Sound target tracking in 3D using particle filter with 4 microphones

We propose a method to detect and to track a moving sound target in 3D using particle filter with four microphones, which are allocated not being on the same plane. We develop an elaborated state space model where state represents 3D location of the sound target, and observation is 6 sound directions obtained by 6 pairs of the 4 microphones. Each observed sound direction is calculated from TDOA measurements of corresponding microphone pair by taking maximum of cross correlation function of two sound signals. Through a simulation experiment of single sound target tracking in noisy environment, we show performance of proposed method.