Patent Document ID: 20140192991
Application ID: 14122418
Patent Status: 0

Claim One:
1. A method for self-calibration of the position of a set of sensors of acoustic signals, arranged in a region of space, comprising: providing in said region of space a set of sources of acoustic events, in particular transducers able to generate acoustic waves; measuring times of flight of said acoustic events between each source of acoustic events and each sensor; and reconstructing the positions of the set of sensors and the positions of the sources of acoustic events through a maximum-likelihood estimation procedure executed on the basis of said measured times of flight, acquiring times of emission of said acoustic events; obtaining said times of flight as a function of the respective times of emission; calculating from said times of flight distances between said sources and said sensors and arranging said distances in a matrix of distances; and calculating a matrix of estimated positions of the sensors and a matrix of estimated positions of the sources of events via a maximum-likelihood procedure comprising performing a nonlinear least-squares optimization that minimizes a cost function between Euclidean distances of the positions of the sensors and of the sources and said calculated distances.