CN108429998A - Source of sound localization method and system, sound box system localization method and sound box system - Google Patents
Source of sound localization method and system, sound box system localization method and sound box system Download PDFInfo
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- CN108429998A CN108429998A CN201810273075.5A CN201810273075A CN108429998A CN 108429998 A CN108429998 A CN 108429998A CN 201810273075 A CN201810273075 A CN 201810273075A CN 108429998 A CN108429998 A CN 108429998A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R3/00—Circuits for transducers, loudspeakers or microphones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2430/00—Signal processing covered by H04R, not provided for in its groups
Abstract
A kind of source of sound localization method of present invention offer and system, the method includes：It controls source of sound to be positioned and plays test audio signal, record the starting reproduction time of the test audio signal；Audio signal is acquired in preset reference point, according to the characteristic information of the test audio signal, the test audio signal is identified from the audio signal, and determine the arrival time of the test audio signal；According to the time difference of the starting reproduction time and arrival time of the test audio signal, the relative distance of the source of sound and reference point is calculated, the position of the source of sound is determined according to the location information of the relative distance and reference point.The above method and system overcome the problem of traditional technology judges the position of source of sound using propagation attenuation coefficient and leads to source of sound position inaccurate, have reached the technique effect that source of sound is accurately positioned, and the sound field reduction to carry out audio using source of sound provides quality assurance.
Description
Technical field
The present invention relates to Audiotechnica fields, are positioned more particularly to a kind of source of sound localization method and system, sound box system
Method and sound box system.
Background technology
With the development of Audiotechnica, requirement of the audio frequency apparatus to audio playback quality is higher and higher, to audio frequency apparatus
More stringent requirements are proposed for the accuracy of the positioning of source of sound.By taking sound box system as an example, the sound field reduction of audio is needed with speaker sound
Based on the accurate positionin in source, to the position inaccurate of source of sound, it can cause the sound field information played by the sound box system can not
Accurate reproduction.
Traditional technology by acquire the amplitude size of audio signal that source of sound is played and according to sound it is aerial
Propagation attenuation coefficient judges the position of source of sound, but the propagation attenuation coefficient of sound is easy by uncontrollable factors such as air humiditys
It influences, therefore source of sound can not be accurately positioned in this technology.
Invention content
Based on this, it is necessary to source of sound problem can not be accurately positioned for traditional technology, provide a kind of accurate source of sound positioning
Method.
A kind of source of sound localization method, including step：
It controls source of sound to be positioned and plays test audio signal, record the starting reproduction time of the test audio signal；
Audio signal is acquired in preset reference point, according to the characteristic information of the test audio signal, from the audio
The test audio signal is identified in signal, and determines the arrival time of the test audio signal；
According to the time difference of the starting reproduction time and arrival time of the test audio signal, the source of sound and ginseng are calculated
The relative distance of examination point determines the position of the source of sound according to the location information of the relative distance and reference point.
Above-mentioned source of sound localization method, by acquiring the audio signal that source of sound to be positioned plays in reference point, and according to test
The characteristic information of audio signal identifies test audio signal from collected audio signal, determines the arrival of test audio signal
Time calculates the phase of source of sound and reference point according to the starting reproduction time of the test audio signal with the time difference of arrival time
It adjusts the distance, so that it is determined that the position of source of sound.The method overcome traditional technologies to judge the position of source of sound using propagation attenuation coefficient
And the problem of leading to source of sound position inaccurate, reach the technique effect that source of sound is accurately positioned, to carry out audio using source of sound
Sound field reduction provides quality assurance.
In one embodiment, before controlling the step of source of sound to be positioned plays test audio signal, further include：
An initial testing audio signal is generated, obtains background noise signal, and extract the frequency of the background noise signal
Rate characteristic information；The frequency of background sound is removed from original audio signal according to the frequecy characteristic information of the background noise signal
Rate component obtains the test audio signal；
Or
An initial testing audio signal is generated, obtains background noise signal, and extract the frequency of the background noise signal
Rate characteristic information；Multigroup preselected audio letter is extracted in the frequency spectrum of the initial testing audio signal with preset frequency interval
Number, the frequecy characteristic of each group of preselected audio signal is compared with the frequecy characteristic of background noise signal, from preselected audio
Test audio signal is chosen in signal.
In one embodiment, the characteristic information according to the test audio signal, knows from the audio signal
The step of test audio signal, does not include：
The audio signal in preset time range is extracted as audio signal to be identified；
According to the characteristic information of the test audio signal, the testing audio is identified from the audio signal to be identified
Signal.
In one embodiment, the audio signal in the extraction preset time range is as audio signal to be identified
After step, further include：
The audio signal to be identified is filtered.
In one embodiment, the characteristic information according to the test audio signal, knows from the audio signal
The not described test audio signal, and the step of determining the arrival time of the test audio signal includes：
The time domain waveform feature of the test audio signal is extracted, and time domain sliding is generated according to the time domain waveform feature
Window；
Using the time domain sliding window by the time domain waveform feature of test audio signal the audio signal time domain
It is matched in waveform, identify test audio signal and obtains the time coordinate of the test audio signal；
According to time coordinate of the test audio signal in the time domain waveform of the audio signal, the test is determined
The arrival time of audio signal.
