Method for self-calibration of a set of sensors, in particular microphones, and corresponding system

A method for self-calibration of the position of a set of sensors of acoustic signals, arranged in a region of space, comprising:

• providing in said region of space a set of sources of acoustic events, in particular transducers able to generate acoustic waves;
• measuring times of flight of said acoustic events between each source of acoustic events and each sensor;
• and
• reconstructing the positions of the set of sensors and the positions of the sources of acoustic events through a maximum-likelihood estimation procedure executed on the basis of said measured times of flight,
• acquiring times of emission of said acoustic events;
• obtaining said times of flight as a function of the respective times of emission;
• calculating from said times of flight distances between said sources and said sensors and arranging said distances in a matrix of distances;
• and
• calculating a matrix of estimated positions of the sensors and a matrix of estimated positions of the sources of events via a maximum-likelihood procedure comprising performing a nonlinear least-squares optimization that minimizes a cost function between Euclidean distances of the positions of the sensors and of the sources and said calculated distances.