CN109188362B - Microphone array sound source positioning signal processing method - Google Patents

Microphone array sound source positioning signal processing method Download PDF

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CN109188362B
CN109188362B CN201811019390.1A CN201811019390A CN109188362B CN 109188362 B CN109188362 B CN 109188362B CN 201811019390 A CN201811019390 A CN 201811019390A CN 109188362 B CN109188362 B CN 109188362B
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孟晓辉
理华
肖灵
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Institute of Acoustics CAS
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    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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Abstract

The invention provides a microphone array sound source positioning method, which comprises the following steps: step 1) dividing the estimated sound source position into Q grid points in the measurement space, wherein the three-dimensional coordinate of each grid point is
Figure DDA0001786932370000011
Sampling the M microphone signals to calculate a grid point
Figure DDA0001786932370000012
Time delay differences to two different microphone signals; step 2) collecting current frame data of M microphone channels, and calculating time delay values of microphone pairs; calculating a weighted value w of the q-th grid point based on the delay value and the delay difference of the step 1)q(ii) a Then, the SRP-PHAT value p of the q grid point is calculatedqFinding w in Q grid pointsqpqGrid point corresponding to the maximum value of
Figure DDA0001786932370000013
Thereby obtaining the grid point coordinates of the frame data corresponding to the estimated sound source position
Figure DDA0001786932370000014
The invention can solve the problem that the positioning accuracy of the SRP-PHAT method in the prior art is seriously and rapidly reduced under the influence of environmental noise and reverberation conditions.

Description

Microphone array sound source positioning signal processing method
Technical Field
The invention belongs to the technical field of audio signal processing and array signal processing, and particularly relates to a microphone array sound source positioning signal processing method.
Background
Current microphone array localization algorithms fall broadly into three broad categories, namely time difference of arrival (TDOA) -based localization, controlled response power (SRP), and high resolution spectral estimation-based algorithms. Algorithms based on high-resolution spectral estimation were initially applied to the localization of narrowband sources and were later increasingly referenced by numerous scholars' transformations to the broadband source localization problem. When the method is expanded to broadband signal estimation, the signal frequency needs to be divided into a plurality of sub-bands in the frequency domain, or frequency focusing is carried out to convert the frequency into a narrow-band signal processing mode. The algorithm has high positioning resolution, but the algorithm operation amount is greatly increased due to the conversion from a broadband to a narrow band, and the performance is sharply reduced in practice because the number of sound sources is unknown and the noise environment does not meet the ideal Gaussian white noise condition.
The core of a time difference of arrival (TDOA) -based localization algorithm is the accurate estimation of acoustic propagation delay, which is generally obtained by performing cross-correlation or generalized cross-correlation on signals between microphones. Finally, the position of the sound source is determined by applying a geometric algorithm. The directional algorithm based on the arrival time difference has relatively small computation amount, good real-time performance and low hardware cost, so the method attracts attention and becomes a method widely adopted in sound source orientation. In the method, whether the time delay estimation value is accurate or not determines whether the sound source positioning is accurate or not, and the environmental noise and the indoor reverberation have certain influence on the accuracy.
The SRP method divides the space into a grid, each grid has a hypothetical sound source, the time delay difference from each hypothetical sound source to a pair of microphones at a designated position can be calculated, the cross-correlation values corresponding to the time delay differences of all the microphones are summed to obtain the response power, and the hypothetical sound source position corresponding to the maximum value of the response power is the estimated value of the real sound source position. The sound source positioning method (SRP-PHAT) combining controllable response power and phase transformation combines the inherent robustness and short-time analysis characteristics of the controllable response power method with the insensitivity of the phase transformation method to the signal surrounding environment in time delay estimation, so that a sound source positioning system has certain noise resistance and reverberation resistance. However, the SRP-PHAT method has a sharp performance degradation in a severe environment (large noise interference and serious reverberation effect).
Disclosure of Invention
The invention aims to solve the problem that the positioning accuracy of the SRP-PHAT method in the prior art is seriously and rapidly reduced under the influence of environmental noise and reverberation conditions.
