Decentralized Robust Acoustic Source Localization with Wireless Sensor Networks for Heavy-Tail Distributed Observations

In this work, an energy based acoustic source localization task in a wireless sensor network (WSN) is considered. Based on data gathered from field experiments, it is revealed that the acoustic energy gathered at sensor nodes exhibits a heavy-tail, non-Gaussian characteristic and should be fitted into a contaminated Gaussian model. This property renders conventional least square and maximum likelihood based location estimation methods ineffective. Leveraging the distributed, in-network processing nature of a WSN, a novel de-centralized robust acoustic source localization (DRASL) algorithm is proposed. With the DRASL, local sensor nodes receive sensor readings broadcast from neighboring sensors and independently compute local location estimates using a light-weight Iterative Nonlinear Reweighted Least Square (INRLS) algorithm. The local location estimate then will be relayed to a fusion center where the final location estimate is obtained as a weighted average of the local estimates. The potential advantage of this algorithm is validated using extensive simulation in a real-world operation scenario. It is show that its performance is superior than existing methods while promising to be more energy efficient.