In one embodiment, the characteristic information according to the test audio signal, knows from the audio signal
The not described test audio signal, and the step of determining the arrival time of the test audio signal includes：
The test audio signal is subjected to Fourier transformation, extracts the frequecy characteristic of the test audio signal；
The frequecy characteristic of the test audio signal is matched with the frequecy characteristic of audio signal, is believed from the audio
Test audio signal is identified in number and obtains the time coordinate of the test audio signal；
According to time coordinate of the test audio signal in the time domain waveform of the audio signal, the test is determined
The arrival time of audio signal.
In one embodiment, described the step of controlling source of sound broadcasting test audio signal to be positioned, includes：
It controls source of sound to be positioned and test audio signal is repeatedly played according to preset time interval.
A kind of source of sound positioning system is also provided, which includes：
Audio playing module plays test audio signal for controlling source of sound to be positioned, records the testing audio letter
Number starting reproduction time；
Audio collection module, for acquiring audio signal in preset reference point, according to the spy of the test audio signal
Reference ceases, and the test audio signal is identified from the audio signal, and determine the arrival time of the test audio signal；
Source of sound locating module, for the time for originating reproduction time and arrival time according to the test audio signal
Difference calculates the relative distance of the source of sound and reference point, according to the determination of the location information of the relative distance and reference point
The position of source of sound.
Above-mentioned source of sound positioning system controls source of sound to be positioned using audio playing module and plays test audio signal, leads to
It crosses audio collection module and acquires the test audio signal, when source of sound locating module is played according to the starting of the test audio signal
Between can determine the position of source of sound with arrival time.It is fixed to source of sound that traditional technology is overcome using the positioning of system progress source of sound
The inaccurate problem in position, has reached the technique effect that source of sound is accurately positioned.
In addition, it is necessary to for the traditional technology problem low to sound box system positional accuracy, a kind of sound box system is provided
Localization method.
A kind of sound box system localization method, including：
The relative distance between the speaker two-by-two of sound box system is determined according to source of sound localization method as described above；
Two-dimensional plane coordinate system is established by coordinate origin of the first speaker, according between each speaker of the sound box system
Relative distance calculate the two-dimensional coordinate of remaining speaker, determine the position location of the sound box system.
Above-mentioned sound box system localization method can determine each in sound box system by the relative position between each speaker
The two-dimensional space coordinate of speaker, to position the position of the sound box system.
In addition, there is a need to for the traditional technology problem low to sound box system positional accuracy, a kind of speaker system is provided
System.
A kind of sound box system, including：Multiple speakers and Speaker Controller, each speaker are separately connected the speaker control
Device；
Each speaker is provided with audio collection device, for playing test audio signal；
The audio collection device is used to acquire the test audio signal of other speakers；
The Speaker Controller is configured to execute source of sound localization method as described above, determines the position of other speakers, and
The position location of each speaker is determined to the position location of other speakers according to each speaker.
Above-mentioned sound box system acquires the test audio signal played by other speakers, speaker control using audio collection device
Device processed can identify test audio signal from collected audio signal so that it is determined that other speakers position location, and according to
Each speaker determines the position location of other speakers the position location of each speaker, reaches the effect positioned to sound box system
Fruit.
A kind of computer equipment, including memory, processor and be stored on the memory and can be in the processing
The computer program run on device, the processor realize such as above-mentioned source of sound localization method or sound when executing the computer program
Case system positioning method.
Above computer equipment overcomes the problem of traditional technology is to source of sound position inaccurate, has reached accurate positionin sound
The technique effect in source.
A kind of computer storage media, is stored thereon with computer program, is realized when which is executed by processor as above
State source of sound localization method or sound box system localization method.
Above computer storage medium, computer program overcome the problem of traditional technology is to source of sound position inaccurate,
The technique effect that source of sound is accurately positioned is reached.
Description of the drawings
Fig. 1 is the flow chart of the source of sound localization method in one embodiment of the present of invention；
Fig. 2 is the speaker position view in one embodiment of the present of invention；
Fig. 3 is the structural schematic diagram of the source of sound positioning system in one embodiment of the present of invention；
Fig. 4 is the structural schematic diagram of the sound box system in one embodiment of the present of invention.
Specific implementation mode
The specific implementation mode of the source of sound localization method of the present invention is described in detail below in conjunction with the accompanying drawings.
In one embodiment, a kind of source of sound localization method is provided, described in reference diagram 1, Fig. 1 is the implementation of the present invention
The flow chart of source of sound localization method in example, includes the following steps：
Step S102 controls source of sound to be positioned and plays test audio signal, records the starting of the test audio signal
Reproduction time.
Wherein, source of sound to be positioned may include the audio-frequence player devices such as the speaker with loud speaker.
Specifically, can play out pre-set test audio signal by source of sound to be positioned, the sound is recorded
Source plays the starting reproduction time of test audio signal.
In one embodiment, source of sound to be positioned can be controlled and testing audio is repeatedly played according to preset time interval
Signal.Due to the play command from test audio signal be issued to source of sound playing task during may exist it is uncontrollable
Delay time, by control source of sound carry out test audio signal multiple broadcasting, can according to two sections of test audio signals it
Between the delay of preset time interval reduce the error that above-mentioned uncontrollable delay time brings, improve the standard positioned to source of sound
True property.
