CN103064061A - Sound source localization method of three-dimensional space - Google Patents

Abstract

A sound source localization method of a three-dimensional space adopts a movable small microphone array and a sound source localization technology based on time delay estimation. The small microphone array is used for collecting a period of target sound source signals, a mutual correlation algorithm is used for calculating time differences between the microphones of the small microphone array, the time differences are substituted into computational formulas of azimuth and elevation to get the azimuth and the elevation of the target sound source, and then the small microphone array is moved for some distance along a certain azimuth, and the operations are repeated to get the azimuth and the elevation of the target sound source at the moment. Through measuring the azimuth and the elevation of the target sound source twice, the distance of the target sound source is calculated. The method of measuring target sound source is a passive method. The small microphone array is moved during the measuring process, and the defects that accuracy of the sound source target distance measuring of the prior art is low, and cost is high and safety is not ensured due to the fact that an active method is adopted to measure the sound source target distance are overcome.

Description

The three dimensions sound localization method

Technical field

Technical scheme of the present invention relates to uses the device that sound wave is located by the cooperation of determining a plurality of directions, specifically three dimensions sound localization method.

Background technology

Now, along with the continuous expansion of bionics techniques application, become gradually the important topic of numerous research fields such as Mobile Robotics Navigation, voice signal enhancing and submarine target perception based on the Auditory Perception technology of microphone array.Can say, the sense of hearing is one of important symbol of New Generation of Intelligent robot, is to realize " people-machine-environment " mutual important means.Because sound has the characteristic of cut-through thing, the sense of hearing can match with vision in many information acquisition systems, thereby remedies the limitation that the visual field of vision is limited and can not pass non-printing opacity barrier.In addition, can not only the localization of sound source target in " auditory scene ", can also obtain more valuable information by the modern signal processing technology.Therefore, design high-precision sound source locating device and have important theory significance and using value in medical treatment, service and military field.

Microphone sound source locating device of the prior art and method can only localization of sound source orientation angle, accurately orientation distances.For example, CN201010191634.1 disclosed " a kind of sound source locating device ", the method of the location spatial sound source that adopts is: gather one section acoustic target signal, then mistiming between each microphone be can obtain by said apparatus and its method for calculating and locating, deflection, the elevation angle and distance calculated according to mistiming and array geometry model.The deflection that the method calculates and elevation accuracy are very high, but the precision of distance is just relatively poor.The measuring distance method of using in this patented technology is passive means, and in the whole measuring process of the method, microphone array is not moved.The shortcoming of this prior art is that the precision of orientation distance is not high enough.The sound localization method that document " based on the object locating system of orthopyramid battle array " was mentioned in (Southeast China University's journal the 5th phase of the 25th volume) is: gather one section acoustic target signal, then can obtain mistiming between each microphone by said system and algorithm, then can only calculate deflection and the elevation angle according to mistiming and array geometry model, and not calculate distance this moment.And the measuring method of this piece article middle distance is: in array center the device that can launch sound is set, after audio emission is gone out, can be reflected back when arriving acoustic target, this moment, array received was to sound, during sound and receive mistiming in these two moment when reflecting sound, calculate the distance of acoustic target according to emission.The measuring distance method that this piece article uses is active method, and in the process of measuring distance, array is not moved yet.The shortcoming of the method is to come measuring distance with active method, so just needs the equipment of extra additional emission sound, has increased the cost of system.Also have potential safety hazard if be used in addition military aspect, for example be used in the submarine detection, need to launch voice signal when at this moment using active method, this signal is easily found by the other side and is received, thereby exposed oneself, the generation potential safety hazard.

Summary of the invention

Technical matters to be solved by this invention is: the three dimensions sound localization method is provided, and is to adopt the movable small microphone array and carry out the three dimensions sound localization method based on the auditory localization technology that time delay is estimated.The method of the measurement acoustic target that the inventive method adopts is passive means, the middle-size and small-size microphone array of measuring process moves, and has overcome the measurement acoustic target range accuracy of prior art low and adopt active method to measure the high and unsafe shortcoming of acoustic target distance costs.

The present invention solves this technical problem the technical scheme that adopts: the three dimensions sound localization method is to adopt the movable small microphone array and carry out the three dimensions sound localization method based on the auditory localization technology that time delay is estimated,

A. the used device of the method

Comprise minitype microphone array, power supply conditioning device, data collecting card and host computer, wherein minitype microphone array is made of four summits that four independences and the identical microphone of characteristic lay respectively at positive tetrahedron, comprises in the host computer that time-delay calculation model, position angle calculate model, elevation angle computation model and apart from computation model; Each microphone needs the data line of a BNC connector to be connected with the power supply conditioning device, the data line of power supply conditioning device by 4 BNC connectors is connected with whole microphone array and thinks that the latter powers, the power supply conditioning device also is connected with data collecting card by the data line of 4 BNC connectors, and data collecting card is connected a usb data line and connects with host computer;

The step of B. carrying out the three dimensions sound localization method with said apparatus is:

The three dimensions auditory localization comprises that the position angle B, the elevation angle F that determine acoustic target, acoustic target are from the horizontal range d of the central point of microphone array bottom surface ₂With the distance D of acoustic target to the central point of minitype microphone array bottom surface,

The first step is measured the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves

Minitype microphone array is positive tetrahedron, and the center of establishing the positive tetrahedron bottom surface is true origin O, and the microphone of position, true origin O dead ahead is S1, the microphone of true origin O location right is S2, the microphone of true origin O left position is S3, and the microphone of true origin O top position is S4

(1) carrying out the time delay that each microphone is relative in the minitype microphone array by the time-delay calculation model in the host computer estimates

A position of selecting according to the mensuration environmental baseline, gathering a period of time with minitype microphone array is the target sound signal of 10ms～30ms, voice signal passes to host computer by data collecting card, the relative time that host computer at first calculates between four microphones that voice signal arrives four summits laying respectively at positive tetrahedron is poor, be that voice signal arrives the time delay value between the moment of microphone S2, microphone S3 and microphone S4 and moment that voice signal arrives microphone S1, concrete grammar is as follows:

The coordinate of supposing the discrete event signal model of two microphones reception voice signals is:

