Reconstruction of bat sonar beams
using a multi-channel microphone array
Peter Stilz , Wiebke Pflästerer, Jens Koblitz, Hans-Ulrich Schnitzler
⋆
⋆
Universität Tübingen, Lehrstuhl Tierphysiologie, Auf der Morgenstelle 28, 72076 Tübingen, email: peter.stilz@uni-tuebingen.de, Internet: www.biosonarlab.uni-tuebingen.de
1 inroduction
1.1 animal sonar beams
We investigate directional
properties of sound emis-
sions of bats and dolphins.
Focusing on the frequency
spectrum and neglecting
the time structure, we re-
gard a sonar beam as the
distribution of the emitted
sound intensity over fre- echolocating Myotis nattereri
quencies and directions.
1.2 ecological and scientific relevance
For animals using a sonar system for their perception of the
world, the sonar beam fundamentally determines the echoes
scattered back from different directions in specific frequency
bands to the animal and so deeply affects the animals’ per-
ception of the environment. Natural sonar system designs
should be optimised for their ecological tasks.
Our perception of these animals also depends on their sonar
beams, because using a single-channel recording system
will provide us only with the sound emission properties for
one specific direction, which can greatly differ in frequency
content and intensity from the recordings which would be ob-
tained in other directions relative to the animal.
1.3 methological challenge
While it is rather straight forward to record the directionality
of the sound emissions of stationary fixed animals with ei-
ther several microphones in optimal positions at the same
time, or in case of a constant emission pattern sequentially
by moving one microphone to different locations, it is a more
difficult task to adequately record and reconstruct the sonar
beam of a free moving and aiming animal, and so investigate
its natural echolocation behaviour.
1.4 our approach
We reconstruct the sonar beams emitted by free flying bats
based on the synchronous recordings of a 2-dimensional ar-
ray of 16 microphones and stereoscopic videorecordings.
The recordings of the array are compensated for the micro-
phones’ frequency response, geometrical spreading and at-
mospheric attenuation. Based on this directional information
a continuous emitted beam is interpolated. Sonar footprints
inciding on arbitrary planes can be calculated and various
beam properties are analysed.
System adaption for underwater acoustics and research on
dolphins is under development.
2 methods
2.1 data acquisition
For signal acquisition we use a 2-dimensional array of 4 × 4
microphones in a vertical setup, which currently samples an
area of approximately 2 m × 2 m.
In order to keep the microphone reflections to the bat weak,
the microphones (Knowles FG-3329) are tiny in size and
thus have a higly nonlinear frequency response and a mod-
erate S/N-ratio. All microphones record simultanuously at a
sampling rate of 320 – 500kHz.
Synchronously, the area in front of the array is stereoscopi-
cally recorded with two videocameras using infrared strobes
in the otherwise dark setting for information on the bat’s call-
ing position.
21. November 2006
Generally one recording contains a complete bat flight of
several seconds duration including on average 60 individual
calls.
For correct compensations, atmospheric conditions are
recorded.
Because of the nonlinear frequency response of the micro-
phones and the sensitivity of the interpolations to small inten-
sity errors, all microphones have to be calibrated individually
once for their angular sensitivity.
2.2 preprocessing
(foto D. Nill)
One microphone is assigned the master microphone and for
this microphone manually the time windows containing rele-
vant bat calls are determined.
Currently the bat’s positions within these time windows as
well as the positions of the microphones and other relevant
structures are extracted from stereoscopic videorecordings
using customised SIMI-videosoftware. For settings where
optical information is not available, other approaches like
evaluating different runtimes to microphones are possible.
2.3 analysis parameters
The selection of analysis parameters include the analysis
window definitions, the spectrum estimation algorithm (maxi-
mum amplitude or psd estimation parameters), the interpola-
tion algorithms and resolution in space, time and frequency.
Appearance, format and abundance of the displayed and ex-
