Sound Source Location

MVDR (Beamforming)

Speech

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40	0.3673/80.21%	0.3860/79.17%	0.4460/79.69%	0.4423/73.61%	0.4147/75.00%	0.4124/77.48%
20	0.2889/79.69%	0.2262/79.69%	0.2747/83.33%	0.2303/87.50%	0.2128/87.50%	0.2484/83.54%
0	0.5108/59.38%	0.4735/45.83%	0.3710/54.17%	0.3879/59.72%	0.4065/61.46%	0.4332/56.11%
-20	1.5263/0.00%	1.4980/0.00%	1.5354/0.00%	1.5513/0.00%	1.5433/0.00%	1.5310/0.00%

white noise

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40	0.3840/88.02%	0.3490/88.54%	0.3827/87.50%	0.3829/87.67%	0.4038/87.37%	0.3809/87.82%
20	0.0892/95.83%	0.1131/94.79%	0.1242/95.05%	0.1425/95.14%	0.1452/95.18%	0.1245/95.20%
0	1.1894/28.13%	1.1760/26.04%	1.1267/32.55%	1.1322/32.42%	1.1114/32.42%	1.1475/30.31%
-20	1.5555/0.00%	1.5359/0.00%	1.5453/0.00%	1.5404/0.00%	1.5529/0.00%	1.5460/0.00%

chirps

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40	1.1466/25.00%	1.2067/16.67%	1.2330/13.89%	1.2202/13.54%	1.1737/13.33%	1.1965/16.49%
20	0.8678/20.83%	0.8685/20.83%	0.9141/19.44%	0.9428/21.88%	0.9771/21.67%	0.9150/20.93%
0	1.1408/16.67%	1.1163/10.42%	1.1094/9.72%	1.1221/11.46%	1.1407/11.67%	1.1259/11.99%
-20	1.5427/0.00%	1.5738/0.00%	1.5467/0.00%	1.5311/0.00%	1.5421/0.00%	1.5473/0.00%

MUSIC (Subspace)

Speech

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40	0.0939/97.40%	0.1027/96.88%	0.0974/97.22%	0.0977/97.14%	0.0974/97.19%	0.0979/97.17%
20	0.0801/97.40%	0.0988/97.14%	0.1229/96.48%	0.1135/96.48%	0.1176/96.35%	0.1077/96.77%
0	0.5561/76.56%	0.4888/79.17%	0.4824/80.90%	0.4812/81.12%	0.7402/79.17%	0.5586/79.38%
-20	1.5849/0.00%	1.5892/0.00%	1.5962/0.00%	1.6026/0.00%	1.5989/0.00%	1.5902/0.00%

white noise

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40	0.0719/96.35%	0.0705/96.09%	0.0842/95.49%	0.0735/95.83%	0.0681/96.35%	0.0739/96.02%
20	0.0518/100.00%	0.0570/100.00%	0.0592/98.61%	0.0603/97.92%	0.0589/98.33%	0.0575/98.92%
0	0.8165/41.67%	0.8095/47.92%	0.7892/50.00%	0.8186/48.96%	0.8025/49.17%	0.8073/47.54%
-20	1.4458/8.33%	1.4219/6.25%	1.4879/4.17%	1.4967/4.17%	1.5065/3.33%	1.4721/5.25%

chirps

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40	1.0928/8.33%	1.0359/10.42%	0.9817/11.11%	1.0209/10.42%	1.0108/12.50%	1.0291/10.56%
20	0.9511/20.83%	0.9622/18.75%	0.9128/19.44%	0.8803/19.79%	0.8600/20.83%	0.9141/19.93%
0	1.3500/12.50%	1.2712/14.58%	1.2320/13.89%	1.2427/15.63%	1.2856/12.50%	1.2770/13.82%
-20	1.5615/0.00%	1.5581/0.00%	1.5570/0.00%	1.5572/0.00%	1.5597/0.00%	1.5587/0.00%

GCC-PHAT (DOA)

Speech

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40
20
0
-20

white noise

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40
20
0
-20

chirps

SNR(dB)	free-flight	hovering	rectangle	spinning	up-down	average
40
20
0
-20