Dronar: Obstacle Echolocation Using Drone Ego-Noise

• A method for obstacle detection using the sound that a drone naturally emits is proposed.  The sound emitted from a vehicle, ego-noise, is often considered a complicating factor for mission fulfilment, without purpose.  The idea in this paper is to utilise this ego-noise for obstacle detection, being the first to perform practical experiments of this.  Adding a few microphones to the vehicle, the ego-noise is utilised as the sound source for echolocation.  The method consists of auto-correlating the received signals to estimate echo delays, using the known array geometry and signal propagation speed to relate delays to distances, and then beamforming to position targets.  A proof-of-concept has been constructed, and promising results are presented for experiments in a controlled environment.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

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