ported data of the analysis program can be modified.
For different signal types (short, long, cf, fm, frequency
content) and environmental settings (atmospheric condi-
tions, ambient noise) and technical limitations (system noise,
sound source localisation, microphone frequency response)
individual parameter optimisations are necessary.
It is also possible to define targets in space for aiming analy-
sis and to define planes in space, on which the inciding sonar
footprints are calculated.
2.4 the analysis program
sonarbeam GUI
For sonar beam analysis the Matlab-program sonarbeam has
1
been written. This program calculates the spectra emitted by
the bat into the directions of the microphones, compensating
the microphone recordings for atmospheric attenuation, ge-
ometric spreading and the microphones angular sensitivity.
For each sound emission specified by a master time window
and a matching sound source position in space, the cor-
responding time window for each microphone is calculated
in dependence on microphone position, speed of sound,
padding length and analysis definitions.
For each microphone the spectrum of the recorded signal is
estimated within this time window according to the definition
of analysis parameters.
In dependence on the mi- 8° Celsius 16° Celsius 24° Celsius 32° Celsius
crophones and the bat’s 10 160 kHz
Atmosphaeric Attenuation (dB/m)
5
position and orientation, 2
80 kHz
atmospheric attenuation, 1
40 kHz
0.5
geometrical spreading and 0.2
20 kHz
the microphones’ direc- 0.1
0 20 40 60 80 100 0 20 40 60 80 100 0 20 40 60 80 100 0 20 40 60 80 100
Relative Humidity (%) Relative Humidity (%) Relative Humidity (%) Relative Humidity (%)
tional frequency response, atmospheric attenuation
the recorded spectrum is
compensated, resulting in an estimation of the emitted spec-
trum.
In respect to the bat’s position and orientation the angular
direction of each microphone is mapped on a sphere around
the sound source. Based on the 16 sampling points, the
emitted spectrum is interpolated for the sampled partsphere
of 1 m radius around the source. This corresponds to a 2-
dimensional spherical surface area mapped into a space of
spectra.
Various analysis can be performed in this space. For arbi-
trary frequency ranges, the direction of maximum intensity
and the maximum intensity can be calculated as well as the
emitted spectrum in any direction within the sampled area.
In the GUI (graphical user interface), the currently analysed
call and frequency range can be selected. The center orien-
tation of the polar coordinate display can be chosen between
centered towards maximum intensity, tangential to the flight
trajectory, heading to given targets, or can be explicitly de-
fined. Two display types of the beam are available and many
display properties are adjustible. The sonar footprint repre-
senting the inciding sound on a plane defined in space ist
additionally displayed.
2.5 data export
The program exports the calculated emitted spectra and po-
lar directions of each microphone in the selected coordinate
system for each call. It also exports overall intensity informa-
tion over selected frequency ranges as well as spectral in-
formation for the interpolated field with an ajustible sampling
density in spatial and frequency domain. Export of various
graphs is also possible.
2.6 secondary analysis
Based on the program output, a variety of secondary beam
analyses can be performed. The change of beam width or
center intensity within a sequence can be examined, or sev-
eral beams can be hybridised for obtaining a mean beam or
for compensation the spatially low resolution of the array.
3 results
3.1 scanning behaviour of M. nattereri
Mealworms were presented to free flying Myotis nattereri in
various distances of 2 – 40 cm in front of artificial hedges at
various horizontal and vertical positions. The hedge surface
consisted of either broad leafs or pine-like needles.
The microphone array was positioned in the surface plane of
the hedge and so recorded the bat’s scanning behaviour in
search for prey.
 3.2 emission gain control of E. fuscus yielded in a good approximation a rotational symmetry, so
route: 3D−topology
all spectra interpolated on a circle of angle phi around the
Five individuals of Eptesi- emission axis were averaged and compared to the averaged
1.5 cus fuscus were trained to spectra of other off-axis angles.
land on a small grid on the
2

