Estimation of audio device and sound source locations

An apparatus configured to estimate locations of a moving sound source and audio device locations in an audio environment, the apparatus comprising:

• a first receiver for receiving, by a control system, sound source location control data from the moving sound source as the sound source emits sound in a plurality of sound source locations within the audio environment;
• a second receiver for receiving, by the control system, direction of arrival data from each audio device of a plurality of audio devices placed in locations in the audio environment, each audio device of the plurality of audio devices including a microphone array, the direction of arrival data corresponding to microphone signals from microphone arrays responsive to sound emitted by the sound source in the plurality of sound source locations;
• and
• an estimator for estimating, by the control system, locations of the sound source and audio device locations based, at least in part, on the location control data and the direction of arrival data.