In one embodiment, before the control of step S102 source of sound to be positioned plays test audio signal, may be used also
To include the following steps：
An initial testing audio signal is generated, obtains background noise signal, and extract the frequency of the background noise signal
Rate characteristic information；The frequency of background sound is removed from original audio signal according to the frequecy characteristic information of the background noise signal
Rate component obtains the test audio signal.
Due to that may include many mixed and disorderly noises in environment, before being positioned to source of sound, by first choosing
Suitable test audio signal, such as can acoustically sound more uncommon voice signal, ambient noise and white noise
The less sound wave signal etc. of content in sound can especially choose some audio signal conducts with particular frequencies ingredient
Test audio signal, particular frequencies generally referred to as acoustically sound more uncommon frequency.
As embodiment, an initial testing audio signal can be generated in advance, obtain the voice signal in environmental background,
Fourier transformation is carried out to obtain the frequency spectrum of environmental background voice signal to the voice signal, background sound is extracted from frequency spectrum
The frequecy characteristic information of sound signal removes the frequency component in background noise signal from the frequency spectrum of original audio signal, from
And obtain test audio signal.
It is used for the positioning of source of sound by the test audio signal for obtaining this method, environmental noise pair can be efficiently reduced
The accuracy of source of sound positioning influences.
In another embodiment, before the control of step S102 source of sound to be positioned plays test audio signal,
It can also include the following steps：
An initial testing audio signal is generated, obtains background noise signal, and extract the frequency of the background noise signal
Rate characteristic information；Multigroup preselected audio letter is extracted in the frequency spectrum of the initial testing audio signal with preset frequency interval
Number, the frequecy characteristic of each group of preselected audio signal is compared with the frequecy characteristic of background noise signal, from preselected audio
Test audio signal is chosen in signal.
The multigroup preselected audio letter extracted in the frequency spectrum of the initial testing audio signal according to preset frequency interval
Number all there is certain frequecy characteristic, need to screen these preselected audio signals, each group of preselected audio can be believed
Number frequecy characteristic be compared with the frequecy characteristic of background noise signal, such as can be from every group of preselected audio signal
It filters out frequency and occurs the lower audio signal of ratio in the frequency spectrum of background noise signal as test audio signal.
As embodiment, an initial testing audio signal can be generated in advance, according to preset frequency interval initial
The frequency being suitble to from low to high or from height to ground cyclic search in the frequency spectrum of test audio signal, often when one frequency of search simultaneously
Judge 2, whether 3,4, the 8 frequent rates of equimultiple meet preset alternative condition, if all met it may be considered that the frequency also accords with
The preset alternative condition is closed, can be compared the class frequency with environmental frequencies after selecting multigroup Candidate Frequency, it should
The score for the lower acquisition of ratio that frequency occurs in environmental frequencies is higher, obtains a set of frequencies of highest scoring as test tone
Frequency signal.
It is used for the positioning of source of sound by the test audio signal for obtaining this method, environmental noise pair can be efficiently reduced
The accuracy of source of sound positioning influences.
The initial testing audio signal can be that low-frequency component content is less and do not wrap in one of the embodiments,
The audio signal of the frequency content containing 440Hz.
Wherein, since bass has good penetrability and reflection characteristic, decay in the environment less, Ambient it is low
Frequency signal may repeatedly enter microphone, and the inaccuracy for causing source of sound to position, the sound of 440Hz is commonly used for various prompts
Sound, it is equally possible to the inaccuracy that source of sound can be caused to position, therefore use low-frequency component content less and do not include 440Hz frequencies
The audio signal of ingredient can improve the accuracy of source of sound positioning as initial testing audio signal.
Step S104 acquires audio signal in preset reference point, according to the characteristic information of the test audio signal, from
The test audio signal is identified in the audio signal, and determines the arrival time of the test audio signal.
There can be the equipment of audio pickup ability to be acquired audio signal by microphone etc., in preset acquisition
The collected audio signal of point can include the noise signal in test audio signal and environment, it is therefore desirable to from collecting
Audio signal in identify test audio signal.
Specifically, audio signal can be acquired in preset reference point, according to the characteristic information of test audio signal, then
Test audio signal is identified in the audio signal of noise signal from comprising test audio signal and environment, and is determined and surveyed
Try the arrival time of audio signal.Wherein, arrival time can refer to test audio signal after source of sound broadcasting, be reached by propagating
The time of reference point；The characteristic information of test audio signal may include temporal signatures information and frequency domain character information etc..
The one or more microphones acquisition sound for being placed on preset reference point can be utilized in one of the embodiments,
Frequency signal.Audio signal is acquired using multiple microphones, the audio-frequency information of source of sound can be obtained from multiple angles, it is more to obtain
Sound source position information more accurately position source of sound.
In one embodiment, the audio signal in preset time range can be extracted as audio signal to be identified；Root
According to the characteristic information of the test audio signal, the test audio signal is identified from the audio signal to be identified.
