Embodiments of the present invention provide an audio-based position tracking system. The position tracking systems comprises one or more speakers, an array of microphones and a computing device. The speaker is located at a fixed position and transmits an audio signal. The microphone array is mounted upon a moving object and receives the audio signal. The computing device determines a position of the moving object as a function of the delay of the audio signal received by each microphone in the array.

 
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