3D TDOA-AOA Quaternion Based Acoustic SLAM for Drone Localization and Source Mapping

This paper focuses on improving 3D sound mapping using acoustic simultaneous localization and mapping (SLAM), angle of arrival (AOA), and time difference of arrival (TDOA). We use quaternion for orientation tracking. Through simulations involving a drone equipped with microphone arrays and an inertial measurement unit (IMU), the paper shows the effective localization of a drone moving in a room and mapping multiple stationary sources in a dynamic environment.