Automatic Control of Airship by Detection for Sound Source Direction with Microphones

This paper proposes an air ship control by detection for the sound source direction with unidirectional microphones. First, the sound source signal which puts out the continual sound of constant frequency is detected with four microphones arranged in the air ship. The sound pressure which is obtained from unidirectional microphones are measured, the sound source direction is calculated from the difference output strength. And the air ship is controlled to the direction which is detected, finally it is shown to arrive on the sound source. In regard to the air ship control, the output table that reflects the detection result for the sound source direction is made, and the ultrasonic sensor is set on the bottom of the air ship for the height control. Referring to these, the air ship is controlled automatically. The experimental results show the effectiveness of the proposed system