Moving sound source localization in 3D space based on time delay and energy ratio technique

Moving sound source localization has numerous applications in interdisciplinary realms such as in teleconferencing, in defense, in robotics, and fault localization in vehicles. Localization of moving source is more challenging than localizing stationary sources because the motion disturbs the sound field and manipulates the frequency and amplitude of the acoustic pressure at recording location, which hampers the accuracy of source localization. Existing moving source localization techniques have numerous restrictions such as source trajectory should be known beforehand as a straight line perpendicular to the array geometry, source should be in same plane or parallel to the microphone array plane, and source velocity should be known. Moreover, when the source elevation is high, these techniques give high error. This study proposes the time delay and energy ratio based real-time moving sound source localization technique that is free from above-mentioned restrictions and can track the source's 3D coordinates accurately. Six microphones are used to localize a moving source by processing the time delay and energy ratios between sensor pairs. The root mean square error found for low source speed and high source speed conditions are 0.73 m and 1.8 m respectively.