Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Quasi-Optimal Linear Recursive DOA Tracking of Moving Acoustic Source for Cognitive Robot Auditory System

인지로봇 청각시스템을 위한 의사최적 이동음원 도래각 추적 필터

  • 한슬기 (연세대학교 전기전자공학과) ;
  • 나원상 (한동대학교 기계제어공학부) ;
  • 황익호 (국방과학연구소) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Received : 2010.11.15
  • Accepted : 2010.12.20
  • Published : 2011.03.01
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Abstract

This paper proposes a quasi-optimal linear DOA (Direction-of-Arrival) estimator which is necessary for the development of a real-time robot auditory system tracking moving acoustic source. It is well known that the use of conventional nonlinear filtering schemes may result in the severe performance degradation of DOA estimation and not be preferable for real-time implementation. These are mainly due to the inherent nonlinearity of the acoustic signal model used for DOA estimation. This motivates us to consider a new uncertain linear acoustic signal model based on the linear prediction relation of a noisy sinusoid. Using the suggested measurement model, it is shown that the resultant DOA estimation problem is cast into the NCRKF (Non-Conservative Robust Kalman Filtering) problem [12]. NCRKF-based DOA estimator provides reliable DOA estimates of a fast moving acoustic source in spite of using the noise-corrupted measurement matrix in the filter recursion and, as well, it is suitable for real-time implementation because of its linear recursive filter structure. The computational efficiency and DOA estimation performance of the proposed method are evaluated through the computer simulations.

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References

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