X ₁(t)＝a ₁s(t)+n ₁(t)，x ₂(t)＝a ₂s(t-τ ₁₂)+n ₂(t) （1）

In the following formula, α _iBe the attenuation coefficient of sound-source signal, s (t) is the acoustic target signal, x _i(t) voice signal that gathers for microphone, n _i(t) be the additional noise signal of sound source, τ _1,2Be two time delays that microphone picks up voice signal, i.e. time delay,

With the voice signal x that gathers _i(t), i=1,2 by Fourier transform, changes into frequency domain signal X by time domain _i(ω), its cross-power spectrum function is:

$G_{X_1{X}_2}\left(\mathrm{\&omega;}\right)=X_1\left(\mathrm{\&omega;}\right){{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="130105094101.png,130105094110.png"\; state="\{\{state\}\}">X</figure-callout>}}_2}^{*}\left(\mathrm{\&omega;}\right)---\left(2\right)$

Its cross correlation function is:

$R_{x_1{x}_2}\left(\mathrm{\&tau;}\right)=\underset{0}{\overset{\mathrm{\&pi;}}{\&Integral;}}{G}_{X_1{X}_2}\left(\mathrm{\&omega;}\right)e^{\mathrm{j\&omega;\&tau;}}\mathrm{d\&omega;}---\left(3\right)$

Carry out at last peak value and detect, the point of the horizontal ordinate that the peak value of cross correlation function is corresponding is exactly time delay value t ₂₁, using the same method to calculate time delay value t ₃₁And t ₄₁, the time delay value that finally draws between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁, t ₃₁, t ₄₁

(2) calculate the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

If Q is the acoustic target point, coordinate is Q (x, y, z), true origin O is r to the distance of acoustic target point Q, and OQ is projected as OQ ' XOY plane, and definition OQ ' is α with the angle of X-axis, the angle of OQ and Z axis is that β supposes that S1 is a to the distance of true origin O, and then the coordinate of four microphones is respectively: S ₁=(a, 0,0), ${\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="130105094101.png,130105094110.png"\; state="\{\{state\}\}">S</figure-callout>}}_2=(-a/2,\sqrt{3}a/\mathrm{2,0}),$ ${\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="130105094110.png"\; state="\{\{state\}\}">S</figure-callout>}}_3=(-a/2,-\sqrt{3a}/\mathrm{2,0}),$ $S_4=(\mathrm{0,0},\sqrt{2}a),$

Obtaining the time delay value that voice signal arrives between the moment of microphone S2, microphone S3 and microphone S4 and moment that voice signal arrives microphone S1 from above-mentioned (1) is respectively: t ₂₁, t ₃₁, t ₄₁,

At this moment the position angle formula that draws sound source is:

$\mathrm{\&alpha;}\&ap;\mathrm{arctsn}\sqrt{3}\frac{t_{31}-t_{21}}{t_{21}+t_{31}}---\left(4\right)$

The angle of the α that above-mentioned formula (4) calculates is not necessarily in the regulation azimuth coverage, because the problem of quadrant, the range of results that formula (4) Arctan calculates is that-90 degree are to 90 degree, and needed regulation position angle range of results is that-180 degree are to 180 degree, this just need to divide quadrant to process, via following position angle quadrant processing procedure, draw and for the first time measure the position angle A of acoustic target before minitype microphone array moves and be:

When result of calculation α＞0, and t ₃₁0 o'clock, position angle A=α,

When result of calculation α＞0, and t ₃₁＜0 o'clock, position angle A=-180+ α,

When result of calculation α＜0, and t ₂₁0 o'clock, position angle A=α,

When result of calculation α＜0, and t ₂₁＜0 o'clock, position angle A=180+ α,

At this moment the elevation angle formula that draws sound source is:

$\mathrm{\&beta;}\&ap;\mathrm{arccot}\frac{t_{21}+t_{31}-{3t}_{41}}{2\sqrt{2}\sqrt{t_{21}^2+t_{31}^2-t_{21}{t}_{31}}}---\left(5\right),$

Above-mentioned formula (5) calculates the angle of β not necessarily in the regulation elevation coverage, because the problem of quadrant, the range of results that formula (5) Arccot calculates is that-90 degree are to 90 degree, and the regulation elevation angle range of results that needs is that 0 degree is to 180 degree, according to the geometric model that calculates, here divide quadrant to process, via following elevation angle quadrant processing procedure, draw and measure the elevation angle E of acoustic target before minitype microphone array moves for the first time and be:

When result of calculation β＞0, elevation angle E=β

When result of calculation β＜0, elevation angle E=180+ β

Second step, mobile minitype microphone array

After the first step is finished, clockwise rotating χ-A degree by the mobile robot original place realizes minitype microphone array is clockwise rotated χ-A degree, 0 degree＜χ＜180 degree also is that the mobile robot dead ahead moves forward distance L with minitype microphone array along array orientation angle 0 degree direction again;

In the 3rd step, measure the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves

After second step operation is finished, on the position that after minitype microphone array moves, arrives, repeat operation and calculating with the first step, the result is,

(1) carrying out the time delay that each microphone is relative in the minitype microphone array by the time-delay calculation model in the host computer estimates

The time delay value that finally draws between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁, t ₃₁, t ₄₁

(2) calculate the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

Draw and for the second time measure the position angle B of acoustic target after minitype microphone array moves and be:

When result of calculation α＞0, and t ₃₁0 o'clock, position angle B=α,

When result of calculation α＞0, and t ₃₁＜0 o'clock, position angle B=-180+ α,

When result of calculation α＜0, and t ₂₁0 o'clock, position angle B=α,

When result of calculation α＜0, and t ₂₁＜0 o'clock, position angle B=180+ α,

Draw and for the second time measure the elevation angle F of acoustic target after minitype microphone array moves and be:

When result of calculation β＞0, elevation angle F=β

When result of calculation β＜0, elevation angle F=180+ β

In the 4th step, calculate acoustic target to the horizontal range of the central point of microphone array bottom surface

By calculating acoustic target to the horizontal range of the central point of microphone array bottom surface apart from computation model in the host computer, computing formula is:

d ₂＝L*sin(χ)/sin(180-χ-δ) （6）

d ₂Be the horizontal range of acoustic target to the central point of microphone array bottom surface;

In the 5th step, calculate acoustic target to the distance of the central point of minitype microphone array bottom surface

By calculating acoustic target to the distance of the central point of minitype microphone array bottom surface apart from computation model in the host computer, computing formula is:

D＝d ₂/sin(F) （7）

D is that acoustic target is to the distance of the central point of minitype microphone array bottom surface;

The 6th step, the demonstration output of three dimensions auditory localization data

By the peripheral hardware of computing machine, namely display shows or outputs to the elevation angle F, acoustic target of the position angle B that shows the output acoustic target on other computer, acoustic target to the horizontal range d of the central point of microphone array bottom surface by network interface card ₂With the distance D of acoustic target to the central point of minitype microphone array bottom surface, finish thus the three dimensions auditory localization.

