Concentric circular microphone arrays have been used in a wide range of applications, such as teleconferencing systems and smarthome devices for speech signal acquisition. Such arrays are generally designed with omnidirectional sensors, and the associated beamformers are fully steerable but only in the sensors' plane. If operated in the three-dimensional space, the performance of those arrays would suffer from significant degradation if the sound sources are out of the sensors' plane, which happens due to the incomplete spatial sampling of the sound field. This paper addresses this issue by presenting a new method to design concentric circular microphone arrays using both omnidirectional microphones and bidirectional microphones (directional sensors with dipole-shaped patterns). Such arrays are referred to as superarrays as they are able to achieve higher array gain as compared to their traditional counterparts with omnidirectional sensors. It is shown that, with the use of bidirectional microphones, the spatial harmonic components that are missing in the traditional arrays are compensated back. A beamforming method is then presented to design beamformers that can achieve frequency-invariant beampatterns with high directivity and are fully steerable in the three-dimensional space. Simulations and real experiments validate the effectiveness and good properties of the presented method.
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