•The direction of arrival can be found as
follows:
•The Sound Intensity vector components are computed
•Ix=w·x Iy=w·y Iz=w·z
•Also the total energy density is computed
•De=sqrt(w·w+x·x+y·y+z·z)
•They are averaged over 1ms time slices
•The ratio between active intensity and energy density is finally computed
•Imod = sqrt(Ix·Ix+Iy·Iy+Iz·Iz) R=Imod/De
•And azimuth and elevation of reflections are
found:
•Az = atan2(Iy,Ix) El = asin(Iz/Imod)