Above-mentioned three dimensions sound localization method, the bottom surface circumradius of the positive tetrahedron of described minitype microphone array is 10 centimetres.

Above-mentioned three dimensions sound localization method, using software in the described host computer is matlab.

Above-mentioned three dimensions sound localization method, the scope of described L is preferably 0.5～1.5m.

Above-mentioned three dimensions sound localization method, the scope of described χ are preferably 45 degree～135 degree.

Above-mentioned three dimensions sound localization method, described mobile minitype microphone array are by manually moving with minitype microphone array or being moved with minitype microphone array by the mobile robot.

Above-mentioned three dimensions sound localization method, used microphone are the MPA201 microphones that Beijing Sheng Wang Acoustic-Electric (BSWA) Technology Co., Ltd. produces, and consist of the MPA201 microphone array by four these microphones; The power supply conditioning device is the microphone power supply conditioning device MC104 that Beijing popularity company produces; Data collecting card is the NI9215A data collecting card that American National instrument and equipment (NI) is produced, host computer is general PC, after host computer has been installed the NIDAQ driving, just can write the Matlab program, read the data that the NI data collecting card collects, can also use the filter function of matlab to realize filtering.

The invention has the beneficial effects as follows: compared with prior art, the outstanding substantive distinguishing features of three dimensions sound localization method of the present invention is to adopt the movable small microphone array and carry out the three dimensions auditory localization based on the auditory localization technology that time delay is estimated, namely adopting minitype microphone array to gather a period of time is the acoustic target signal of 10ms～30ms, carrying out the mistiming draws the orientation angles and the elevation angle first time of acoustic target after calculating, after this this minitype microphone array moves a segment distance along certain orientation, and then collection a period of time is the acoustic target signal of 10ms～30ms, carrying out the mistiming draws the orientation angles and the elevation angle second time of acoustic target after calculating again, just can calculate the distance of acoustic target by twice position angle of acoustic target and measurement and the position angle that this minitype microphone array moves and the distance that moves at the elevation angle, thereby finish the three dimensions auditory localization.

Compared with prior art, significant progressive being of three dimensions sound localization method of the present invention, calculated amount is little, precision is high, can be in three dimensions localization of sound source target accurately, the method of the measurement acoustic target that the inventive method adopts is passive means, and the middle-size and small-size microphone array of measuring process moves, and has overcome prior art and has adopted active method to measure the high also unsafe shortcoming of acoustic target distance costs.

Description of drawings

The present invention is further described below in conjunction with drawings and Examples.

Fig. 1 is the formation of the used device of the inventive method and consists of each several part connected mode schematic block diagram.

Fig. 2 is that the minitype microphone array in the used device of the inventive method consists of schematic diagram.

Fig. 3 is the algorithm principle figure of position angle, the elevation angle and distance of the calculating acoustic target of the inventive method.

Fig. 4 is that the calculating acoustic target of the inventive method is to the schematic diagram calculation of the horizontal range of the central point of minitype microphone array bottom surface.

Among the figure, 1. microphone, 2. minitype microphone array, 3. acoustic target.

Embodiment

Embodiment illustrated in fig. 1 showing, the used device of the inventive method comprises minitype microphone array, power supply conditioning device, data collecting card and host computer, and wherein minitype microphone array is made of four summits that four independences and the identical microphone of characteristic lay respectively at positive tetrahedron; The power supply conditioning device is connected with whole microphone array by the data line of 4 BNC connectors, the power supply conditioning device also is connected with data collecting card by the data line of 4 BNC connectors, data collecting card is connected a usb data line and connects with host computer, the power supply conditioning device is connected with the 220v AC power by wire.

Embodiment illustrated in fig. 2 showing, the minitype microphone array 2 in the used device of three dimensions sound localization method of the present invention is to be made of four summits that four independences and the identical microphone 1 of characteristic lay respectively at positive tetrahedron.

Embodiment illustrated in fig. 3 showing, the algorithm principle of calculating acoustic target orientation angles, the elevation angle and the distance of the inventive method is:

Minitype microphone array is positive tetrahedron, and S1, S2, S3, S4 are respectively four microphones, and O both had been true origin, also be the center of positive tetrahedron bottom surface simultaneously, establishing Q is the acoustic target point, and coordinate is Q (x, y, z), true origin O is r to the distance of acoustic target point Q, and OQ is projected as OQ ' XOY plane, definition OQ ' is α with the angle of X-axis, the angle of OQ and Z axis is β, supposes that S1 is a to the distance of true origin O, and then the coordinate of four microphones is respectively: S ₁=(a, 0,0), ${\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="130105094101.png,130105094110.png"\; state="\{\{state\}\}">S</figure-callout>}}_2=(-a/2,\sqrt{3}a/\mathrm{2,0}),$ ${\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="130105094110.png"\; state="\{\{state\}\}">S</figure-callout>}}_3=(-a/2,\sqrt{3}a/\mathrm{2,0}),$ $S_4=(0,0,\sqrt{2}a),$

Time delay value between the moment of voice signal arrival microphone S2, S3 and S4 and the moment that voice signal arrives microphone S1 is respectively: t ₂₁, t ₃₁, t ₄₁, the position angle formula that at this moment draws sound source is:

$\mathrm{\&alpha;}\&ap;\mathrm{arctsn}\sqrt{3}\frac{t_{31}-t_{21}}{t_{21}+t_{31}}$

Owing to will carry out twice azimuthal measurement that minitype microphone array moves front and back in the inventive method, each measurement all is that computer azimuth angle is carried out in the position angle publicity above having used, calculate for the first time the position angle A of acoustic target before minitype microphone array moves, calculate the position angle B of acoustic target after minitype microphone array moves for the second time.α is azimuthal general designation.The relation of α and position angle A or B is as follows:

