Abstract
Autonomous unmanned aerial vehicles (UAV) navigate using Global Positioning System (GPS). However, in places where GPS signals are interfered, or blocked (e.g., tunnel, downtown with high-rise buildings), auxiliary navigation systems are desirable. In this work, an acoustic based near field (< 1km) UAV guidance system is proposed. This system utilizes acoustic phase array mounted on UAV to provide direction of arrival estimates of narrow band acoustic sources at known locations. As such, the positions of UAV may be easily tracked. Through sensor fusion, this acoustic navigation system may also work together with GPS to provide even more accurate estimates.
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