Due to including not only test audio signal in the collected audio signal in collection point, further comprises other sound and make an uproar
Sound, therefore can first extract the audio signal in preset time range as audio signal to be identified, then from described to be identified
Test audio signal is identified in audio signal, is conducive to the efficiency and accuracy rate that improve source of sound positioning.
Distance is estimated according to the spread speed numerical value of the sound of setting and source of sound in one of the embodiments, it can
To preset a time range, according to the preset time range, sound to be identified is extracted from collected audio signal
Frequency signal.Under normal circumstances, the aerial spread speed of sound is 340 meter per seconds, and the actual numerical value of the spread speed of sound can
To be adaptively adjusted according to the case where environment, for example, can be considered air pressure, humidity and wind speed etc. of source of sound ambient enviroment because
Element is adjusted the numerical value of the spread speed of the sound of setting.
In the present embodiment, source of sound the estimating apart from preset reference point of source of sound estimated distance and can refer to be positioned
Position range, such as can be according to the atmospheric reference impersonal language size of source of sound or source of sound to the distance range of source of sound and reference point
It is estimated, 5 meters etc. is not exceeded to estimate source of sound at a distance from reference point.Using this method, it is fixed to be conducive to raising source of sound
The efficiency and accuracy rate of position.
In one embodiment, the step of audio signal in preset time range is as audio signal to be identified is being extracted
Later, the audio signal to be identified can be filtered.
Specifically, can be treated according to the playing sequence of test audio signal and the frequecy characteristic of test audio signal
Identification audio signal is filtered accordingly, for example, being filtered to the signal using specific filter module；It should
Bandpass filtering or smooth filtering method, such as 7 smooth filtering methods may be used to audio to be identified in specific filter module
Signal is filtered.
The time domain waveform that test audio signal can be extracted from test audio signal in one of the embodiments, is special
Sign, time domain sliding window can be generated according to the time domain waveform feature；Using the time domain sliding window by test audio signal
Time domain waveform feature is matched in the time domain waveform of the audio signal, can be identified from the time domain waveform of audio signal
Go out test audio signal, and the time coordinate of the test audio signal can be obtained；Existed according to the test audio signal
Time coordinate in the time domain waveform of the audio signal can determine the arrival time of the test audio signal.Using this
Kind scheme can search identifies test audio signal from the time domain waveform of audio signal in the time domain, so that it is determined that testing audio
Arrival time, for be accurately positioned source of sound basis is provided.
In addition, by the way that the method for search identification test audio signal is unlimited from the time domain waveform of audio signal in the time domain
Can also include the first difference method etc. in time domain in the matched method of sliding window in above-mentioned time domain.
In one embodiment, can the test audio signal be subjected to Fourier transformation, obtains test audio signal
Frequency spectrum, the frequecy characteristic of the test audio signal, such as the energy etc. of assigned frequency component can be extracted from the frequency spectrum；
Can also audio signal be subjected to Fourier transformation and extract corresponding frequecy characteristic, the frequency of the test audio signal is special
Sign is matched with the frequecy characteristic of audio signal, and test audio signal can be identified from the audio signal and is obtained described
The time coordinate of test audio signal；It is sat according to time of the test audio signal in the time domain waveform of the audio signal
Mark, determines the arrival time of the test audio signal.
Using this scheme can search identifies test audio signal from the time domain waveform of audio signal in a frequency domain, from
And determine the arrival time of testing audio, provide basis for source of sound is accurately positioned.
Step S106 calculates institute according to the time difference of the starting reproduction time and arrival time of the test audio signal
The relative distance for stating source of sound and reference point determines the position of the source of sound according to the location information of the relative distance and reference point
It sets.
Wherein, because the position of reference point is pre-set, the location information of reference point is also that can obtain in advance
Know, the location information of reference point can refer to location information of the reference point relative to designated position, which can make
For the coordinate origin of a space coordinates, correspondingly, reference point can refer to reference relative to the location information of designated position
Coordinate information of the point in the space coordinates.
Specifically, according to the time difference of the starting reproduction time and arrival time of the test audio signal, can obtain
Test audio signal travels to the reference point required propagation time from source of sound, can according to sound air spread speed with
The relative distance of source of sound and reference point can be calculated in the product in propagation time, according to the relative distance and reference point
Location information, it may be determined that the position of source of sound.
Above-mentioned source of sound localization method, by acquiring the audio signal that source of sound to be positioned plays in reference point, and according to test
The characteristic information of audio signal identifies test audio signal from collected audio signal, determines the arrival of test audio signal
Time calculates the phase of source of sound and reference point according to the starting reproduction time of the test audio signal with the time difference of arrival time
It adjusts the distance, so that it is determined that the position of source of sound.The method overcome traditional technologies to judge the position of source of sound using propagation attenuation coefficient
And the problem of leading to source of sound position inaccurate, reach the technique effect that source of sound is accurately positioned, to carry out audio using source of sound
Sound field reduction provides quality assurance.
In order to be more clear technical scheme of the present invention, the application of the source of sound localization method is illustrated below by embodiment
Example.
