Design and Performance Analysis of Sound Source Localization using Time Difference of Arrival Estimation

Sound source localization (SSL) is a process of processing sound signals received from sound sensors and locating the sound origin. In many applications, precise localization of these sound sources is crucial. The accuracy of the localization of the sound source depends on several factors, and one of the factors is the number of sound sensors. This work aims to develop a microcontroller-based sound sensor localization system using the Time Difference of Arrival (TDOA) method, as well as to analyze SSL by comparing the time difference received by two and three sound sensors with respect to the distance of sound, and to compare the angle accuracy of the sound localization through TDOA with the real sound location. A few experimental tests were conducted using a constant sound of 90db and a frequency range of sound of 50Hz to 10kHz. The mean error (inaccuracy) of the experimental test of the angle acquired within 5cm of the source is 34.66°, while the angle obtained within 10cm of the source is 34.29°. The difference in angle inaccuracy between two and three sensors has a reduction of 27.64%. By adding more sound sensors, angle accuracy can be increased through the TDOA method.