CN105607042A - Method for locating sound source through microphone array time delay estimation - Google Patents
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Abstract
The invention provides a method for locating a sound source through microphone array time delay estimation, comprising time delay estimation and sound source location. The method is characterized by comprising the following steps: first, the relative time difference for a sound source signal to arrive at microphone array elements in an array is estimated through an algorithm; and second, the distance difference for a sound source to arrive at the array elements is calculated according to the estimated time difference, and the location of the sound source is determined through a geometric algorithm or search based on the array topology.
Description
Technical field
The present invention relates to Computer signal process field, be specifically related to a kind of side that estimates localization of sound source by microphone array time delayMethod.
Background technology
Since the eighties in 20th century, microphone array signals treatment technology obtains swift and violent development, and at radar, sonar and logicalIn letter, be widely used. The thought of this Array Signal Processing was applied in voice signal processing afterwards. In the world by wheatGram wind array system comes from 1970 for the research of voice signal processing. 1976, Gabfid by radar and sonar fromAdaptation beam-forming technology directly applies to simple sound and obtains problem. 1985, U.S. AT&T/Bell laboratoryFlanagan adopts 21 microphones to form existing array, has realized obtaining of sound-source signal first by electronically controlled mode,This system adopts simple Beamforming Method, by calculating the energy of predetermined location, finds the direction with ceiling capacity.In the same year, the sound that the people such as Flanagan are applied to two-dimentional microphone array in large-scale room again picks up, to suppress reverberation and noiseOn the impact of sound-source signal. Due to the restriction of technology at that time, make this algorithm can't by means of Digital Signal Processing withThe mode of numeral realizes, and has mainly adopted analog device realization, and 1991, Kellermann was by means of Digital Signal Processing skillArt, has realized this algorithm by digital mode, has further improved the performance of algorithm, has reduced hardware cost, has improvedThe flexibility of system. Subsequently, microphone array system has been applied to many occasions, comprises video conference, speech recognition, saysWords people identification, automotive environment voice obtain, reverberation ambient sound picks up, auditory localization and auditory prosthesis etc. At present, based on wheatThe voice processing technology of gram wind array is just becoming a new study hotspot, but related application technology is also immature.
Summary of the invention
In view of the sound localization method of microphone array is with a wide range of applications and potential economic benefit, the present invention is intended to carryA kind of estimate localization of sound source for microphone array time delay method, comprises under speech recognition, strong noise environment to being applied inThe fields such as voice obtain, the minutes in large-scale place, sound detection and auditory prosthesis.
For achieving the above object, the present invention is by the following technical solutions:
Estimate a method for localization of sound source by microphone array time delay, comprise time delay estimation and auditory localization, it is characterized in that:First, estimate that by algorithm the relative time of microphone array element in sound-source signal arrival array is poor; Second step utilizes estimated timeThe poor range difference that calculates sound source and arrive each array element, then determines sound source position in conjunction with array topology with geometric algorithm or searchPut.
The concrete grammar that described time delay is estimated is: suppose to only have unique sound source, microphone array is classified the feelings of even linear array shape asCondition, has a sound-source signal s (k) to be positioned in the environment of far field, selecting first microphone array element is reference point, n battle arrayThe signal indication that unit received in the k moment is:
yn(k)＝αns(k-t-τn1)+vn(k)
＝αns[k-t-Fn(τ)]+vn(k)
＝xn(k)+vn(k)，n＝1，2，…，N
Wherein αn(n=1,2 ..., N) and be the decay of signal in communication process, it is worth between [0,1]; T represents letterNumber propagate into the propagation time between array element No. 1 from s (k); vn(k) be illustrated in the additive noise receiving in n array element;τ represent No. 1 microphone array element and the received signal time delay of No. 2 microphone array element poor; Fn(τ) n array element of function representationAnd the signal time delay between first array element.
The concrete grammar of described auditory localization is: determine Sounnd source direction angle and distance according to the geometrical relationship between sound source and arrayFrom.
The present invention can be applied to following field: video conference, the spokesman that auditory localization technology can be in video conference follows the tracks ofLocation; Robotics, utilizes ears Time Delay Model and cross-correlation operation to realize location and the tracking of robot to sound source; Make an uproarSound detection, in order better to control the noise in the engines such as automobile, motorcycle and large-scale apparatus, auditory localization technology is to sending outThe important method of motivation Performance Evaluation, big machinery stability test; Medical diagnosis and Medical Devices, in Medical Devices, soundSource location technology can be used for the analysis of diseased region, and great promotion impetus is played in the diagnosis of disease.
Brief description of the drawings
Fig. 1 is auditory localization schematic diagram of the present invention.
Detailed description of the invention
The sound localization method of estimating based on time delay is divided into two steps conventionally, and time delay is estimated and auditory localization. The present invention firstThe relative time of estimating microphone array element in sound-source signal arrival array by algorithm is poor; Second step utilizes poor counting estimated timeCalculate the range difference that sound source arrives each array element, then determine sound source position in conjunction with array topology with geometric algorithm or search.
1. time delay is estimated
The geometry of array is most important to auditory localization performance, according to the residing environment of microphone array, and the mould that time delay is estimatedType can be divided into ideal model and reverberation model. We arrive this microphone array element receiving only by directapath in microphoneThe model of the voice signal of array is called ideal model. Not only consider the signal that arrives by directapath, also consideration sound thisThe signal that send in source runs into the rear this model that indirectly arrives the signal of array of the reflection such as wall, desk and is called reverberation model. Due toThe quantity in the path of reverb signal has uncertainty, and its algorithm compared with ideal model of the algorithm complex based on reverberation model is multipleAssorted degree is relatively large, and the algorithm based on reverberation model is go the impact of matching interference and avoid unlike ideal model by Mathematical ModelingThe interference of indirect path signal, therefore the time delay estimation effect of the algorithm based on reverberation model is relatively good. However, in order to fallThe complexity of low algorithm, the present invention mainly studies the time delay estimation of microphone array with regard to ideal model.