In application example, source of sound localization method is applied to the positioning of sound box system, which may include more
A speaker utilizes the microphone array for one or more microphone composition being respectively configured on the designated position of each speaker
Acquire the test audio signal that speaker source of sound to be positioned plays, it may be determined that the relative position between each speaker, by speaker
System is positioned, specific as follows to the localization method of speaker：
s1：The audio that each speaker in multiple speakers plays in order one section of particular frequencies is controlled, wherein a sound
When case plays audio, the acquisition of audio is carried out using the microphone array being pre-configured on remaining speaker.
Wherein, particular frequencies described herein, which can refer to, acoustically sounds and compares uncommon, ambient noise and white noise
The less sound waveform of middle content, for example, some particular frequencies combination.The each speaker of instruction for playing audio can be held
For row one to repeatedly, it is that can judge the time by the delay of the time interval between two section audios to execute multiple benefit, is reduced
Requirement to hardware, hardware here can refer to controlling the hardware device of speaker source of sound playing audio signal, such as computer
Deng.
s2：The waveform of test audio signal is identified from collected audio signal.
Can utilize test audio signal temporal signatures information or frequency domain character information to the wave of test audio signal
Shape is identified, and the first difference method in time domain or the sliding window matching in time domain may be used in specific recognition methods；When
On domain then audio signal is switched to frequency domain and analyzed by sliding window, for example, analysis specific frequency energy etc..
s3：Calculate microphone or microphone array to source of sound to be positioned relative distance.
Specifically, after the waveform of identification test audio signal, test audio signal can be obtained and reach microphone or wheat
The time difference that the time of gram wind array and the starting of test audio signal play, the test audio signal can be then calculated in sky
Propagation time in gas finds out the sound field center of speaker to the distance of other microphones.
s4：Solve the relative distance between each speaker in sound box system.
By taking four speakers as an example, it is assumed that speaker is respectively labeled as A, B, C, D etc., the specified microphone of that A speaker to B speakers
Line be just that the distance of microphone is specified at the sound field center of A speakers to this, can further according to B speakers specified microphone to B
The location information at the sound field center of speaker, obtain A speakers center to B speakers center relative distance.
It, can be with one of ordinary skill in the art will appreciate that by carrying out similar solution procedure to each speaker
Obtain the relative position relation two-by-two between each speaker in the sound box system.Further, by repeatedly measuring sound two-by-two
Relative distance between case can recycle the method for taking mean value to determine the relative distance of two speakers, obtain as AB, AC, BC,
AD, BD, CD etc..
In general, after being positioned to each speaker of sound box system, according to the relative position relation of each speaker,
A speaker can be chosen as speaker is referred to, the position coordinates that each speaker refers to speaker herein are calculated, for example, can choose
The speaker at distance closest to center of putting, which is used as, refers to speaker.
s5：Find out the speaker closest to center of putting.
Each speaker of the sound box system is obtained by above procedure to the relative position relation of other speakers, at this time
The distance of other speakers such as A speakers to B speakers, C speakers, D speakers can be added up, be stored in SumA variables, method is also according to this
Can obtain SumB, SumC, SumD it is equidistant and.Then by traversing all distances and obtain the minimum value of distance sum, such as
The minimum value can be SumC, wherein the meaning of the minimum value is distance and minimum of the C speakers apart from remaining speaker, that is,
"center" of the speaker closest to placement position.Choosing in this way can cause with reference to speaker to avoid environmental echoes in this way
Erroneous matching.
s6：Rectangular coordinate system is established using C speakers as reference point, calculates the spatial position coordinate of each speaker.
By taking right-handed coordinate system as an example, rectangular coordinate system origin can be arranged in the sound field center of speaker, Z axis and loud speaker
Main shaft overlaps.Several specific method for solving are given below：
First method：Since microphone m1, m2, m3 etc. of A speakers can pass through position in the coordinate system of C speakers
The form of coordinate is expressed, such as with (Xm1, Ym1, Zm1) component of the description microphone 1 on XYZ coordinate.Cm1=Am1T,Cm1
Indicate m1Expression of the point under the coordinate system of C speakers,Am1T indicates the m under the coordinate system of A speakers1Point (Am1) it is multiplied by projection square
Battle array T, remaining microphone can in this way be expressed for example：Cm2=Am2T、Cm3=Am3T etc..According to above-mentioned
Expression formula can find out the transformational relation T between the coordinate system of two speakers by solving equation group.Utilize the transformational relation
The coordinate system of A speakers and the coordinate system relationship of C speakers can be found out, determines that three dimensions of the A speakers under C coordinate systems is sat
Mark, so as to find out the three dimensional space coordinate of other speakers.
Second method：In the case that four speakers A, B, C, D and speaker two-by-two between distance known to, can set with
A speakers establish reference frame, and the sound field centers of A speakers is origin, the sound field center of B speakers in the x-axis of reference frame,
The sound field center of C speakers can determine a plane jointly with the sound field center of AB speakers, and the coordinate of A speakers is (0,0,0), B
The coordinate of speaker is (B, 0,0), and wherein B refers to the distance between AB speakers, and the coordinate of C speakers is (bcos ∠ BAC, 0 ,-bsin ∠
BAC).Now determine that the coordinate of tri- speakers of ABC asks the seat calibration method of D speakers to be：Know D speakers to A speakers distance, that
The position of D speakers can be that radius is on the spherical surface of AD distances centered on origin, and using spherical formula, we obtain D speakers
Coordinate equationX, y, z is the possible coordinate value of D speakers, R in formula1For radius.So D
Speaker is also to obtain it is known that it is center of circle BD as the spherical surface of radius that so the possible position of D speakers, which is using B speakers, at a distance from B speakers
To equationD speakers can be obtained accordingly with respect to C speakers
Equation isSolving equation group can
To obtain the coordinate of D points, the space coordinate of other speakers can be found out accordingly.
