Systems and methods for audio capture

1. A method of noise filtering including:

determining a beam forming pattern comprising a main beam and a null beam from an end fire sound capturing device mounted to a UAV;

capturing noise data using the null beam;

capturing target audio data using the main beam;

filtering the noise data from the target audio data; and

outputting filtered target audio.

2. The method of claim 1 wherein the null beam captures all of the significant noise sources.

3. The method of claim 1 wherein the null beam has a beam width of at least 180°.

4. The method of claim 1 wherein the null beam has a beam width of 360°−X°, where X is the beam width of the main beam.

5. The method of claim 1 wherein the null beam has a gain which varies by less than 20% across it's beam width.

6. The method of claim 1 wherein the null beam has a gain and a gain and a frequency range, defined by a lower frequency, where the gain varies by less than 20% at the lower frequency.

7. The method of claim 1 wherein filtering the noise data from the target audio data uses a 2×2 gain matrix, which characterises a gain of the main beam in the forward direction and reverse direction, and the null beam in the forward direction and reverse direction.

8. A gimbalised microphone configured to use the method of claim 1 .

9. The gimbalised microphone of claim 8 , wherein the microphone is a MEMS array.

10. The gimbalised microphone of claim 8 , wherein the microphone is an end-fire line microphone array.

11. The gimbalised microphone of claim 8 further comprising

one or more sensors to detect directional data corresponding to relative directions of the gimbalised microphone and a mounting to a unmanned aerial vehicle (UAV); and

a processing unit configured to use the directional data to filter the noise data from the target audio data.