One acoustic localization algorithm with four-element array based on region division

At present, the space intersection acoustic localization algorithm based on TDOA only uses a simplex localization method. However, it is found that the localization errors near the area of the line connecting the two arrays' centers are more than the other regions. We herein propose the acoustic localization algorithm based on the region division. In such algorithm, we set four spatial four-element arrays, confirm the array aperture, relative elevation, boundary and distance between arrays based on the size of the localization area and the principle of minimizing the mean value of area errors, and then divide the area into 16 sub-regions to each of which we apply different pair of the arrays. With crackers as the sound sources, we randomly selected three sound source points with the size of 200 m × 200 m in Beijing suburb, China and made repeated experiments for three times at each point. The experiment results indicate that the localization errors of each point are all less than 0.5 m.