The third method can be using four speakers as 4 in plane if sound box system has tetra- speakers of A, B, C, D
Point is positioned to have obtained the distance between speaker AB, AC, AD, BC, BD and CD two-by-two to speaker.Here it is divided into two kinds of situations
It is solved, respectively four points are not arranged on the same straight line on same straight line with four points.
Specifically, two points with other points not point-blank are found in four points, for example test A, B point is
No conllinear with C points, it is on the straight line that AB is determined or outside straight line that C points can have two kinds of relationships with AB points in the plane.If C points
Outside the straight line that AB points determine, ABC will form a triangle, using three frontier juncture systems of triangle, can verify ABC whether be
Triangle.If it is determined that ABC, ABD can be triangle, then determining that AB points meet condition (with other points not same
On straight line), if A, B point are unsatisfactory for that A, C point and A, D point can be continued search for (can having filtered out with use condition after tested
Cross), if all the points are all unsatisfactory for condition stub all the points all point-blank, two points and other otherwise will be obtained
Point is not conllinear.
For situation one：Coordinate (4 points of conllinear situations) is sought because all point-blank, all the points are arranged all in all the points
In the plane of xy compositions and all the points are all in x-axis, and corresponding y-coordinate is 0；
1. recycling more all distances, longest distance (for example obtaining AD) is found out.
2. obtaining longest distance determines that an endpoint is origin, if the x-axis coordinate of A points, setting A points is 0.
3. take all the points at a distance from A points, such as AB, AC, AD, according to A point relative position relations, it may be determined that B points sit
Be designated as the distance of AB, other point can with and so on.
For situation two：Seek coordinate (4 points not conllinear)；
It is determined that 2 points of A, B be not conllinear with other points according to above-mentioned steps.
1. A point coordinates (0,0) is arranged, B point coordinates (AB, 0), it is origin, coordinate system of the B points in x-axis to obtain A points.
2. seeking C point coordinates.According to C points and A, B point composition triangle is learnt above, it is if the corresponding length of side of C points is c angles
C (it is understood that C here is not construed as C points, C is expressed as the mark of an angle), then according to cosine formula
CosC=(a2+b2-c2)/2ab can find out angle C.It can show that projection i.e. x of the C points on x and y-axis, y-coordinate are according to angle C
C*cosC and c*sinC.
3. repeating 2. to determine other coordinates put.
It should be noted that being assumed that in a determining rectangular coordinate system by above-mentioned solution procedure, in addition
The case where, ratio from right-handed coordinate system switched to left-handed coordinate system (direction of one of reference axis is opposite), and result may still may be used
To meet equation.
Specifically, refering to what is shown in Fig. 2, Fig. 2 is the speaker position view in one embodiment of the present of invention, as schemed institute
Show, it is assumed that the sound box system includes tri- speakers of A, B and C, and it is all 3 meters to obtain the distance of three speakers between any two
Distance, then obtaining two kinds of situations that position coordinates can be as shown in Figure 2.
In this case, the direction that can choose reference axis according to actual needs here reaches the seat of sound box system
Parameter is corresponding with actual conditions, for example, can according to referential matter to speaker AB be A speakers in left side, B speakers on right side etc.
Information carries out the selection of reference axis, user can also be supplied to voluntarily to select the speaker location information under different coordinates.
s7：It uses and decodes.
In general, after the position coordinates that each speaker of sound box system is determined, the sound after positioning can also be utilized
Case system plays audio, the audio herein referred to may include the music etc. of film, and wherein the music of film can have around vertical
Body sound or more advanced audio.
Specifically, can be according to the sound channel phase of film or music, the position coordinates of each speaker and the reference of setting
Position plays audio after being adjusted to the phase of sound channel.
It can allow the users such as moviegoer, enthusiast can be at any time according to certainly using such sound box system location technology
Oneself equipment situation arranges the playing environment of oneself, for example has 4 sound equipments, still wants to make 5.1 or 7.1 or higher sound and broadcast
Environment is put, several new speakers are directly loadable into.And speaker feels corresponding the output phase figure number at the sound according to calculated position relationship, and
Phase calibration.
With the development of science and technology have the film of bigger sound field, recording, Sound Rendering Technology will high speed development, play
Equipment should allow have more extended methods, can have more phases be directed toward (past sound technique include from monophonic,
To left and right acoustic channels (stereo), all around (surround sound), will have more rich upper and lower directions later), this scheme can will
Multiple speakers composition has stronger expressive force in a sound system, to film, VR game, music.
