Fig. 1. Microphone array signal model

Fig. 2. Flow chart of simulated annealing algorithm

Fig. 3. Effect of inconsistent array channels. (a) Comparison chart; (b) signal spectrum with inconsistent array channels; (c) signal spectrum with consistent array channels

Fig. 4. Corrected signal spatial spectrum. (a) Correction result when the threshold is 0.001; (b) correction result when the threshold is 0.0001

Fig. 5. Uncorrected and directly corrected DOA estimation signal spectrum. (a) Uncorrected signal spectrum; (b) directly corrected signal spectrum

Fig. 6. Signal acquisition module block diagram

Fig. 7. Signal acquisition device

Fig. 8. Wheeled car signal spectrum

Fig. 9. Correction results of actual 4-element microphone array. (a) Signal spectrum before correction; (b) signal spectrum after correction

Fig. 10. Signal spectrum when channels are inconsistent

Fig. 11. Spectrogram of DOA estimation before and after correction