Tracking a Sound Source with Unknown Dynamics Using Bearing-Only Measurements Based on A Priori Information

The problem of sound source localization has attracted the interest of researchers from different disciplines ranging from biology to robotics and navigation. It is in essence an estimation problem trying to estimate the location of the sound source using the information available to sound receivers. It is common practice to design Bayesian estimators based on a dynamic model of the system. Nevertheless, in some practical situations, such a dynamic model may not be available in the case of a moving sound source and instead, some a priori information about the sound source may be known. This paper considers a case study of designing an estimator using available a priori information, along with measurement signals received from a bearing-only sensor, to track a moving sound source in two dimensions.