When result of calculation α＞0, and t ₃₁0 o'clock, position angle A or B=α

When result of calculation α＞0, and t ₃₁＜0 o'clock, position angle A or B=-180+ α

When result of calculation α＜0, and t ₂₁0 o'clock, position angle A or B=α

When result of calculation α＜0, and t ₂₁＜0 o'clock, position angle A or B=180+ α

At this moment the elevation angle formula that draws sound source is:

$\mathrm{\&beta;}\&ap;\mathrm{arccot}\frac{t_{21}+t_{31}-{3t}_{41}}{2\sqrt{2}\sqrt{t_{21}^2+t_{31}^2-t_{21}{t}_{31}}}$

Owing to will carry out the measurement that minitype microphone array moves twice elevation angle of front and back in the inventive method, each measurement all is that the elevation angle is calculated in the elevation angle publicity above having used, calculate for the first time the elevation angle E of acoustic target before minitype microphone array moves, calculate the elevation angle F of acoustic target after minitype microphone array moves for the second time.β is the general designation at the elevation angle.The relation of β and elevation angle E or F is as follows:

When result of calculation β＞0, elevation angle E or elevation angle F=β.

When result of calculation β＜0, elevation angle E or elevation angle F=180+ β.

Apart from computing formula:

r＝OQ′/sin(β)

R is that acoustic target is to the general designation of the distance of the central point of microphone array bottom surface.Because will carry out minitype microphone array in the inventive method moves, before and after twice acoustic target distance to the horizontal range of the central point of minitype microphone array bottom surface and twice acoustic target to the central point of minitype microphone array bottom surface is arranged, wherein, after minitype microphone array moves acoustic target to the horizontal range d of the central point of minitype microphone array bottom surface ₂Represent, acoustic target represents with alphabetical D to the distance of the central point of minitype microphone array bottom surface after minitype microphone array moves.

Draw thus the central point O of bottom surface of the positive tetrahedron of the orientation angles α, the elevation angle β that measure acoustic target 3 and the minitype microphone array after minitype microphone array 2 moves 2 ₂And the distance of acoustic target 3 between the projection Z on the plane, place of positive tetrahedron bottom surface is d ₂, the central point O of the bottom surface of the positive tetrahedron of the minitype microphone array 2 after minitype microphone array 2 moves ₂And the distance between the acoustic target 3 is D.

Embodiment illustrated in fig. 4 showing, the calculating acoustic target of the inventive method to the Computing Principle of the horizontal range of the central point of minitype microphone array bottom surface is:

O among this figure ₁The central point of bottom surface of the positive tetrahedron of the minitype microphone array 2 of minitype microphone array 2 when not moving, O ₂Be the central point of the bottom surface of the positive tetrahedron of minitype microphone array 2 behind the minitype microphone array 2 displacement L, Z is that acoustic target 3 is in the projection on the plane, place of positive tetrahedron bottom surface.Black arrow represents the direction of position angle 0 degree of minitype microphone array 2, O ₁Place's black arrow and O ₁The angle of Z is A, O ₂Place's black arrow and O ₂The angle of Z is B.

The central point O of the bottom surface of the positive tetrahedron of the minitype microphone array 2 when minitype microphone array 2 does not move ₁And the distance of acoustic target 3 between the projection Z on the plane, place of positive tetrahedron bottom surface is d ₁, the central point O of the bottom surface of the positive tetrahedron of the minitype microphone array 2 after minitype microphone array 2 moves ₂And the distance of acoustic target 3 between the projection Z on the plane, place of positive tetrahedron bottom surface is d ₂, the distance that minitype microphone array 2 moves is L, the moving direction O of minitype microphone array 2 ₁O ₂The direction O of the acoustic target 3 before not mobile with minitype microphone array 2 ₁The angle of Z is χ, the opposite direction O of the moving direction of minitype microphone array 2 ₂O ₁The direction O of the acoustic target 3 after moving with minitype microphone array 2 ₂The angle of Z is δ, the central point O of the bottom surface of the positive tetrahedron of the minitype microphone array 2 after moving by following computing formula calculating ₂And acoustic target 3 between the projection Z on the plane, place of positive tetrahedron bottom surface apart from d ₂For:

d ₂＝L*sin(χ)/sin(180-χ-δ)

Embodiment 1

A. the used device of the present embodiment

PC after comprising minitype microphone array MPA201 microphone array, power supply conditioning device MC104, NI9215A data collecting card and the NIDAQ driving being installed, this minitype microphone array is that the bottom surface circumradius is 10 centimetres positive tetrahedron, used microphone is the MPA201 microphone that Beijing Sheng Wang Acoustic-Electric (BSWA) Technology Co., Ltd. produces, use software matlab in the host computer, mainly comprise time-delay calculation model, orientation angles computation model, elevation angle computation model in the host computer and apart from computation model; Each microphone needs the data line of a BNC connector to be connected with the power supply conditioning device, the data line of power supply conditioning device by 4 BNC connectors is connected with whole microphone array and thinks that the latter powers, the power supply conditioning device also is connected with data collecting card by the data line of 4 BNC connectors, and data collecting card is connected a usb data line and connects with host computer.

B. this enforcement with the step that said apparatus carries out the three dimensions sound localization method is:

The three dimensions auditory localization comprises that the position angle B, the elevation angle F that determine acoustic target, acoustic target are from the horizontal range d of the central point of microphone array bottom surface ₂With the distance D of acoustic target to the central point of minitype microphone array bottom surface,

The first step is measured the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves

Minitype microphone array is positive tetrahedron, and the center of establishing the positive tetrahedron bottom surface is true origin O, and the microphone of position, true origin O dead ahead is S1, the microphone of true origin O location right is S2, the microphone of true origin O left position is S3, and the microphone of true origin O top position is S4

(1) carrying out the time delay that each microphone is relative in the minitype microphone array by the time-delay calculation model in the host computer estimates

