUltiple SIgnal Classification (MUSIC) algorithm. In addition, we evaluate techniques to reduce the influence of rotor noise. Namely, this includes a Wiener filter that utilises rotor noises' power spectral density (PSD) estimations and a noise correlation matrix (NCM) estimation scheme exploiting the geometries of the drone and the microphone array. This is to reduce the rotor noise's influence on the microphone array input correlation matrix prior to localising with MUSIC. Results show that applying the rotor noise reduction method improves localisation and tracking accuracy under a wider range of signal-to-noise ratios, regardless of the sound source tracking method.