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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 elevation051015202530354045505560657075808590Elevation errorMSE
Estimated elevation0611162126313641465055606570758085900.0083 (rad)0.0113 (rad)
Actual azimuth020406080100120140160180200220240260280300320340360Azimuth error
Estimated azimuth0214161811011211411611802002202402602803003203403600.0073 (rad)