A position of selecting according to the mensuration environmental baseline, gathering a period of time with minitype microphone array is the target sound signal of 10ms, voice signal passes to host computer by data collecting card, the relative time that host computer at first calculates between four microphones that voice signal arrives four summits laying respectively at positive tetrahedron is poor, be that voice signal arrives the time delay value between the moment of microphone S2, microphone S3 and microphone S4 and moment that voice signal arrives microphone S1, concrete grammar is as follows:

The coordinate of supposing the discrete event signal model of two microphones reception voice signals is:

x ₁(t)＝a ₁s(t)+n ₁(t)，x ₂(t)＝a ₂s(t-τ ₁₂)+n ₂(t) （1）

In the following formula, a _iBe the attenuation coefficient of sound-source signal, s (t) is the acoustic target signal, x _i(t) voice signal that gathers for microphone, n _i(t) be the additional noise signal of sound source, τ _1,2Be two time delays that microphone picks up voice signal, i.e. time delay,

With the voice signal x that gathers _i(t), i=1,2 by Fourier transform, changes into frequency domain signal X by time domain _i(ω), its cross-power spectrum function is:

$G_{X_1{X}_2}\left(\mathrm{\&omega;}\right)=X_1\left(\mathrm{\&omega;}\right){{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="130105094101.png,130105094110.png"\; state="\{\{state\}\}">X</figure-callout>}}_2}^{*}\left(\mathrm{\&omega;}\right)---\left(2\right)$

Its cross correlation function is:

$R_{x_1{x}_2}\left(\mathrm{\&tau;}\right)=\underset{0}{\overset{\mathrm{\&pi;}}{\&Integral;}}{G}_{X_1{X}_2}\left(\mathrm{\&omega;}\right)e^{\mathrm{j\&omega;\&tau;}}\mathrm{d\&omega;}---\left(3\right)$

Carry out at last peak value and detect, the point of the horizontal ordinate that the peak value of cross correlation function is corresponding is exactly time delay value t ₂₁, using the same method to calculate time delay value t ₃₁And t ₄₁

The result that the time delay that gained is relative is estimated is: microphone S2 is 29 with respect to the mistiming of microphone S1, and microphone S3 is 49 with respect to the mistiming of microphone S1, and microphone S4 is 28 with respect to the mistiming of microphone 1.

Because capture card is 100k, therefore real times of 29 representatives here are 29 sampling periods, are 29*10 ^-5Second; The real time of 49 representatives here is 49 sampling periods, is 49*10 ^-5Second; The real time of 28 representatives here is 28 sampling periods, is 28*10 ^-5Second.

The time delay value that is derived as between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁=29, t ₃₁=49, t ₄₁=28;

(2) calculate the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

Microphone array is classified positive tetrahedron as, establishes S1, S2, S3, S4 are respectively four microphones, and O had been true origin both, also be the center of positive tetrahedron bottom surface simultaneously, establishing Q is the acoustic target point, and coordinate is Q (x, y, z), true origin O is r to the distance of acoustic target point Q, and OQ is projected as OQ ' XOY plane, definition OQ ' is α with the angle of X-axis, the angle of OQ and Z axis is β, supposes that S1 is a to the distance of true origin O, and then the coordinate of four microphones is respectively: S ₁=(a, 0,0), ${\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="130105094101.png,130105094110.png"\; state="\{\{state\}\}">S</figure-callout>}}_2=(-a/2,\sqrt{3}a/\mathrm{2,0}),$ ${\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="130105094110.png"\; state="\{\{state\}\}">S</figure-callout>}}_3=(-a/2,\sqrt{3}a/\mathrm{2,0}),$ $S_4=(0,0,\sqrt{2}a),$

Obtaining the time delay value that voice signal arrives between the moment of microphone S2, microphone S3 and microphone S4 and moment that voice signal arrives microphone S1 from above-mentioned (1) is respectively: t ₂₁, t ₃₁, t ₄₁

At this moment the position angle formula that draws sound source is:

$\mathrm{\&alpha;}\&ap;\mathrm{arctsn}\sqrt{3}\frac{t_{31}-t_{21}}{t_{21}+t_{31}}---\left(4\right)$

Calculate α=29 degree, divide the quadrant problem to get according to the front about the position angle: the A=29 degree.

At this moment drawing elevation angle formula is:

$\mathrm{\&beta;}\&ap;\mathrm{arccot}\frac{t_{21}+t_{31}-{3t}_{41}}{2\sqrt{2}\sqrt{t_{21}^2+t_{31}^2-t_{21}{t}_{31}}}---\left(5\right)$

Calculate β=-87 degree, divide the quadrant problem to get according to the front about the elevation angle: E=180+(-87)=93 degree, namely elevation angle E is 93 degree.

Draw thus and measure for the first time the position angle A=29 degree of acoustic target that acoustic target calculates before minitype microphone array moves and calculate the elevation angle E=93 degree of acoustic target before minitype microphone array moves;

Second step, mobile minitype microphone array

After the first step is finished, clockwise rotating the 90-29 degree by the mobile robot original place realizes minitype microphone array is clockwise rotated the 90-29 degree, χ=90 degree also is that the robot dead ahead moves forward distance L=1 meter with minitype microphone array along array orientation angle 0 degree direction again;

In the 3rd step, measure the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves

After the second step operation is finished, on the position that minitype microphone array arrives, repeat the operation of the first step,

(1) carrying out the time delay that each microphone is relative in the minitype microphone array by the time-delay calculation model in the host computer estimates

The result that the time delay that gained is relative is estimated is: microphone S2 is 49 with respect to the mistiming of microphone S1, and microphone S3 is-13 with respect to the mistiming of microphone S1, and microphone S4 is-20 with respect to the mistiming of microphone S1.

Because capture card is 100k, therefore real times of-49 representatives here are-49 sampling periods, are-49*10 ^-5Second; The real time of-13 representatives here is-13 sampling periods, is-13*10 ^-5Second; The real time of-20 representatives here is-20 sampling periods, is-20*10 ^-5Second.

The time delay value that draws between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁=-49, t ₃₁=-13, t ₄₁=-20;

(2) calculate the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

Drawing the result who measures acoustic target for the second time is:

α=-45.1630 degree, the position angle B=180+(-45.1630 of acoustic target after minitype microphone array moves)=-134.8370 degree;

β=-88.1577 degree, the elevation angle F=180+(-88.1577 of acoustic target after minitype microphone array moves)=91.8423 degree.

