US Patent 11218802 Beamformer rotation

A mobile device capable of capturing voice commands includes a beamformer for determining audio data corresponding to one or more directions and a beam selector for selecting in which direction a source of target audio lies. The device determines, based on data from one or more sensors, an angle through which the device has rotated. Based on the angle and one or more rotation-compensation functions, the device interpolates audio data corresponding to the one or more directions to compensate for the rotation such that the direction corresponding to the source of target audio remains selected.