Research on Acoustic Positioning Technology Based on Multi-microphone Array Fusion for Land Targets in the Shooting Range

The research on the landing point of range shells is a technical guarantee for combat-oriented and intelligent training. This paper proposes to estimate the direction of the burst point sound source based on multi-microphone array, using time delay estimation method, and the orientation error can be controlled within 1 % degree by simulation experiment. Six coordinate position estimates were obtained using a combination of two of the direction lines crossed to position, usually using a simple mean fusion of the six coordinate estimates. After performing simulations, the team found that the error on the diagonal was much higher than the other positions. After a lot of simulation attempts, after getting the six coordinate estimates, it is relatively better to use triple standard deviation to set the threshold for outliers. The final target position estimates were obtained by mean fusion after removing the outliers. Further, the team uses the least-squares-based method to solve the matrix of the four single-basis array directional line equations to obtain the ridge estimate of the target position from the system of four directional line overdetermined equations as a breakthrough point. In the simulation experiments, the least squares-based fusion algorithm is relatively better than the outlier-processed mean fusion and eliminates the situation that the error on the diagonal is significantly higher than that around it, and the overall error becomes elliptically distributed, which is related to the multi-microphone array parameters.