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Table 4 Tracking results with an ideal environment

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

Actual elevation

0

5

10

15

20

25

30

35

40

45

50

55

60

65

70

75

80

85

90

Elevation error

MSE

Estimated elevation

0

6

11

16

21

26

31

36

41

46

50

55

60

65

70

75

80

85

90

0.0083 (rad)

0.0113 (rad)

Actual azimuth

0

20

40

60

80

100

120

140

160

180

200

220

240

260

280

300

320

340

360

Azimuth error

Estimated azimuth

0

21

41

61

81

101

121

141

161

180

200

220

240

260

280

300

320

340

360

0.0073 (rad)