Suppose to only have unique sound source, microphone array is classified the situation of even linear array shape as. In the environment of far field, have one to be positionedSound-source signal s (k), be reference point if we select first microphone array element, n array element received in the k moment soTo signal can be expressed as:
yn(k)＝αns(k-t-τn1)+vn(k)
＝αns[k-t-Fn(τ)]+vn(k)
＝xn(k)+vn(k)，n＝1，2，…，N
Wherein αn(n=1,2 ..., N) and be the decay of signal in communication process, it is worth between [0,1]. T represents letterNumber propagate into the propagation time between array element No. 1 from s (k). vn(k) be illustrated in the additive noise receiving in n array element.The noise signal of supposing noise and voice signal and other array element is uncorrelated mutually. τ (attention) represent No. 1 microphone array element withThe received signal time delay of No. 2 microphone array element is poor. Fn(τ) signal between n array element of function representation and first array elementTime delay. Here the microphone array model that hypothesis is used is the uniform linear array that is arranged in far field environment, so can obtain:
F1(τ)＝0，F2(τ)＝τ，Fn(τ)＝(n-1)τ，n＝2，…，N
In near field, signal arrives microphone array with spherical wave form, so FnIt is the nonlinear function of τ. At this moment FnBoth relevant with microphone array element spacing, and sound-source signal is had to very large dependence with respect to the position of array. For evenlyLinear array shape, FnFunction is known, the problem estimated in the hope of time delay be just equivalent to and estimate the problem of τ, estimates calculation by time delayMethod, falls into a trap and calculates from the multiple channel acousto tone signal of the limited frame that collects
2. auditory localization
Microphone array time delay just can be determined Sounnd source direction angle and distance according to the geometrical relationship between sound source and array after estimatingFrom, but can be subject to the impact of several factors in positioning precision, the principal element that wherein affects positioning precision be delay time estimation method andLocalization method. This technology adopts improved auditory localization algorithm, and sound source is regarded as to point sound source and supposed sound source at infinity,Wavefront is just perpendicular to corrugated so. As shown in Figure 1, wherein L is two to the time order and function that microphone A and B receive signalSpacing between microphone array element, c is sound spread speed in air, τABBe the time difference of sound source to two microphone namelyTime delay between array element, θ is the deflection of sound source.
Claims (3)
1. estimate a method for localization of sound source by microphone array time delay, comprise time delay estimation and auditory localization, its feature existsIn: first, estimate that by algorithm the relative time of microphone array element in sound-source signal arrival array is poor; Second step utilizes estimationTime difference calculates sound source and arrives the range difference of each array element, then determines sound in conjunction with geometric algorithm for array topology or searchSource position.
2. the method for estimating localization of sound source by microphone array time delay according to claim 1, is characterized in that when describedThe concrete grammar that prolongs estimation is: suppose to only have unique sound source, microphone array is classified the situation of even linear array shape as, far field ringIn border, have a sound-source signal s (k) to be positioned, selecting first microphone array element is reference point, and n array element is in the k momentThe signal indication receiving is:
yn(k)＝αns(k-t-τn1)+vn(k)
＝αns[k-t-Fn(τ)]+vn(k)
＝xn(k)+vn(k)，n＝1，2，…，N
Wherein αn(n=1,2 ..., N) and be the decay of signal in communication process, it is worth between [0,1]; T represents letterNumber propagate into the propagation time between array element No. 1 from s (k); vn(k) be illustrated in the additive noise receiving in n array element;τ represent No. 1 microphone array element and the received signal time delay of No. 2 microphone array element poor; Fn(τ) n array element of function representationAnd the signal time delay between first array element.
3. the method for estimating localization of sound source by microphone array time delay according to claim 1, is characterized in that described soundThe concrete grammar of location, source is: determine Sounnd source direction angle and distance according to the geometrical relationship between sound source and array.
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| CN107144820A (en) * | 2017-06-21 | 2017-09-08 | 歌尔股份有限公司 | Sound localization method and device |
| CN107820037A (en) * | 2016-09-14 | 2018-03-20 | 南京中兴新软件有限责任公司 | The methods, devices and systems of audio signal, image procossing |
| CN108398675A (en) * | 2018-03-01 | 2018-08-14 | 英华达（上海）科技有限公司 | Positioning system and localization method |
| CN109478366A (en) * | 2016-07-27 | 2019-03-15 | 罗伯特·博世有限公司 | For monitoring the scheme in the parking lot of automobile-use |
| WO2019080156A1 (en) * | 2017-10-24 | 2019-05-02 | 深圳市沃特沃德股份有限公司 | Robot moving method and device and robot |
| CN112540347A (en) * | 2020-11-17 | 2021-03-23 | 普联国际有限公司 | Method and device for judging distance of sound source, terminal equipment and storage medium |
| CN113419217A (en) * | 2021-06-03 | 2021-09-21 | 宁波大学 | Silent indoor multi-target positioning method based on microphone nonlinear characteristics |
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| CN109478366A (en) * | 2016-07-27 | 2019-03-15 | 罗伯特·博世有限公司 | For monitoring the scheme in the parking lot of automobile-use |
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| CN113419217A (en) * | 2021-06-03 | 2021-09-21 | 宁波大学 | Silent indoor multi-target positioning method based on microphone nonlinear characteristics |
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Application publication date: 20160525 |