CN112485760A - Positioning system, method and medium based on spatial sound effect - Google Patents
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Abstract
The invention provides a positioning system, a method and a medium based on a spatial sound effect, comprising the following steps: module M1: acquiring time delay difference between microphone pairs by acquiring signals received by microphones; module M2: calculating the distance difference of the sound source reaching each microphone by using the time delay; module M3: and determining the position of the sound source by using the distance difference through a geometric algorithm to realize the tracking of the target sound source. According to the invention, by adopting a microphone array positioning scheme, the positioning accuracy is improved, and the accurate position of a sound source can be confirmed.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a positioning system, a positioning method and a positioning medium based on a spatial sound effect.
Background
Most of the existing sound source positioning devices can only position a sound source target in an ideal environment without background noise, and the existing sound source positioning devices are redundant and complex in structure. Since the sound wave is very sensitive, the measured sound field is easily interfered by the measuring device, thereby affecting the measuring precision. If the number of sensors in the microphone array is large and the structure is complex, not only is higher manufacturing cost required, but also free diffusion of sound waves is directly influenced, and errors of measurement results are caused in severe cases. In addition, in a three-dimensional space, due to the influence of factors such as a pitch angle and a distance, a large error is generated in the positioning accuracy of a sound source target.
Patent document CN101957442A (application number: 201010191634.1) discloses a sound source localization device, which relates to a device for locating by matching multiple directions by applying sound waves, and is a three-dimensional space sound source target localization device, which is composed of three parts, namely an auditory sensor, a sound source signal microprocessor and a host computer system. The hearing sensor is a microphone array with a quaternary regular tetrahedron structure, and four microphones are respectively positioned at four vertexes of the regular tetrahedron structure; the sound source signal microprocessor consists of a sound signal amplification module, an analysis latch module and a communication transmission module; the upper computer system is composed of a positioning calculation method and peripheral equipment. The parts and the hardware parts between the modules are connected with each other by wires. The accuracy of the positioning distance of the patent is not high enough.
Patent document CN201166703Y (application number: 200720191645.3) discloses a sound source positioning system for detecting and positioning emergencies such as collision, sudden braking and the like on a road, which comprises a microphone array, and is characterized in that the microphone array is a five-membered pentahedron array and consists of a planar quaternary cross array and an array element positioned above the center of the cross array, the array overcomes a large defect of the planar quaternary cross array in the practical application and is more beneficial to capturing and positioning a target by the system, the system also comprises a sound source microprocessor, a pan-tilt and a camera, sound signals are picked up by the microphone array, the sound source microprocessor further processes the sound signals, the processed signals are converted into commands and transmitted to the pan-tilt, the camera is driven to turn to the sound source position, thereby quickly positioning the sound source, images of the scene of the emergencies are obtained at the first time, the whole process is, the lightning rod has strong practicability, and in addition, in order to avoid the equipment from being damaged by lightning, the lightning rod is arranged in the system, so that the safety performance is improved.
Disclosure of Invention
In view of the defects in the prior art, the present invention provides a positioning system, method and medium based on spatial sound effect.
The invention provides a positioning system based on a spatial sound effect, which comprises:
module M1: acquiring time delay differences among the microphones by acquiring signals received by the microphones;
module M2: calculating the distance difference of the sound source reaching each microphone by using the time delay difference;
module M3: and determining the position of the sound source by using the distance difference through a geometric algorithm to realize the tracking of the target sound source.
Preferably, said module M1 comprises:
module M1.1: collecting signals received by a plurality of microphones;
module M1.2: carrying out noise reduction processing on the received signal;
module M1.3: performing cross correlation on the signals subjected to noise reduction processing;
module M1.4: and searching the maximum value of the cross-correlation signals to obtain the time delay between the signals.
Preferably, the module M2 includes: and calculating the distance difference from the sound source to each microphone by using the time delay between the signals through a sound propagation formula.
Preferably, the module M3 includes: based on the distance difference from the sound source to each microphone obtained through calculation, a least mean square LMS algorithm is introduced on the basis of a spherical interpolation SI algorithm, the analytic value of the spherical difference value SI algorithm is used as the initial estimation value of the sound source, and the positioning is updated through an iterative process by utilizing the error criterion of the maximum likelihood, so that the position of the sound source is determined.
