The emission angles of a sound source may be described in terms of the azimuth and polar

angle. The azimuth of a sound source refers to the angle of the source relative to the observer,
measured in a plane that is perpendicular to the ground. The polar angle refers to the angle of
the source relative to the observer, measured in a plane that is parallel to the ground.
the choice of the origin for a coordinate system depends on the specific problem being
considered and the context in which it is being used. In the case of an unmanned aerial vehicle
(UAV), it is common to choose the center of mass of the aircraft as the origin of the coordinate
system because it is a fixed reference point on the aircraft. This can make it easier to analyze
the motion of the aircraft and its interactions with other objects.
The emission angles of a sound source may also be described in terms of the source's directivity
pattern, which is a graphical representation of the way in which the source radiates sound in
different directions. The directivity pattern of a sound source may be measured or calculated
using techniques such as acoustic sensing, imaging, or computational modeling.
It is possible that the authors of the article used a spherical coordinate system to define the
emission angles of the UAV and then transformed these coordinates into the NED coordinate
frame for the purposes of data recording and analysis. This would allow the authors to easily
compare the position and orientation of the UAV to the position and orientation of the
microphones and other objects in the NED coordinate frame because it provides a common
reference frame for all of the objects.
The NED coordinate frame is a common reference frame used in aviation and aerospace
applications. It is defined by three mutually perpendicular axes: the North axis, which points
towards the Earth's geographic North Pole; the East axis, which points towards the Earth's
geographic East; and the Down axis, which points towards the center of the Earth. The position
and orientation of an object in the NED coordinate frame is typically expressed in terms of its
north, east, and down coordinates.
In the NED coordinate frame, the position of an object is expressed in terms of its north, east,
and down coordinates. These coordinates represent the distance of the object from a fixed origin
point in the directions of the North, East, and Down axes, respectively. By expressing the
position of the UAV and the position of the microphones in the same coordinate frame, it
becomes easier to compare the relative position and orientation of the two objects.
For example, if the UAV and the microphones are both located in the same area, the north, east,
and down coordinates of the UAV and the microphones will be relatively close to each other,
indicating that the two objects are located near each other in space. On the other hand, if the
UAV and the microphones are located in different areas, the north, east, and down coordinates
of the two objects will be significantly different, indicating that they are located far apart from
each other in space.
Using the NED coordinate frame can therefore make it easier to compare the position and
orientation of the UAV to the position and orientation of the microphones and other objects,
and to understand the relative spatial relationships between these objects.
here is an example of how a spherical coordinate system could be used to define the emission
angles of a UAV and then transformed into a North-East-Down (NED) coordinate frame for
the purposes of data recording and analysis:
Imagine that we have a UAV that is equipped with a noise measurement sensor and a
microphone on the ground that is also equipped with a noise measurement sensor. We want to
use the sensors to measure the noise emission of the UAV at different angles relative to the
microphone.
One way to do this is to use a spherical coordinate system with the UAV as the origin and the
microphone as a point in the sphere. The spherical coordinates of the microphone relative to
the UAV could be represented as (r, θ, φ), where r is the distance between the UAV and the
microphone, θ is the polar angle (measured from the positive z-axis), and φ is the azimuthal
angle (measured from the positive x-axis).
To transform the spherical coordinates of the microphone into the NED coordinate frame, we
can use the following equations:
x_NED = r * sin(θ) * cos(φ)
y_NED = r * sin(θ) * sin(φ)
z_NED = r * cos(θ)
Here, x_NED, y_NED, and z_NED are the coordinates of the microphone in the NED frame, r
is the distance between the UAV and the microphone, θ is the polar angle, and φ is the azimuthal
angle.
This approach allows us to easily define the emission angles of the UAV relative to the
microphone using the spherical coordinates (r, θ, φ) and then transform the coordinates into the
NED frame for the purposes of data recording and analysis.
imagine that we have a UAV that is located at the origin of a spherical coordinate system at
position (0, 0, 0). The UAV is equipped with a noise measurement sensor, and we want to
measure the noise emission at different angles relative to a microphone on the ground. The
microphone is located at a distance of 100 meters from the UAV and has spherical coordinates
(100, 60°, 30°).

To transform the spherical coordinates of the microphone into the NED coordinate frame, we
can use the following equations:

x_NED = 100 * sin(60°) * cos(30°) = 50

y_NED = 100 * sin(60°) * sin(30°) = 50
z_NED = 100 * cos(60°) = 50

Here, x_NED, y_NED, and z_NED are the coordinates of the microphone in the NED frame, r
is the distance between the UAV and the microphone (100 meters), θ is the polar angle (60°),
and φ is the azimuthal angle (30°).
This means that the microphone is located 50 meters to the north, 50 meters to the east, and 50
meters down relative to the UAV in the NED coordinate frame.
Using a North-East-Down (NED) coordinate frame can make it easier to analyze data from
system identification because it provides a common reference frame for all of the objects
involved in the analysis. This can be especially useful when comparing the position and
orientation of an unmanned aerial vehicle (UAV) to the position and orientation of other
objects, such as microphones or other sensors.
In the case of system identification, the NED coordinate frame allows you to easily compare
the positions and orientations of the UAV and the microphones or other sensors at different
points in time. This can be useful for determining how the UAV's noise emissions change as it
moves through different flight states or as the position and orientation of the UAV relative to
the microphones or sensors changes.
Using the NED coordinate frame can also make it easier to visualize the data and understand
the relationships between the different variables. For example, you can plot the positions of the
UAV and the microphones or sensors on a graph and see how they change over time, or you
can create animations to visualize the movement of the UAV relative to the microphones or
sensors.
Overall, using the NED coordinate frame can help to simplify the analysis of system
identification data and make it easier to understand the relationships between the different
variables.

It seems that in the data you provided, the microphones are located at the origin of the North-
East-Down (NED) coordinate frame, while the UAV has non-zero NED coordinates. This
means that the position of the UAV is expressed relative to the position of the microphones in
the NED coordinate frame.
For example, if the UAV has a positive value for the x_NED coordinate, this means that it is
located to the east of the microphones. If it has a negative value for the y_NED coordinate, this
means that it is located to the north of the microphones. And if it has a positive value for the
z_NED coordinate, this means that it is located above the microphones.
Based on the data you provided, it seems that the microphones are located at the same position
in the NED coordinate frame, as their x_NED, y_NED, and z_NED coordinates are all zero.
This means that they are located at the origin of the NED coordinate frame.
It's worth noting that it is possible that the microphones are not physically located at the exact
same position, but rather that their positions are being represented in the NED coordinate frame
with respect to a common reference point. In other words, the zero values for the microphone
coordinates may not necessarily indicate that the microphones are located at the exact same
physical position, but rather that their positions are being represented relative to a common
reference point in the NED coordinate frame.
If the microphones are located at different physical positions, but are being represented in the
NED coordinate frame with respect to a common reference point, this can still be useful for
analyzing the UAV's noise emissions. The NED coordinates of the UAV can be used to
determine its position and orientation relative to the microphones at different points in time,
which can help to understand how the UAV's noise emissions change as it moves through
different flight states or as the position and orientation of the UAV relative to the microphones
changes.