Fast-Moving Sound Source Tracking With Relative Doppler Stretch

Tracking a fast-moving sound source in the air in an acoustic way has rarely been seen in the current literature. The speed of the source in the air is often not negligible compared to the speed of sound in the air. Time-varying propagation distance and noticeable Doppler effect also bring difficulties to traditional tracking methods with the time difference of arrival (TDOA) and direction of arrival (DOA). In this paper, we propose a particle filtering framework with relative Doppler stretch. We utilize the propagation delayed measurement (PDM) model and correct the posterior probability in traditional particle filter with propagation delayed state being a bridge. This method avoids the complex pre-processing of the raw acoustic signals. The simulation results show that the algorithm has an expected performance and is superior to the existing methods. The whole tracking process which starts from raw signals is shown for the first time, and the key factors affecting the pre-processing of the raw signals that are not mentioned in other articles are also discussed in this paper.