Акустична локалізація повітряних об’єктів та практична оцінка її точності

Сергій Анатолійович Найда; Олександр Іванович Дрозденко; Павло Васильович Попович; Kateryna Serhiivna Drozdenko; Олександр Ігорович Нижник; Ярослав Іванович Старовойт

doi:10.20535/2523-4455.mea.359830

Vol. 31 · Issue 1 · 2026 May 4, 2026 Acoustical devices and systems

Acoustic Localization of Aerial Objects and Practical Evaluation of its Accuracy

Dr.Sc.(Eng.), Prof. Serhii Anatoliiovych Naida Corresponding National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Ukraine

Dr.Sc.(Eng.), Assoc. Prof. Oleksandr Ivanovych Drozdenko National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Ukraine

PhD, Assoc. Prof. Pavlo Vasyliovych Popovych National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Ukraine

КД

канд. техн. наук, доц. Катерина Сергіївна Дрозденко National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Ukraine

PhD Oleksandr Ihorovych Nyzhnyk National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Ukraine

PhD Yaroslav Ivanovych Starovoit National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute” Ukraine

Pages359830.1-359830.7 PublishedMay 4, 2026 LicenseOpen Access

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VOL 31 · ISS 1 · 2026 View issue

Abstract

The active use of aerial objects creates a need for passive detection methods. This paper presents an experimental study of an automated acoustic hardware and software system based on the five-channel microphone array. Field tests were conducted in open terrain under conditions of background noise and wind. It is shown that the system provides stable determination of angular coordinates at distances up to 60 m, while a decrease in stability is observed at 80 m. The achieved accuracy of angular coordinate determination is 2–5°. It has been established that at short distances, the GPS error can cause significant angular uncertainty that exceeds the error of the acoustic system, limiting its use as a reference standard. The obtained results confirm the feasibility of application of the acoustic methods and identify the directions for the further development of acoustic localization systems.

Keywords

#acoustic signal processing #sound source localization #microphone arrays #beamforming #direction of arrival (DOA) estimation #aerial objects #global positioning system (GPS)

References

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Z. Ghouli, “Passive acoustic detection and localization of drones using MEMS microphones and machine learning,” Acta Acustica, vol. 10, p. 12, 2026, doi: https:/doi.org/10.1051/aacus/2026008.
S. Wu, Y. Zheng, K. Ye, H. Cao, X. Zhang, and H. Sun, “Sound source localization for unmanned aerial vehicles in low signal-to-noise ratio environments,” Remote Sensing, vol. 16, no. 11, Art. no. 1847, 2024, doi: https:/doi.org/10.3390/rs16111847.
A. Toma, “Deep acoustic learning on unmanned aerial vehicles for real-time human and drone detection”, Integrated Computer-Aided Engineering, vol. 33, no. 2, pp. 182–199, Feb. 2026. doi: https://doi.org/10.1177/10692509261417106 .
B. J. Rodríguez, S. F. Chevtchenko, M. H. Martínez, Y. Bethi, and S. Afshar, “Acoustic imaging for UAV detection: Dense beamformed energy maps and U-Net SELD,” arXiv preprint, arXiv:2508.00307, 2025. https://doi.org/10.48550/arXiv.2508.00307
J.-M. Valin, F. Michaud, J. Rouat, and D. Létourneau, “Robust sound source localization using a microphone array on a mobile robot,” in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2003, pp. 1228–1233. doi: https://doi.org/10.1109/IROS.2003.1248813
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A. Astapov, P. Ehala, S. Berdnikova, and J. Preden, “Direction of arrival estimation based on SRP-PHAT for compact microphone arrays,” in Proc. Int. Conf. Digital Signal Processing (DSP), 2015, pp. 1–6. doi: https://doi.org/10.1109/SAM.2018.8448492

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Copyright (c) 2026 д-р техн. наук, проф. Сергій Анатолійович Найда, д-р техн. наук, доц. Олександр Іванович Дрозденко, канд. техн. наук, доц. Павло Васильович Попович, PhD, Assoc. Prof. Kateryna Serhiivna Drozdenko, канд. техн. наук Олександр Ігорович Нижник, канд. техн. наук Ярослав Іванович Старовойт (Автор)

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[1] S. F. Chevtchenko, B. J. Rodriguez, R. F. do Vale, A. Soti, Y. Bethi, N. Ibnul, A. Marcireau, M. R. Azghadi, A. Wabnitz, and S. Afshar, “Drone-based sound source localisation: A systematic literature review,” IEEE Access, early access, 2025, doi: https:/doi.org/10.1109/ACCESS.2025.3572478.