In the 4th step, calculate acoustic target from the horizontal range of the central point of microphone array bottom surface

Computing formula is:

d ₂＝L*sin(χ)/sin(180-χ-δ) （6）

The above-mentioned the data obtained of substitution draws the horizontal range d of the central point of sound source distance microphone array bottom surface ₂For:

d ₂＝1*sin(90)/sin(180-90-(180-134.837))=1.4183；

In the 5th step, calculate acoustic target to the distance D of the central point of minitype microphone array bottom surface

Computing formula is:

D＝d ₂/sin(F) （7）

The above-mentioned the data obtained of substitution draws acoustic target:

D=1.4183/sin(91.8423)=1.4187

The 6th step, the demonstration output of three dimensions auditory localization data

Peripheral hardware by computing machine, be that display shows or outputs to the concrete outcome that shows the auditory localization of output the present embodiment three dimensions on other computer by network interface card and is: the position angle B=-134.8370 degree of acoustic target, the elevation angle F=91.8423 degree of acoustic target, acoustic target is from the horizontal range d of the central point of microphone array bottom surface ₂=1.4183 and acoustic target to the distance D of the central point of minitype microphone array bottom surface=1.4187, finish thus the three dimensions auditory localization.

Embodiment 2

A. the used device of the method

With embodiment 1.

B. this enforcement with the step that said apparatus carries out the three dimensions sound localization method is:

Herein with embodiment 1.

The first step is measured the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves

Herein with embodiment 1.

(1) be that other are with embodiment 1 the target sound signal of 20ms except gathering a period of time with minitype microphone array.

The result that the time delay that gained is relative is estimated is: microphone S2 is 36 with respect to the mistiming of microphone S1, and microphone S3 is 49 with respect to the mistiming of microphone S1, and microphone S4 is 28 with respect to the mistiming of microphone S1.

Because capture card is 100k, therefore real times of 36 representatives here are 36 sampling periods, are 36*10 ^-5Second; The real time of 49 representatives here is 49 sampling periods, is 49*10 ^-5Second; The real time of 28 representatives here is 28 sampling periods, is 28*10 ^-5Second.

The time delay value that draws between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁=36, t ₃₁=49, t ₄₁=28

(2) calculate the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

Herein with embodiment 1.

Calculate α=14.8370 degree, calculate β=89.0786 degree;

Draw thus and measure for the first time the position angle A=14.8370 degree of acoustic target that acoustic target calculates before minitype microphone array moves and calculate the elevation angle E=89.0786 degree of acoustic target before minitype microphone array moves;

Second step, mobile minitype microphone array

After the first step is finished, clockwise rotating the 45-14.8370 degree by the mobile robot original place realizes minitype microphone array is clockwise rotated the 45-14.8370 degree, χ=45 degree also is that the robot dead ahead moves forward distance L=0.5 meter with minitype microphone array along array orientation angle 0 degree direction again;

In the 3rd step, measure the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves

After the second step operation is finished, on the position that minitype microphone array arrives, repeat the operation of the first step,

(1) result that the time delay that gained is relative is estimated is: microphone S2 is-45 with respect to the mistiming of microphone S1, and microphone S3 is-3 with respect to the mistiming of microphone S1, and microphone S4 is-17 with respect to the mistiming of microphone S1.

Because capture card is 100k, therefore real times of-45 representatives here are-45 sampling periods, are-45*10 ^-5Second; The real time of-3 representatives here is-3 sampling periods, is-3*10 ^-5Second; The real time of-17 representatives here is-17 sampling periods, is-17*10 ^-5Second.

The time delay value that is derived as between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁=-45, t ₃₁=-3, t ₄₁=-17;

(2) calculate the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

Drawing the result who measures acoustic target for the second time is:

α=-56.5820 degree, the position angle B=123.4180 degree of acoustic target after minitype microphone array moves;

β=88.6057 degree, the elevation angle F=88.6057 degree of acoustic target after minitype microphone array moves.

In the 4th step, calculate acoustic target from the horizontal range of the central point of microphone array bottom surface

Computing formula is:

d ₂＝L*sin(χ)/sin(180-χ-δ) （6）

The horizontal range d of the central point of the above-mentioned the data obtained sound source of substitution distance microphone array bottom surface ₂For:

d ₂＝0.5*sin(45)/sin(180-45-(180-123.4180))=0.3609；

In the 5th step, calculate acoustic target to the distance D of the central point of minitype microphone array bottom surface

Computing formula is:

D＝d ₂/sin(F) （7）

The above-mentioned the data obtained of substitution draws acoustic target:

D=0.3609/sin(88.6057)=0.3610

The 6th step, the demonstration output of three dimensions auditory localization data

Peripheral hardware by computing machine, be that display shows or outputs to the concrete outcome that shows the auditory localization of output the present embodiment three dimensions on other computer by network interface card and is: the position angle B=123.4180 degree of acoustic target, the elevation angle F=88.6057 degree of acoustic target, acoustic target is from the horizontal range d of the central point of microphone array bottom surface ₂=0.3609 and acoustic target to the distance D of the central point of minitype microphone array bottom surface=0.3610, finish thus the three dimensions auditory localization.

Embodiment 3

B. this enforcement with the step that said apparatus carries out the three dimensions sound localization method is:

Herein with embodiment 1.

The first step is measured the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves

Herein with embodiment 1.

(1) be that other are with embodiment 1 the target sound signal of 30ms except gathering a period of time with minitype microphone array.

The result that the time delay that gained is relative is estimated is: microphone S2 is 39 with respect to the mistiming of microphone S1, and microphone S3 is 47 with respect to the mistiming of microphone S1, and microphone S4 is 28 with respect to the mistiming of microphone S1.

Because capture card is 100k, therefore real times of 39 representatives here are 39 sampling periods, are 39*10 ^-5Second; The real time of 47 representatives here is 47 sampling periods, is 47*10 ^-5Second; The real time of 28 representatives here is 28 sampling periods, is 28*10 ^-5Second.

The time delay value that is derived as between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁=39, t ₃₁=47, t ₄₁=28

(2) calculate the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

Herein with embodiment 1.

