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Table 1 Five clusters of sounds in the training dataset

From: Classification, positioning, and tracking of drones by HMM using acoustic circular microphone array beamforming

 DtrainRemarks
Cluster 1Drone 1, Drone 2, Drone 3Drone 1: SYMA X5SW
Drone 2: BYROBOT Drone Fighter
Drone 3: WLtoys Skywalker
Plane 1: Helicopter
Plane 2: Boeing737
Plane 3: Boeing747
Cluster 2Plane 1, Plane 2, Plane 3
Cluster 3Car 1, Car 2, Car 3, Car 4, Car 5
Cluster 4Bird 1, Bird 2, Bird 3
Cluster 5Rain 1, Rain 2, Rain 3