At present, the most commonly used single arrays for acoustic localization consist of four, five, and six-element arrays as well as circle arrays. This acoustic localization model based on an integrated array is proposed to solve the inherent defects on a single array. The integrated array consists of an inner solid four-element array and outer plane five-element array. Utilizing the principle of TDOA, the inside solid four-element array is used for calculating the azimuth and pitch angles. The outside plane five-element array is used for calculating the distance. With fireworks as the sound sources, five sound source points with a 200 m by 200 m area are selected at random in a Beijing suburb in China. The experimental results indicate that the localization errors are all less than 0.6 m.
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