Baffle structure induced amplitude and phase differences

A method, comprising:

• receiving audio signals from an environment at a first microphone, the first microphone configured to receive sonic waveforms and output audio signals, the first microphone separated from the environment by a first baffle structure, the first baffle structure comprising multiple paths for every arriving sonic waveform, the first baffle structure configured to, based at least on a first actual angle of arrival for a first sonic waveform, induce frequency dependent amplitude differences and frequency dependent phase differences for the first sonic waveform over a range of frequencies of interest;
• identifying a source of a first sonic waveform based at least on the received audio signals;
• and
• outputting an estimated angle of arrival for the first sonic waveform based at least on amplitudes and phases of the received audio signals and characteristics of the first baffle structure.

A computing system, comprising:

• an auditory system exposed to an environment, the auditory system comprising:
• a first microphone configured to receive sonic waveforms and output audio signals;
• a first baffle structure located between the first microphone and the environment, the first baffle structure comprising multiple paths for every arriving sonic waveform, the first baffle structure configured to, based at least on a first actual angle of arrival for a first sonic waveform, induce frequency dependent amplitude differences and frequency dependent phase differences for the first sonic waveform over a range of frequencies of interest;
• a second microphone configured to receive sonic waveforms and output audio signals;
• and
• a second baffle structure located between the second microphone and the environment, the second baffle structure comprising multiple paths for every arriving sonic waveform, the second baffle structure configured to, based at least on the first actual angle of arrival for the first sonic waveform, induce frequency dependent amplitude differences and frequency dependent phase differences for the first sonic waveform over the range of frequencies of interest;
• and
• a processing system communicatively coupled to the microphone, the processing system configured to:
• receive audio signals from the first microphone and the second microphone representing the first sonic waveform;
• identify a source of the first sonic waveform based at least on the received audio signals;
• output an estimated angle of arrival for the first sonic waveform based at least on amplitudes and phases of the received audio signals and characteristics of the first baffle structure and the second baffle structure;
• and
• output an estimated distance from the source of the first sonic waveform based at least on audio signals received at the first and second microphones.