Preferably, the method further comprises the following steps:
an abnormal sound detection module: setting a sound condition set, detecting to obtain external sounds meeting the sound condition set, and recording the external sounds as abnormal sounds;
abnormal sound positioning module: collecting abnormal sounds of the same sound source by using more than three sensors distributed on VR glasses and having intervals between the sensors respectively to obtain the spatial position of the sound source emitting the abnormal sounds;
an abnormal sound source display module: during the duration of the abnormal sound and within a set time after the abnormal sound is finished, when the view of the image collected by the camera of the VR glasses covers the abnormal sound source, overlapping or replacing the real image at the spatial position of the abnormal sound source acquired by the camera in the virtual picture of the VR glasses, wherein the real image corresponds to the spatial position;
an abnormal sound source indicating module: and displaying an indicative graph in a virtual picture of the VR glasses to indicate the position, corresponding to the space position, in the virtual picture of the VR glasses when the view of the image collected by the camera of the VR glasses does not cover the abnormal sound source in the duration of the abnormal sound and a set time after the abnormal sound is finished.
The positioning method based on the spatial sound effect provided by the invention comprises the following steps:
step M1: acquiring time delay differences among the microphones by acquiring signals received by the microphones;
step M2: calculating the distance difference of the sound source reaching each microphone by using the time delay difference;
step M3: and determining the position of the sound source by using the distance difference through a geometric algorithm to realize the tracking of the target sound source.
Preferably, the step M1 includes:
step M1.1: collecting signals received by a plurality of microphones;
step M1.2: carrying out noise reduction processing on the received signal;
step M1.3: performing cross correlation on the signals subjected to noise reduction processing;
step M1.4: and searching the maximum value of the cross-correlation signals to obtain the time delay between the signals.
Preferably, step M2 includes: and calculating the distance difference from the sound source to each microphone by using the time delay between the signals through a sound propagation formula.
Preferably, step M3 includes: based on the distance difference from the sound source to each microphone obtained through calculation, a least mean square LMS algorithm is introduced on the basis of a spherical interpolation SI algorithm, the analytic value of the spherical difference value SI algorithm is used as the initial estimation value of the sound source, and the positioning is updated through an iterative process by utilizing the error criterion of the maximum likelihood, so that the position of the sound source is determined.
Preferably, the method further comprises the following steps:
an abnormal sound detection step: setting a sound condition set, detecting to obtain external sounds meeting the sound condition set, and recording the external sounds as abnormal sounds;
abnormal sound positioning step: collecting abnormal sounds of the same sound source by using more than three sensors distributed on VR glasses and having intervals between the sensors respectively to obtain the spatial position of the sound source emitting the abnormal sounds;
an abnormal sound source display step: during the duration of the abnormal sound and within a set time after the abnormal sound is finished, when the view of the image collected by the camera of the VR glasses covers the abnormal sound source, overlapping or replacing the real image at the spatial position of the abnormal sound source acquired by the camera in the virtual picture of the VR glasses, wherein the real image corresponds to the spatial position;
an abnormal sound source indicating step: and displaying an indicative graph in a virtual picture of the VR glasses to indicate the position, corresponding to the space position, in the virtual picture of the VR glasses when the view of the image collected by the camera of the VR glasses does not cover the abnormal sound source in the duration of the abnormal sound and a set time after the abnormal sound is finished.
The invention provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any of the preceding claims.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, by adopting a microphone array positioning scheme, the positioning accuracy is improved, and the accurate position of a sound source can be confirmed;
2. by using the microphone array, the problems of background noise, interference and the like can be effectively inhibited in the using process of the equipment;
3. the invention calculates the sound source position by adopting the SI-LMS algorithm, realizes the accurate positioning of the sound source position, and has small calculated amount, simplicity and practicability.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a positioning system based on spatial sound effects;
FIG. 2 is a flow chart of a positioning method based on spatial sound effect.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides a positioning system based on a spatial sound effect, which comprises: as shown in the figures 1 to 2 of the drawings,
module M1: acquiring time delay differences among the microphones by acquiring signals received by the microphones;
specifically, the module M1 includes:
module M1.1: collecting signals received by a plurality of microphones;
module M1.2: carrying out noise reduction processing on the received signal;
module M1.3: performing cross correlation on the signals subjected to noise reduction processing;
module M1.4: and searching the maximum value of the cross-correlation signals to obtain the time delay between the signals.
Module M2: calculating the distance difference of the sound source reaching each microphone by using the time delay difference;
specifically, the module M2 includes: and calculating the distance difference from the sound source to each microphone by using the time delay between the signals through a sound propagation formula.
