This paper presents a method for locating arbitrarily time-dependent acoustic sources in a free field in real time by using only four microphones. This method is capable of handling a wide variety of acoustic signals, including broadband, narrowband, impulsive, and continuous sound over the entire audible frequency range, produced by multiple sources in three dimensional (3D) space. Locations of acoustic sources are indicated by the Cartesian coordinates. The underlying principle of this method is a hybrid approach that consists of modeling of acoustic radiation from a point source in a free field, triangulation, and de-noising to enhance the signal to noise ratio (SNR). Numerical simulations are conducted to study the impacts of SNR, microphone spacing, source distance and frequency on spatial resolution and accuracy of source localizations. Based on these results, a simple device that consists of four microphones mounted on three mutually orthogonal axes at an optimal distance, a four-channel signal conditioner, and a camera is fabricated. Experiments are conducted in different environments to assess its effectiveness in locating sources that produce arbitrarily time-dependent acoustic signals, regardless whether a sound source is stationary or moves in space, even toward behind measurement microphones. Practical limitations on this method are discussed.
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