In order to achieve the above object, the present invention discloses a microphone array sound source localization signal processing method, which includes:
step 1) dividing the estimated sound source position into Q grid points in the measurement space, wherein the three-dimensional coordinate of each grid point is
Figure BDA0001786932350000021
Sampling the M microphone signals to calculate a grid point
Figure BDA0001786932350000022
Time delay differences to two different microphone signals;
step 2) collecting current frame data of M microphone channels, and calculating time delay values of microphone pairs; calculating a weighted value w of the q-th grid point based on the delay value and the delay difference of the step 1)q(ii) a Then, the SRP-PHAT value p of the q grid point is calculatedqFinding w in Q grid pointsqpqGrid point corresponding to the maximum value of
Figure BDA0001786932350000029
Thereby obtaining the grid point coordinates of the frame data corresponding to the estimated sound source position
Figure BDA0001786932350000023
As a modification of the above method, the step 1) includes:
step 1-1) setting a microphone array consisting of M microphones to be distributed in a three-dimensional space, wherein the coordinates of each microphone are
Figure BDA0001786932350000024
Step 1-2) dividing all possible positions of a sound source into Q grid points in a measurement space, wherein the three-dimensional coordinates of the grid points are
Figure BDA0001786932350000025
Step 1-3) each microphone corresponds to a channel, and the sampling frequency of the signal is set as fsEach frame has a sampling length of L per channel and a sampling signal of x per channeli1(n), i1 ═ 1, …, M, n ═ 1, …, L; the number of Fourier transform points is equal to 2L-1;
step 1-4) calculating grid points
Figure BDA0001786932350000026
Delay differences Δ τ to the i1 th and i2 th channelsi1i2(q)：
Figure BDA0001786932350000027
Where i2 is 1, …, M, i2 ≠ i1, and c is the speed of sound.
As a modification of the above method, the step 2) includes:
step 2-1) calculating each microphone channel signal x respectivelyi1(n), i1 ═ 1, …, M, n ═ 1, …, 2L-1 point fast fourier transform of L to obtain Xi1(k),i1＝1,…,M,k＝1,…,2L-1；
Step 2-2) calculating the phase transformation PHAT cross-correlation value R of the i1 th and i2 th microphone channelsi1i2(l)：
Figure BDA0001786932350000028
Wherein, Xi1(k) Is the i1 th channel receiving signal xi1(n), i1 ═ 1, …, M, n ═ 1, …, frequency domain representation of L, the number of points calculated by the fast fourier transform FFT is 2L-1; xi2(k) Is the i2 th channel receiving signal xi2(n), i2 ═ 1, …, M, n ═ 1, …, the frequency domain representation of L,
Figure BDA0001786932350000031
is Xi2(k) Conjugation of (1); i Xi1(k) I is Xi1(k) The magnitude of (d); 1, …, L;
step 2-3) according to Ri1i2(l) Calculate the firstTime delay value between i1 and i2 microphone channels
Figure BDA0001786932350000032
Figure BDA0001786932350000033
Step 2-4) calculating Delta taui1i2(q) and
Figure BDA0001786932350000034
the standard deviation between them obtains the weighted value w of each grid pointq：
Figure BDA0001786932350000035
Step 2-5) calculating a controllable response power-phase transformation SRP-PHAT value p of each grid pointq；
Figure BDA0001786932350000036
Step 2-6) calculating the weighted controllable response power-phase transformation SRP-PHAT value w of the qth grid pointqpqAt Q number of wqpqFind the maximum value among them, according to wqpqGet the corresponding grid point
Figure BDA0001786932350000037
Figure BDA0001786932350000038
Step 2-7) according to wqpqGrid point corresponding to maximum value
Figure BDA0001786932350000039
Obtaining the sound source position corresponding to the frame data
Figure BDA00017869323500000310
The invention has the advantages that:
1. the invention discloses a microphone array sound source positioning signal processing method, which adopts the technical scheme of weighted SRP-PHAT sound source positioning signal processing, and uses the reciprocal of the standard difference between the time delay estimated by a PHAT cross-correlation value and the correct time delay value corresponding to a search point as the weighted value of the SRP-PHAT value to calculate the response power of a space grid point;
2, the relative time delay value of the sound source position and the microphone is more similar to the time delay value obtained by calculation of the PHAT cross-correlation method, and the response power value is larger;
3. the invention can solve the problem that the positioning accuracy of the SRP-PHAT method in the prior art is seriously and rapidly reduced under the influence of environmental noise and reverberation conditions.