Module M3: and determining the position of the sound source by using the distance difference through a geometric algorithm to realize the tracking of the target sound source.
Specifically, the module M3 includes: based on the distance difference from the sound source to each microphone obtained through calculation, a least mean square LMS algorithm is introduced on the basis of a spherical interpolation SI algorithm, the analytic value of the spherical difference value SI algorithm is used as the initial estimation value of the sound source, and the positioning is updated through an iterative process by utilizing the error criterion of the maximum likelihood, so that the position of the sound source is determined.
Specifically, the method further comprises the following steps:
an abnormal sound detection module: setting a sound condition set, detecting to obtain external sounds meeting the sound condition set, and recording the external sounds as abnormal sounds;
abnormal sound positioning module: collecting abnormal sounds of the same sound source by using more than three sensors distributed on VR glasses and having intervals between the sensors respectively to obtain the spatial position of the sound source emitting the abnormal sounds;
an abnormal sound source display module: during the duration of the abnormal sound and within a set time after the abnormal sound is finished, when the view of the image collected by the camera of the VR glasses covers the abnormal sound source, overlapping or replacing the real image at the spatial position of the abnormal sound source acquired by the camera in the virtual picture of the VR glasses, wherein the real image corresponds to the spatial position;
an abnormal sound source indicating module: displaying an indicative graph in a virtual picture of VR glasses to indicate a position corresponding to the space position in the virtual picture of the VR glasses when a view of an image collected by a camera of the VR glasses does not cover the abnormal sound source in the duration of the abnormal sound and a set time after the abnormal sound is finished;
the set sound condition set comprises pre-recorded doorbell ring, boiled water boiling sound, telephone ring, object dumping sound in a real environment and the like;
after abnormal sounds in the real environment are identified, sound sources are positioned, real images of the areas where the sound sources are located are added into the virtual images, and therefore the situations of object dumping, boiling water boiling, doorbell and the like in the real environment can be found in time.
The positioning method based on the spatial sound effect provided by the invention comprises the following steps:
step M1: acquiring time delay differences among the microphones by acquiring signals received by the microphones;
specifically, the step M1 includes:
step M1.1: collecting signals received by a plurality of microphones;
step M1.2: carrying out noise reduction processing on the received signal;
step M1.3: performing cross correlation on the signals subjected to noise reduction processing;
step M1.4: and searching the maximum value of the cross-correlation signals to obtain the time delay between the signals.
Step M2: calculating the distance difference of the sound source reaching each microphone by using the time delay difference;
specifically, step M2 includes: and calculating the distance difference from the sound source to each microphone by using the time delay between the signals through a sound propagation formula.
Step M3: and determining the position of the sound source by using the distance difference through a geometric algorithm to realize the tracking of the target sound source.
Specifically, step M3 includes: based on the distance difference from the sound source to each microphone obtained through calculation, a least mean square LMS algorithm is introduced on the basis of a spherical interpolation SI algorithm, the analytic value of the spherical difference value SI algorithm is used as the initial estimation value of the sound source, and the positioning is updated through an iterative process by utilizing the error criterion of the maximum likelihood, so that the position of the sound source is determined.
Specifically, the method further comprises the following steps:
an abnormal sound detection step: setting a sound condition set, detecting to obtain external sounds meeting the sound condition set, and recording the external sounds as abnormal sounds;
abnormal sound positioning step: collecting abnormal sounds of the same sound source by using more than three sensors distributed on VR glasses and having intervals between the sensors respectively to obtain the spatial position of the sound source emitting the abnormal sounds;
an abnormal sound source display step: during the duration of the abnormal sound and within a set time after the abnormal sound is finished, when the view of the image collected by the camera of the VR glasses covers the abnormal sound source, overlapping or replacing the real image at the spatial position of the abnormal sound source acquired by the camera in the virtual picture of the VR glasses, wherein the real image corresponds to the spatial position;
an abnormal sound source indicating step: and displaying an indicative graph in a virtual picture of the VR glasses to indicate the position, corresponding to the space position, in the virtual picture of the VR glasses when the view of the image collected by the camera of the VR glasses does not cover the abnormal sound source in the duration of the abnormal sound and a set time after the abnormal sound is finished.
The set sound condition set comprises pre-recorded doorbell ring, boiled water boiling sound, telephone ring, object dumping sound in a real environment and the like;
after abnormal sounds in the real environment are identified, sound sources are positioned, real images of the areas where the sound sources are located are added into the virtual images, and therefore the situations of object dumping, boiling water boiling, doorbell and the like in the real environment can be found in time.