Calculate α=9.1529 degree, calculate β=88.1403 degree,

Draw thus and measure for the first time the position angle A=9.1529 degree of acoustic target that acoustic target calculates before minitype microphone array moves and calculate the elevation angle E=88.1403 degree of acoustic target before minitype microphone array moves;

Second step, mobile minitype microphone array

After the first step is finished, clockwise rotating the 135-9.1529 degree by the mobile robot original place realizes minitype microphone array is clockwise rotated the 135-9.1529 degree, χ=135 degree also is that the robot dead ahead moves forward distance L=1.5 meter with minitype microphone array along array orientation angle 0 degree direction again;

In the 3rd step, measure the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves

After the second step operation is finished, on the position that minitype microphone array arrives, repeat the operation of the first step,

(1) result that the time delay that gained is relative is estimated is: microphone S2 is-13 with respect to the mistiming of microphone S1, and microphone S3 is-9 with respect to the mistiming of microphone S1, and microphone S4 is-8 with respect to the mistiming of microphone S1.

Because capture card is 100k, therefore real times of-13 representatives here are-13 sampling periods, are-13*10 ^-5Second; The real time of-9 representatives here is-9 sampling periods, is-9*10 ^-5Second; The real time of-8 representatives here is-8 sampling periods, is-8*10 ^-5Second.

The time delay value that is derived as between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁=-13, t ₃₁=-9, t ₄₁=-8

(2) calculate the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

Drawing the result who measures acoustic target for the second time is:

α=-17.4802 degree, the position angle B=162.5198 degree of acoustic target after minitype microphone array moves;

β=86.4914 degree, the elevation angle F=86.4914 degree of acoustic target after minitype microphone array moves.

In the 4th step, calculate acoustic target from the horizontal range of the central point of microphone array bottom surface

Computing formula is:

d ₂＝L*sin(χ)/sin(180-χ-δ) （6）

The horizontal range d of the central point of the above-mentioned the data obtained sound source of substitution distance microphone array bottom surface ₂For:

d ₂＝1.5*sin(135)/sin(180-135-(180-162.5198))=2.2955；

In the 5th step, calculate acoustic target to the distance D of the central point of minitype microphone array bottom surface

Computing formula is:

D＝d ₂/sin(F) （7）

The above-mentioned the data obtained of substitution draws acoustic target:

D=2.2955/sin(86.4914)=2.2998

The 6th step, the demonstration output of three dimensions auditory localization data

Peripheral hardware by computing machine, be that display shows or outputs to the concrete outcome that shows the auditory localization of output the present embodiment three dimensions on other computer by network interface card and is: the position angle B=162.5198 degree of acoustic target, the elevation angle F=86.4914 degree of acoustic target, acoustic target is from the horizontal range d of the central point of microphone array bottom surface ₂=2.2955 and acoustic target to the distance D of the central point of minitype microphone array bottom surface=2.2998, finish thus the three dimensions auditory localization.

Components and parts used among above-mentioned all embodiment are all by commercially available.

Claims (5)

1. three dimensions sound localization method is characterized in that: be to adopt the movable small microphone array and carry out the three dimensions sound localization method based on the auditory localization technology that time delay is estimated,

A. the used device of the method

Comprise minitype microphone array, power supply conditioning device, data collecting card and host computer, wherein minitype microphone array is made of four summits that four independences and the identical microphone of characteristic lay respectively at positive tetrahedron, comprises in the host computer that time-delay calculation model, position angle calculate model, elevation angle computation model and apart from computation model; Each microphone needs the data line of a BNC connector to be connected with the power supply conditioning device, the data line of power supply conditioning device by 4 BNC connectors is connected with whole microphone array and thinks that the latter powers, the power supply conditioning device also is connected with data collecting card by the data line of 4 BNC connectors, and data collecting card is connected a usb data line and connects with host computer;

The step of B. carrying out the three dimensions sound localization method with said apparatus is:

The three dimensions auditory localization comprises that the position angle B, the elevation angle F that determine acoustic target, acoustic target are from the horizontal range d of the central point of microphone array bottom surface ₂With the distance D of acoustic target to the central point of minitype microphone array bottom surface,

The first step is measured the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves

Minitype microphone array is positive tetrahedron, and the center of establishing the positive tetrahedron bottom surface is true origin O, and the microphone of position, true origin O dead ahead is S1, the microphone of true origin O location right is S2, the microphone of true origin O left position is S3, and the microphone of true origin O top position is S4

(1) carrying out the time delay that each microphone is relative in the minitype microphone array by the time-delay calculation model in the host computer estimates

A position of selecting according to the mensuration environmental baseline, gathering a period of time with minitype microphone array is the target sound signal of 10ms～30ms, voice signal passes to host computer by data collecting card, the relative time that host computer at first calculates between four microphones that voice signal arrives four summits laying respectively at positive tetrahedron is poor, be that voice signal arrives the time delay value between the moment of microphone S2, microphone S3 and microphone S4 and moment that voice signal arrives microphone S1, concrete grammar is as follows:

The coordinate of supposing the discrete event signal model of two microphones reception voice signals is:

x ₁(t)＝a ₁s(t)+n ₁zt)，x ₂(t)＝a ₂s(t-t ₁₂)+n ₂(t) （1）

In the following formula, α _iBe the attenuation coefficient of sound-source signal, s (t) is the acoustic target signal, x _i(t) voice signal that gathers for microphone, n _i(t) be the additional noise signal of sound source, τ _1,2Be two time delays that microphone picks up voice signal, i.e. time delay,

With the voice signal x that gathers _i(t), i=1,2 by Fourier transform, changes into frequency domain signal X by time domain _i(ω), its cross-power spectrum function is:

$G_{X_1{X}_2}\left(\mathrm{\&omega;}\right)=X_1\left(\mathrm{\&omega;}\right){X_2}^{*}\left(\mathrm{\&omega;}\right)---\left(2\right)$

Its cross correlation function is:

$R_{x_1{x}_2}\left(\mathrm{\&tau;}\right)=\underset{0}{\overset{\mathrm{\&pi;}}{\&Integral;}}{G}_{X_1{X}_2}\left(\mathrm{\&omega;}\right)e^{\mathrm{j\&omega;\&tau;}}\mathrm{d\&omega;}---\left(3\right)$