1
z − axis

1.5

distant end of the room.

z − axis
1 35
0.5 30
25
The sonar beams emitted
call=25; average dB per kHz band at different angles off center call=25; average dB per kHz band at different angles off center
65

48
47
46 57
52
51
50
49 58
56
59
55
60
54
53 0.5 20

45
44 65
0 43
42
41
40
39
were recorded over a flying 0
15
80
60

38
37
3635
34
3332
6
10 70
60 0
5
8.5 distance of 5 m using the
55
1 31
30
29
28
27
10

26

dB per kHz band

15
2 25 5 60 55

dB per kHz band

3 4 24
23
5
50 20

22 method described. Aiming, 1 50 25

5 6 7 8 20
19 21 4 50 30

17
9 10111213141516 18 40
45
35
40

8 intensity and beamshape 3

2
30

20
45

40
40
45
50
55
60 60

were analysed 858 calls of 1

2.5
3 40
80
100
120
35
35
y − axis 20

22 flights.
60
2
40 30
0 1.5 0 20 20 40 60 80 100 120
7.5 x − axis
angle [°] frequency [kHz]
frequency [kHz]
4
3.5 It was found that the aim-
3 flight route directionality of emitted spectrum directionality of emitted spectrum
y − axis 2.5
7 1.5
2 ing of the animals consis-
1 x − axis tenly locked on the grid at
a distance of 1 – 2 m. The results confirm the high frequency focus close to the
geometric setup and flight route
The maximum intensity of beam axis. Close to the axis, frequencies of 80 – 120 kHz
emission was reduced in yield a SPL approximately 15 dB higher SPL than frequen-
100

95 the approach phase by a cies around 30 kHz, and more than 25 dB higher than fre-
90
rate of 6 dB per distance quencies around 25 kHz. At 55 ◦ – 60 ◦ off-axis the intensity
Capture success and effort for capture strongly depended on 85
distribution is almost flat over the whole frequency range.
halving. This emission
the difficulty of the acoustic situation. 80

gain control could help the

SPL [dB]
75

y=21.1081*log(distance)+75.7866
This spectral directionality causes echos reflected by the
The center of the emitted beam first scanned a large area 70

animals, possibly in com- same object to have a very distinct frequency content in de-
65

of possible mealworm positions in front of the hedge. The 60 bination with an additional pendence on the objects position in the beam. This informa-
intersection point of the beams’ maximum intensity axis and 55
receiver gain control, to tion could be useful for the perception of complex targets.
the surface plane of the hedge moved apruptly in this phase.
50

keep the perceived ampli-

4.5 4 3.5 3 2.5 2 1.5 1 0.5 0
distance to landing point [m]

As a very rough approximation, the overall emission char-

After detection of the mealworm, the beam axis remained emission gain control tudes within an optimal in-
acteristic of Myotis nattereri can be modeled with the sound
constantly close to the target. tensity range for signal pro-
field produced by a circular piston of 8 mm diameter.
cessing.
The width of the emitted

beam width @ −3 dB 20−110 kHz [°]

60

sonar beams widened over

a
50 call=25; average dB reduction per kHz band at different angles off center piston radius=0.004; average dB reduction per kHz band at different angles off center
120 0 120 0
40

the last 2 m from approx- 30

20
110

100
−3
110

100
−3

imately 32 ◦ to approxi- 10

0
3 2.5 2 1.5 1 0.5 0
90 −6 90 −6

frequency [kHz]
frequency [kHz]
80 80

mately 56 ◦ at -3 dB when

beam width @ −3 dB 20−110 kHz [°]

60 70 −10 70 −10
b

using a wide frequency-

50 60 60
27
40 106
mean=20.07° 50 50
30

band of 20 – 110 kHz. This

n=325 83
9 21 43 63
20 40 40

10 30 30

change in beam width 0

3 2.5 2 1.5 1 0.5 0 20
0 10 20 30 40 50 60
−20 20
0 10 20 30 40 50 60
−20

angle [°] angle [°]

disappeared almost com-

beam width @ −3 dB 50−60 kHz [°]

60
c

call 1 call 4 50

pletely when analysing 40

30
relative directionality circular piston (Ø=8 mm)

only a narrow frequency 20

10

band. This indicates, that 0

3 2.5 2 1.5 1 0.5 0

(Peter Stilz, Wiebke Pflästerer, Hans-Ulrich Schnitzler, in prep.)