[2] Z. Ghouli, “Passive acoustic detection and localization of drones using MEMS microphones and machine learning,” Acta Acustica, vol. 10, p. 12, 2026, doi: https:/doi.org/10.1051/aacus/2026008.

[3] S. Wu, Y. Zheng, K. Ye, H. Cao, X. Zhang, and H. Sun, “Sound source localization for unmanned aerial vehicles in low signal-to-noise ratio environments,” Remote Sensing, vol. 16, no. 11, Art. no. 1847, 2024, doi: https:/doi.org/10.3390/rs16111847.

[4] A. Toma, “Deep acoustic learning on unmanned aerial vehicles for real-time human and drone detection”, Integrated Computer-Aided Engineering, vol. 33, no. 2, pp. 182–199, Feb. 2026. doi: https://doi.org/10.1177/10692509261417106 .

[5] B. J. Rodríguez, S. F. Chevtchenko, M. H. Martínez, Y. Bethi, and S. Afshar, “Acoustic imaging for UAV detection: Dense beamformed energy maps and U-Net SELD,” arXiv preprint, arXiv:2508.00307, 2025. https://doi.org/10.48550/arXiv.2508.00307

[6] J.-M. Valin, F. Michaud, J. Rouat, and D. Létourneau, “Robust sound source localization using a microphone array on a mobile robot,” in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2003, pp. 1228–1233. doi: https://doi.org/10.1109/IROS.2003.1248813

[7] D. Pavlidi, M. Puigt, A. Griffin, and A. Mouchtaris, “Real-time multiple sound source localization using a circular microphone array based on single-source confidence measures,” in Proc. IEEE Int. Conf. Acoustics, Speech and Signal Processing (ICASSP), 2013, pp. 260–264. doi: https://doi.org/10.1109/ICASSP.2012.6288455

[8] J.-M. Valin, F. Michaud, and J. Rouat, “Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering,” Robotics and Autonomous Systems, vol. 55, no. 3, pp. 216–228, 2007. doi: https://doi.org/10.1016/j.robot.2006.08.004

[9] I. An, D. Lee, B. Jo, J.-W. Choi, and S.-E. Yoon, “Robust sound source localization considering similarity of back-propagation signals,” arXiv preprint, arXiv:1902.09179, 2019. doi: https://doi.org/10.48550/arXiv.1902.09179

[10] J.-M. Valin, F. Michaud, and J. Rouat, “Robust 3D localization and tracking of sound sources using beamforming and particle filtering,” in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2006, pp. 302–307. doi: https://doi.org/10.1109/ICASSP.2006.1661100

[11] J. H. DiBiase, A High-Accuracy, Low-Latency Technique for Talker Localization in Reverberant Environments Using Microphone Arrays, Ph.D. dissertation, Div. Eng., Brown Univ., Providence, RI, USA, May 2000.

[12] A. Sedunov, H. Salloum, A. Sutin, N. Sedunov, and S. Tsyuryupa, “UAV passive acoustic detection,” in Proc. IEEE Int. Conf., 2018, pp. 1–6. doi: https://doi.org/10.1109/THS.2018.8574129

[13] A. Astapov, P. Ehala, S. Berdnikova, and J. Preden, “Direction of arrival estimation based on SRP-PHAT for compact microphone arrays,” in Proc. Int. Conf. Digital Signal Processing (DSP), 2015, pp. 1–6. doi: https://doi.org/10.1109/SAM.2018.8448492

Acoustic Localization of Aerial Objects and Practical Evaluation of its Accuracy

Abstract

Keywords

References

License

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