Carry out at last peak value and detect, the point of the horizontal ordinate that the peak value of cross correlation function is corresponding is exactly time delay value t ₂₁, using the same method to calculate time delay value t ₃₁And t ₄₁, the time delay value that finally draws between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁, t ₃₁, t ₄₁

(2) calculate the position angle A of acoustic target before minitype microphone array moves and the elevation angle E before minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

If Q is the acoustic target point, coordinate is Q (x, y, z), true origin O is r to the distance of acoustic target point Q, and OQ is projected as OQ ' XOY plane, definition OQ ' is α with the angle of X-axis, the angle of OQ and Z axis is β, supposes that S1 is a to the distance of true origin O, and then the coordinate of four microphones is respectively: S ₁=(a, 0,0), $S_2=(-a/2,\sqrt{3}a/\mathrm{2,0}),$ $S_3=(-a/2,-\sqrt{3}a/\mathrm{2,0}),$ $S_4=(\mathrm{0,0},\sqrt{2}a),$

Obtaining the time delay value that voice signal arrives between the moment of microphone S2, microphone S3 and microphone S4 and moment that voice signal arrives microphone S1 from above-mentioned (1) is respectively: t ₂₁, t ₃₁, t ₄₁,

At this moment the position angle formula that draws sound source is:

$\mathrm{\&alpha;}\&ap;\mathrm{arctsn}\sqrt{3}\frac{t_{31}-t_{21}}{t_{21}+t_{31}}---\left(4\right)$

The angle of the α that above-mentioned formula (4) calculates is not necessarily in the regulation azimuth coverage, because the problem of quadrant, the range of results that formula (4) Arctan calculates is that-90 degree are to 90 degree, and needed regulation position angle range of results is that-180 degree are to 180 degree, this just need to divide quadrant to process, via following position angle quadrant processing procedure, draw and for the first time measure the position angle A of acoustic target before minitype microphone array moves and be:

When result of calculation α＞0, and t ₃₁0 o'clock, position angle A=α,

When result of calculation α＞0, and t ₃₁＜0 o'clock, position angle A=-180+ α,

When result of calculation α＜0, and t ₂₁0 o'clock, position angle A=α,

When result of calculation α＜0, and t ₂₁＜0 o'clock, position angle A=180+ α,

At this moment the elevation angle formula that draws sound source is:

$\mathrm{\&beta;}\&ap;\mathrm{arccot}\frac{t_{21}+t_{31}-{3t}_{41}}{2\sqrt{2}\sqrt{t_{21}^2+t_{31}^2-t_{21}{t}_{31}}}---\left(5\right),$

Above-mentioned formula (5) calculates the angle of β not necessarily in the regulation elevation coverage, because the problem of quadrant, the range of results that formula (5) Arccot calculates is that-90 degree are to 90 degree, and the regulation elevation angle range of results that needs is that 0 degree is to 180 degree, according to the geometric model that calculates, here divide quadrant to process, via following elevation angle quadrant processing procedure, draw and measure the elevation angle E of acoustic target before minitype microphone array moves for the first time and be:

When result of calculation β＞0, elevation angle E=β,

When result of calculation β＜0, elevation angle E=180+ β,

Second step, mobile minitype microphone array

After the first step is finished, clockwise rotating χ-A degree by the mobile robot original place realizes minitype microphone array is clockwise rotated χ-A degree, 0 degree＜χ＜180 degree also is that the mobile robot dead ahead moves forward distance L with minitype microphone array along array orientation angle 0 degree direction again;

In the 3rd step, measure the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves

After second step operation is finished, on the position that after minitype microphone array moves, arrives, repeat operation and calculating with the first step, the result is,

(1) carrying out the time delay that each microphone is relative in the minitype microphone array by the time-delay calculation model in the host computer estimates

The time delay value that finally draws between microphone S2, microphone S3 and microphone S4 and the microphone S1 is respectively: t ₂₁, t ₃₁, t ₄₁

(2) calculate the position angle B of acoustic target after minitype microphone array moves and the elevation angle F after minitype microphone array moves by the calculating model of the position angle in the host computer and elevation angle computation model

Draw and for the second time measure the position angle B of acoustic target after minitype microphone array moves and be:

When result of calculation α＞0, and t ₃₁0 o'clock, position angle B=α,

When result of calculation α＞0, and t ₃₁＜0 o'clock, position angle B=-180+ α,

When result of calculation α＜0, and t ₂₁0 o'clock, position angle B=α,

When result of calculation α＜0, and t ₂₁＜0 o'clock, position angle B=180+ α,

Draw and for the second time measure the elevation angle F of acoustic target after minitype microphone array moves and be:

When result of calculation β＞0, elevation angle F=β,

When result of calculation β＜0, elevation angle F=180+ β,

In the 4th step, calculate acoustic target to the horizontal range of the central point of microphone array bottom surface

By calculating acoustic target to the horizontal range of the central point of microphone array bottom surface apart from computation model in the host computer, computing formula is:

d ₂＝L*sin(χ)/sin(180-χ-δ) （6）

d ₂Be the horizontal range of acoustic target to the central point of microphone array bottom surface;

In the 5th step, calculate acoustic target to the distance of the central point of minitype microphone array bottom surface

By calculating acoustic target to the distance of the central point of minitype microphone array bottom surface apart from computation model in the host computer, computing formula is:

D＝d ₂/sin(F) （7）

D is that acoustic target is to the distance of the central point of minitype microphone array bottom surface;

The 6th step, the demonstration output of three dimensions auditory localization data

By the peripheral hardware of computing machine, namely display shows or outputs to the elevation angle F, acoustic target of the position angle B that shows the output acoustic target on other computer, acoustic target to the horizontal range d of the central point of microphone array bottom surface by network interface card ₂With the distance D of acoustic target to the central point of minitype microphone array bottom surface, finish thus the three dimensions auditory localization.

2. described three dimensions sound localization method according to claim 1, it is characterized in that: the bottom surface circumradius of the positive tetrahedron of described minitype microphone array is 10 centimetres.

3. described three dimensions sound localization method according to claim 1, it is characterized in that: using software in the described host computer is matlab.

4. described three dimensions sound localization method according to claim 1, it is characterized in that: the scope of described L is 0.5～1.5m.

5. described three dimensions sound localization method according to claim 1, it is characterized in that: the scope of described χ is 45 degree～135 degree.

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