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FIG. 1 is a flow chart of a signal processing method according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Setting a microphone array composed of M microphones distributed in a three-dimensional space, wherein the coordinates of each microphone are
Figure BDA0001786932350000041
According to the requirement of the system on estimation precision, all possible positions of the sound source can be simplified into grid points of a three-dimensional grid in a measurement space. Suppose a total division into Q grid points with coordinates of
Figure BDA0001786932350000042
Let the sampling rate of the signal be fsThe length of each frame per channel sample is L.
The weighted SRP-PHAT sound source positioning method determines the estimation value of the sound source position by searching the position with the maximum weighted SRP-PHAT value in the grid
Figure BDA0001786932350000043
Figure BDA0001786932350000044
Wherein p isqAs search points
Figure BDA0001786932350000045
The SRP-PHAT value of (A) is calculated by the following formula:
Figure BDA0001786932350000046
wherein the PHAT cross-correlation value Ri1i2(Δτi1i2(q)) the calculation formula is as follows:
Figure BDA0001786932350000047
wherein, Xi1(k) Is the i1 th channel receiving signal xi1(n), i1 ═ 1, …, M, n ═ 1, …, frequency domain representation of L, the number of points FFT calculated is 2L-1; xi2(k) Is the i2 th channel receiving signal xi2(n), i2 ═ 1, …, M, n ═ 1, …, the frequency domain representation of L,
Figure BDA0001786932350000048
is Xi2(k) Conjugation of (1); i Xi1(k) I is Xi1(k) The magnitude of (d); 1, …, L;
wherein, Δ τi1i2(q) is the grid point
Figure BDA0001786932350000049
The delay difference to the i1 th and i2 th channels is calculated as:
Figure BDA00017869323500000410
where i2 is 1, …, M, i2 ≠ i1, and c is the speed of sound.
Weighted value wqThe calculation formula of (a) is as follows:
Figure BDA00017869323500000411
wherein
Figure BDA00017869323500000412
Is prepared by using Ri1i2(τ) maximum position estimated delay value:
Figure BDA00017869323500000413
examples
Setting a microphone array composed of M microphones distributed in a three-dimensional space, wherein the coordinates of each microphone are
Figure BDA00017869323500000414
According to the requirement of the system on estimation precision, all possible positions of the sound source can be simplified into grid points of a three-dimensional grid in a measurement space. Suppose a total division into Q grid points with coordinates of
Figure BDA00017869323500000415
Each microphone corresponds to a channel, and the sampling frequency of the signal is set as fsAnd the sampling length per channel of each frame is L and is marked as xi1(n), i1 ═ 1, …, M, n ═ 1, …, L. The number of Fourier transform points is equal to 2L-1.
As shown in fig. 1, the signal processing method disclosed by the present invention specifically comprises the following steps:
step 1) calculating the time delay difference from each grid point to the position of the microphone by using a formula (4) according to the position coordinates of the microphone and the coordinates of the searched grid points, and storing for later use. This step is performed only once;
Figure BDA0001786932350000051
and 2) processing each frame of data to obtain the estimation of the frame of data on the position of the sound source.
The specific steps of each frame of data processing are as follows:
step 2-1) calculating each channel signal x respectivelyi1(n), 2L-1 point Fast Fourier Transform (FFT) of L, i1 ═ 1, …, M, n ═ 1, …, and X is obtainedi1(k),i1＝1,…,M,k＝1,…,2L-1；
Step 2-2) calculating the PHAT cross-correlation value R of the signals of all channel microphones according to the formula (3)i1i2(l)；
Figure BDA0001786932350000052
Step 2-3) the PHAT cross-correlation value R is used according to the formula (6)i1i2(τ) calculating delay estimates between all channel pairs
Figure BDA0001786932350000053
Figure BDA0001786932350000054
Step 2-4) calculating Delta tau according to formula (5)i1i2(q) and
Figure BDA0001786932350000055
the standard deviation between them obtains the weighted value w of each grid pointq；
Figure BDA0001786932350000056
Step 2-5) calculating the SRP-PHAT value p of each grid point according to the formula (2)q；
Figure BDA0001786932350000057
Step 2-6) calculating weighted SRP-PHAT values p of all grid points according to formula (1)qFinding out the grid point corresponding to the maximum value
Figure BDA0001786932350000058
Figure BDA0001786932350000059
Step 2-7) according to wqpqGrid point corresponding to maximum value
Figure BDA00017869323500000510
Obtaining the sound source position corresponding to the frame data
