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##### Time-delay estimation and acoustic bearing estimation.

##### Time-delay estimation and acoustic bearing estimation.

Bearing estimation,acoustic source locator,time-delay estimation in an acoustic environment.

The program simulates the estimation of an acoustic source. The source travels in a circle at a variable height (and radius) about an origin. The software estimates the co-ordinates (x,y,z) in 3D space. This is trickier to get to work than it first appears. You can only estimate integer delays whilst the true distance will be non-integer - hence errors. These errors and small if the source is not too far away from the mic array. The furtehr away teh source the bigger the error. This method uses the Spherical Intersection method to estimate the co-ordinates and the Hannan-Thomson Generalised Cross-Correlation method to estimate the time-delays (in samples).

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