beam width @ −3 dB 50−60 kHz [°]

the change in beam width 60

50
d

is mainly caused by the 40

30
mean=19.52°
n=269 3
6
22 62 88 88
20

20

observed spectral shift to- 10

wards lower frequencies in

0
3 2.5 2 1.5
distance to landing point [m]
1 0.5 0
4 discussion
the approach. beam width change

call 8 call 16 The method has been useful for adressing a wide range of
questions on bat echolocation behaviour. Advantages:
(Jens Koblitz, Peter Stilz, Hans-Ulrich Schnitzler, in prep.)
• animal position and orientation do not need to be fixed
• a wide variety of beam properties concerning intensity dis-
3.3 SPL – wing beat coupling tribution over directions and frequencies can be analysed
• the beam axis and the corresponding maximum intensity
because of the relatively accurate maximum intensity esti- are extracted
mation of subsequent sound emissions, detailed intensity
call 20 call 24 oscillation analysis is possible. Limitations: Due to the limited spatial resolution of the beam
sampling positions, very fine beam structures may be lost.
We merged the wing position data obtained from stereo-
Reliable interpolation is only possible, where the distance of
scopic video cameras with the SPL oscillations, interpolated
sampling points is significantly smaller than the main lobe
and detrended both functions.
corresponding to sound source size and frequency emitted.
We found a good covariance between emission intensity and
Comparison to other setups: A cross-shaped microphone
wing position oscillations. The maximum SPL lags the max-
setup made of two intersecting linear arrays does not provide
imum wing elevation by approximately 4 ◦ in phase.
a good two-dimensional sampling. Robust beam character-
This seems physiologically plausible, since the maximum istic interpolation is only possible if the beam axis coincides
call 32 call 40 vertical acceleration and thus pectoral tension should ap- with the array center. This imposes restrictions on the appli-
proximately coincide with the upper turning point of the wing. cability of cross-like arrays.
beam sequence
Future work: Knowledge of the source position is neces-
SPL − wing position coupling (residuals)
6 sary for our approach. In cases of bat research we used
SPL wing
4
infrared stereoscopic videorecording. For underwater acous-
The width of the beams was mainly determined by the fre- tics, analysis of signal runtime differences to the micro-
quency content of the call, or the analysed band thereof. 2
phones could work. This has not been tested yet.
Analysing only a narrow frequency band, only a very slight 0
increase in beam width was found during approach. This in- −2
dicates, that M. nattereri varies the geometric emission char-
acteristics of its sonar system only to a very limited extend.
−4
residuals 5 summary
−6
2.3 2.4 2.5 2.6 2.7 2.8 2.9 3 3.1
90 time10 Acoustical data of a 2-dimensional 16-microphone-array and
5
videodata is synchronously acquired. After preprocessing
80
this data is fed into a custom program, which does the com-
0
70
pensations, calculations, interpolations and transformations
−5
for reconstruction of the sound emission pattern. Sonar
SPL drift wing position drift
60
2.4 2.6 2.8 3
−10
2.4 2.6 2.8 3
beam characteristics can be displayed and exported in vari-
ous formats.
SPL and wing position
Based on the resulting properties of the beams secondary
analysis concerning the distribution of emission intensity
over frequencies and directions, symmetry analysis or statis-
(Peter Stilz, Jens Koblitz, Hans-Ulrich Schnitzler, in prep.) tics of several beams can be performed.

3.4 directionality of spectrum

beam widths (onesided) during approach
The emitted maximum intensity decreased significantly dur-
ing the approach, indicating a emission gain control mecha-
nism.
(Wiebke Pflästerer, Peter Stilz, Hans-Ulrich Schnitzler, in prep.)
6 acknowledgements
The spectrum emitted by bats is higly directional. Since
many bats emit a wideband frequency-modulated signal and We thank the people of the Department of Animal Physiology
higher frequencies emitted by the same source geometry are at the University of Tuebingen for their help and the DFG and
more focused, a spectrum recorded off the center of a sonar the SFB 550 for funding.
beam will be weighted more towards lower frequencies than
a spectrum recorded close to the emission axis.
The spectral directionality was interpolated for recordings
of Myotis nattereri. The beam characteristics we recorded