Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Kalman Filters for Time Delay of Arrival-Based Source Localization | Hindawi Publishing Corporation EURASIP Journal on Applied Signal Processing Volume 2006 Article ID 12378 Pages 1-15 DOI ASP 2006 12378 Kalman Filters for Time Delay of Arrival-Based Source Localization Ulrich Klee Tobias Gehrig and John McDonough Institutfur Theoretische Informatik Universitiit Karlsruhe Am Fasanengarten 5 76131 Karlsruhe Germany Received 9 February 2005 Revised 13 October 2005 Accepted 17 October 2005 In this work we propose an algorithm for acoustic source localization based on time delay of arrival TDOA estimation. In earlier work by other authors an initial closed-form approximation was first used to estimate the true position of the speaker followed by a Kalman filtering stage to smooth the time series of estimates. In the proposed algorithm this closed-form approximation is eliminated by employing a Kalman filter to directly update the speaker s position estimate based on the observed TDOAs. In particular the TDOAs comprise the observation associated with an extended Kalman filter whose state corresponds to the speaker s position. We tested our algorithm on a data set consisting of seminars held by actual speakers. Our experiments revealed that the proposed algorithm provides source localization accuracy superior to the standard spherical and linear intersection techniques. Moreover the proposed algorithm although relying on an iterative optimization scheme proved efficient enough for real-time operation. Copyright 2006 Hindawi Publishing Corporation. All rights reserved. 1. INTRODUCTION Most practical acoustic source localization schemes are based on time delay of arrival estimation TDOA for the following reasons such systems are conceptually simple. They are reasonably effective in moderately reverberant environments. Moreover their low computational complexity makes them well-suited to real-time implementation with several sensors. Time delay of arrival-based source localization is based on a two-step procedure. 1 The TDOA between