In one embodiment, the present invention also provides a kind of source of sound positioning systems, described in reference diagram 3, and Fig. 3 is of the invention
The structural schematic diagram of source of sound positioning system in one embodiment, the source of sound positioning system may include：
Audio playing module 102 plays test audio signal for controlling source of sound to be positioned, records the testing audio
The starting reproduction time of signal；
Audio collection module 104 acquires audio signal, according to the feature of the test audio signal in preset reference point
Information identifies the test audio signal from the audio signal, and determines the arrival time of the test audio signal；
Source of sound locating module 106, for according to the test audio signal starting reproduction time and arrival time when
Between it is poor, calculate the relative distance of the source of sound and reference point, institute determined according to the location information of the relative distance and reference point
State the position of source of sound.
Above-mentioned source of sound positioning system controls source of sound to be positioned using audio playing module 102 and plays test audio signal,
The test audio signal is acquired by audio collection module 104, source of sound locating module 106 rises according to the test audio signal
Beginning reproduction time can determine the position of source of sound with arrival time.The positioning that source of sound is carried out using the system overcomes traditional technology
The problem of to source of sound position inaccurate, has reached the technique effect that source of sound is accurately positioned.
The source of sound positioning system of the present invention and the source of sound localization method of the present invention correspond, in above-mentioned source of sound localization method
Embodiment illustrate technical characteristic and advantage suitable for the embodiment of source of sound positioning system, hereby give notice that.
The present invention also provides a kind of sound box system localization methods, include the following steps：
Between the speaker two-by-two for determining sound box system according to the source of sound localization method in any one embodiment as described above
Relative distance；
Two-dimensional plane coordinate system is established by coordinate origin of the first speaker, according between each speaker of the sound box system
Relative distance calculate the two-dimensional coordinate of remaining speaker, determine the position location of the sound box system.
It, can be fixed according to the source of sound in any one embodiment as described above since sound box system may include multiple speakers
Position method obtains the relative distance between the speaker two-by-two of sound box system, since the sound box system may include multiple speakers,
Two dimensional surface rectangular coordinate system can be established using the first speaker as coordinate origin, according between each speaker of sound box system
Relative distance can calculate the two-dimensional space coordinate of remaining speaker, and the two-dimensional space coordinate for obtaining each speaker determines the speaker
The position location of system.
It can after the step of establishing two-dimensional plane coordinate system as coordinate origin using the first speaker as one embodiment
Being arranged the first reference axis of the two-dimensional plane coordinate system on the line of the first speaker and the second speaker, according to the second sound
The relative distance of case and the first speaker obtains the two-dimensional coordinate of the second speaker；According to remaining speaker respectively with the first speaker and second
The relative distance of speaker can calculate the two-dimensional space coordinate of remaining speaker, and the two-dimensional space coordinate for obtaining each speaker determines
The position location of the speaker.
As another embodiment, the step of two-dimensional plane coordinate system is established as coordinate origin using the first speaker it
Afterwards, can by the first reference axis of the two-dimensional plane coordinate system be arranged each speaker institute on straight line, according to the first speaker
The two-dimensional coordinate of remaining speaker is obtained with the relative distance of remaining speaker, determines the position location of the sound box system.
Above-mentioned sound box system localization method can determine each in sound box system by the relative position between each speaker
The two-dimensional space coordinate of speaker, to position the position of the sound box system.
Described in reference diagram 4 the present invention also provides a kind of sound box system, Fig. 4 is the speaker in one embodiment of the present of invention
The structural schematic diagram of system, the sound box system may include multiple speakers and Speaker Controller, and each speaker is separately connected institute
State Speaker Controller；
Each speaker is provided with audio collection device, for playing test audio signal；
The audio collection device is used to acquire the test audio signal of other speakers；
The Speaker Controller is configured to execute source of sound localization method as described above, determines the position of other speakers, and
The position location of each speaker is determined to the position location of other speakers according to each speaker.
By taking the sound box system of three speakers composition as an example, sound box system may include the first speaker, the second speaker and third
Speaker, each speaker are connect with Speaker Controller respectively, and audio collection device, the audio collection are correspondingly configured on each speaker
Device includes that the first audio collection device, the second audio collection device and third audio collection device, the Speaker Controller are configurable to
Source of sound localization method as described above is executed, each speaker is controlled successively and plays test audio signal, it may be determined that each speaker
Position, and the position location of each speaker is determined according to each speaker to the position location of other speakers.
Above-mentioned sound box system acquires the test audio signal played by other speakers, speaker control using audio collection device
Device processed can identify test audio signal from collected audio signal so that it is determined that other speakers position location, and according to
Each speaker determines the position location of other speakers the position location of each speaker, reaches the effect positioned to sound box system
Fruit.
Based on example as described above, a kind of computer equipment is also provided in one embodiment, the computer equipment packet
The computer program that includes memory, processor and storage on a memory and can run on a processor, wherein processor executes
It is realized such as any one source of sound localization method in the respective embodiments described above when described program.
One of ordinary skill in the art will appreciate that realizing in any one source of sound localization method in the various embodiments described above
All or part of flow, be that relevant hardware can be instructed to complete by computer program, the program can store
In a non-volatile computer read/write memory medium, in the embodiment of the present invention, which can be stored in department of computer science
It in the storage medium of system, and is executed by least one of computer system processor, to realize including as above-mentioned source of sound is fixed
The flow of the embodiment of position method.Wherein, the storage medium can be magnetic disc, CD, read-only memory (Read-
Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Above computer equipment overcomes the problem of traditional technology is to source of sound position inaccurate, has reached accurate positionin sound
The technique effect in source.
