Acoustic sound source tracking for a moving object using precise Doppler-Shift measurement

We propose a sound source tracking method for a moving object that precisely measures the Doppler-shifted frequency. In order to track a moving sound source by determining velocity and location, it is necessary to measure the precise frequency shift in real time. On the other hand, in sonar signal processing, the Doppler shift estimation is used for moving targets localization. This amount is measured indirectly, mostly by using the Kalman filter or other modern particle filters. However, such filters require a complicated estimation process. Considering such a drawback in measuring the Doppler-shift measurement, our method directly measures the Doppler-shifted frequency without the Fourier transform or Kalman filter. In order to verify the effectiveness of our method, we evaluated the frequency resolution and the precision and the noise robustness of our method. Experimental results show that our method can detect the precise Doppler-Shift of moving sound source. We discuss the estimation data of the location/velocity of a moving sound source. We also discuss the advanced frequency tracking capability of our method.