Figure BDA00017869323500000511
The invention discloses a weighted SRP-PHAT microphone array sound source positioning signal processing method, which uses the reciprocal of the standard difference between the time delay estimated by a PHAT cross-correlation value and the correct time delay value corresponding to a search point as the weighted value of an SRP-PHAT value to calculate the response power of a space grid point. The guiding idea is that if the grid point is the correct sound source position, the relative time delay value of the grid point and the microphone pair is closer to the time delay value calculated by the PHAT cross-correlation method, and the response power value of the point is larger. By adopting the method, the accuracy of sound source positioning can be further improved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (3)

1. A microphone array sound source localization method, comprising:
step 1) dividing the estimated sound source position into Q grid points in the measurement space, wherein the three-dimensional coordinate of each grid point is
Figure FDA0002475631410000011
Sampling the M microphone signals to calculate a grid point
Figure FDA0002475631410000012
Time delay differences to two different microphone signals;
step 2) collecting current frame data of M microphone channels, and calculating time delay values of microphone pairs; calculating a weighted value w of the q-th grid point based on the delay value and the delay difference of the step 1)q(ii) a Then, the SRP-PHAT value p of the q grid point is calculatedqFinding w in Q grid pointsqpqGrid point corresponding to the maximum value of
Figure FDA0002475631410000013
Thereby obtaining the grid point coordinates of the frame data corresponding to the estimated sound source position
Figure FDA0002475631410000014
2. The microphone array sound source localization method according to claim 1, wherein the step 1) includes:
step 1-1) setting a microphone array consisting of M microphones to be distributed in a three-dimensional space, wherein the coordinates of each microphone are
Figure FDA0002475631410000015
Step 1-2) dividing all possible positions of a sound source into Q grid points in a measurement space, wherein the three-dimensional coordinates of the grid points are
Figure FDA0002475631410000016
Step 1-3) each microphone corresponds to a channel, and the sampling frequency of the signal is set as fsEach frame has a sampling length of L per channel and a sampling signal of x per channeli1(n), i1 ═ 1, …, M, n ═ 1, …, L; the number of Fourier transform points is equal to 2L-1;
step 1-4) calculating grid points
Figure FDA0002475631410000017
Delay differences Δ τ to the i1 th and i2 th channelsi1i2(q)：
Figure FDA0002475631410000018
Where i2 is 1, …, M, i2 ≠ i1, and c is the speed of sound.
3. The microphone array sound source localization method according to claim 2, wherein the step 2) includes:
step 2-1) calculating each microphone channel signal x respectivelyi1(n), i1 ═ 1, …, M, n ═ 1, …, 2L-1 point fast fourier transform of L to obtain Xi1(k),i1＝1,…,M,k＝1,…,2L-1；
Step 2-2) calculating the phase transformation PHAT cross-correlation value R of the i1 th and i2 th microphone channelsi1i2(l)：
Figure FDA0002475631410000019
Wherein, Xi1(k) Is the i1 th channel receiving signal xi1(n), i1 ═ 1, …, M, n ═ 1, …, frequency domain representation of L, the number of points calculated by the fast fourier transform FFT is 2L-1; xi2(k) Is the i2 th channel receiving signal xi2(n), i2 ═ 1, …, M, n ═ 1, …, the frequency domain representation of L,
Figure FDA0002475631410000021
is Xi2(k) Conjugation of (1); i Xi1(k) I is Xi1(k) The magnitude of (d); 1, …, L;
step 2-3) according to Ri1i2(l) Calculating a time delay value between the i1 th and i2 th microphone channels
Figure FDA00024756314100000210
Figure FDA0002475631410000022
Step 2-4) calculating Delta taui1i2(q) and
Figure FDA0002475631410000023
the standard deviation between them obtains the weighted value w of each grid pointq：
Figure FDA0002475631410000024
Step 2-5) calculating a controllable response power-phase transformation SRP-PHAT value p of each grid pointq；
Figure FDA0002475631410000025
Step 2-6) calculating the weighted controllable response power-phase transformation SRP-PHAT value w of the qth grid pointqpqAt Q number of wqpqFind the maximum value among them, according to wqpqGet the corresponding grid point
Figure FDA0002475631410000026
Figure FDA0002475631410000027
Step 2-7) according to wqpqGrid point corresponding to maximum value
Figure FDA0002475631410000028
Obtaining the sound source position corresponding to the frame data
Figure FDA0002475631410000029
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