Accordingly, a kind of computer readable storage medium is also provided in one embodiment, is stored thereon with computer program,
Wherein, it is realized such as any one source of sound localization method in the respective embodiments described above when which is executed by processor.
Above computer storage medium, computer program overcome the problem of traditional technology is to source of sound position inaccurate,
The technique effect that source of sound is accurately positioned is reached.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of source of sound localization method, which is characterized in that including step：
It controls source of sound to be positioned and plays test audio signal, record the starting reproduction time of the test audio signal；
Audio signal is acquired in preset reference point, according to the characteristic information of the test audio signal, from the audio signal
The middle identification test audio signal, and determine the arrival time of the test audio signal；
According to the time difference of the starting reproduction time and arrival time of the test audio signal, the source of sound and reference point are calculated
Relative distance, the position of the source of sound is determined according to the location information of the relative distance and reference point.
2. source of sound localization method according to claim 1, which is characterized in that control source of sound to be positioned and play testing audio
Before the step of signal, further include：
An initial testing audio signal is generated, background noise signal is obtained, and the frequency for extracting the background noise signal is special
Reference ceases；The frequency point of background sound is removed from original audio signal according to the frequecy characteristic information of the background noise signal
Amount, obtains the test audio signal；
Or
An initial testing audio signal is generated, background noise signal is obtained, and the frequency for extracting the background noise signal is special
Reference ceases；Multigroup preselected audio signal is extracted in the frequency spectrum of the initial testing audio signal with preset frequency interval, it will
The frequecy characteristic of each group of preselected audio signal is compared with the frequecy characteristic of background noise signal, from preselected audio signal
Choose test audio signal.
3. source of sound localization method according to claim 1, which is characterized in that the spy according to the test audio signal
Reference ceases, and the step of identifying the test audio signal from the audio signal includes：
The audio signal in preset time range is extracted as audio signal to be identified；
According to the characteristic information of the test audio signal, the testing audio letter is identified from the audio signal to be identified
Number.
4. source of sound localization method according to claim 3, which is characterized in that the sound in the extraction preset time range
After the step of frequency signal is as audio signal to be identified, further include：
The audio signal to be identified is filtered.
5. source of sound localization method according to claim 1, which is characterized in that the spy according to the test audio signal
Reference ceases, and the test audio signal is identified from the audio signal, and determine the arrival time of the test audio signal
The step of include：
The time domain waveform feature of the test audio signal is extracted, and time domain sliding window is generated according to the time domain waveform feature
Mouthful；
Using the time domain sliding window by the time domain waveform feature of test audio signal the audio signal time domain waveform
In matched, identification test audio signal simultaneously obtain the time coordinate of the test audio signal；
According to time coordinate of the test audio signal in the time domain waveform of the audio signal, the testing audio is determined
The arrival time of signal.
6. source of sound localization method according to claim 1, which is characterized in that the spy according to the test audio signal
Reference ceases, and the test audio signal is identified from the audio signal, and determine the arrival time of the test audio signal
The step of include：
The test audio signal is subjected to Fourier transformation, extracts the frequecy characteristic of the test audio signal；
The frequecy characteristic of the test audio signal is matched with the frequecy characteristic of audio signal, from the audio signal
Identification test audio signal simultaneously obtains the time coordinate of the test audio signal；
According to time coordinate of the test audio signal in the time domain waveform of the audio signal, the testing audio is determined
The arrival time of signal.
7. source of sound localization method according to claim 1, which is characterized in that control source of sound to be positioned plays test
The step of audio signal includes：
It controls source of sound to be positioned and test audio signal is repeatedly played according to preset time interval.
8. a kind of sound box system localization method, which is characterized in that including step：
Source of sound localization method according to any one of claims 1 to 7 determines opposite between the speaker two-by-two of sound box system
Distance；
Two-dimensional plane coordinate system is established by coordinate origin of the first speaker, according to the phase between each speaker of the sound box system
It adjusts the distance and calculates the two-dimensional coordinate of remaining speaker, determine the position location of the sound box system.
9. a kind of source of sound positioning system, which is characterized in that including：
Audio playing module plays test audio signal for controlling source of sound to be positioned, records the test audio signal
Originate reproduction time；
Audio collection module is believed for acquiring audio signal in preset reference point according to the feature of the test audio signal
Breath identifies the test audio signal from the audio signal, and determines the arrival time of the test audio signal；
Source of sound locating module, for the time difference for originating reproduction time and arrival time according to the test audio signal, meter
The relative distance for calculating the source of sound and reference point determines the source of sound according to the location information of the relative distance and reference point
Position.
10. a kind of sound box system, which is characterized in that including multiple speakers and Speaker Controller, each speaker is separately connected described
Speaker Controller；
Each speaker is provided with audio collection device, for playing test audio signal；
The audio collection device is used to acquire the test audio signal of other speakers；
The Speaker Controller is configured to perform claim and requires 1 to 7 any one of them source of sound localization method, determines other speakers
Position, and the position location of each speaker is determined according to each speaker to the position location of other speakers.
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