The invention provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any of the preceding claims.
Example 2
Example 2 is a modification of example 1
According to the method, signals received by the microphones are collected to obtain time delay differences between the microphone pairs, then the time delay is used for calculating the distance difference from a sound source to each microphone, and finally the geometric algorithm is used for calculating and determining the position of the sound source, so that the target sound source is tracked.
The specific implementation process is as follows:
1. fixing the positions of the microphone 1, the microphone 2 and the sound source 1;
2. carrying out noise reduction processing on signals acquired by a microphone;
3. and performing cross correlation on the signals subjected to noise reduction processing, and searching the maximum value of the cross-correlation signals to obtain the time delay delta t between the two signals. The method comprises the following specific steps:
on the premise of a given sound source, the signals received by the microphone array are:
Xi(t)＝hi(t)*s(T)+ni(t)＝αis(t-ti)+ni(t) (3-1)
s (t) is sound source signal, i is microphone serial number, hi(t) is the channel transfer function from the sound source to the ith microphone, ti is the time of transfer from the sound source to the ith microphone, αiAttenuation factor for the direct channel. n isi(t) is the sum of the noise received by the i-th microphone.
Taking into account the cross-correlation function of two microphones
Rx1x2(τ)＝e[X1(t)X2(t-τ)]＝α1α2*R(τ-Δt)+N(τ) (3-2)
Δ t is the time difference between the sound source signal and the two microphones; n (τ) is the sum of the noise received by the microphone. And performing time-frequency domain conversion on the cross-correlation function, and obtaining the time difference of the microphone to the received signal through the cross-power spectrum function.
4. Calculating the distance difference d from the sound source to the microphone pair by a sound propagation formulai；
5. On the basis of a Spherical Interpolation (SI) algorithm, a Least Mean Square (LMS) algorithm is introduced, an analytic solution of SI is used as an initial value, and the positioning is updated through an iterative process by utilizing a maximum likelihood error criterion, so that the position of a sound source is determined. On the basis of a spherical interpolation algorithm, a least mean square algorithm is introduced to solve the problem that an SI algorithm cannot be converged in an iteration process;
using N microphones a total of (N-1))/2 different microphones can be formed to interpolate the SI as follows:
taking the first microphone as the origin of the three-dimensional coordinate system, the following equation holds
Obtained by Pythagorean theorem and formula 5-1,5-2
(Rs+dij)2＝(xi 2-2xi Txs+Rs 2) (5-2)
Unfolding to obtain:
Ri 2-dij 2-2Rsdij-2xi Txs＝0 (5-3)
in the ideal case, the equation error is introduced due to the existence of the time difference estimation error
εi＝Ri 2-dij 2-2Rsdij-2xi Txs i＝2,…,N (5-4)
εiIs the equation error for the ith microphone pair; simultaneous N-1 equations, which can be expressed as a matrix:
ε＝δ-2Rsd-2Sxs
wherein the content of the first and second substances,
at a given RsThen, minimize εTEpsilon can be a direct to least squares solution;
xs＝1/2*SW φ(δ-2RSd) in which S isW φ＝(STS)-1*ST；
And initializing a weight matrix W as an identity matrix on the basis to obtain an initial estimated value Xs of the sound source. Based on the analytic solution, the obtained xs (n) update weight matrix W (n) and step length u are utilized, and the sound source X can be obtained through iterative calculation according to the formula (5-5)SLocation.
Wherein
diag
Is represented by
Converted into a diagonal matrix, RdIs a correlation matrix of microphone versus transmission distance delay.
Is an estimate of the previous step.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A positioning system based on spatial sound effect is characterized by comprising:
module M1: acquiring time delay differences among the microphones by acquiring signals received by the microphones;
module M2: calculating the distance difference of the sound source reaching each microphone by using the time delay difference;
module M3: and determining the position of the sound source by using the distance difference through a geometric algorithm to realize the tracking of the target sound source.
2. The spatial sound effect based positioning system according to claim 1, wherein the module M1 comprises:
module M1.1: collecting signals received by a plurality of microphones;
module M1.2: carrying out noise reduction processing on the received signal;
module M1.3: performing cross correlation on the signals subjected to noise reduction processing;
module M1.4: and searching the maximum value of the cross-correlation signals to obtain the time delay between the signals.
3. The spatial sound effect based positioning system according to claim 1, wherein the module M2 comprises: calculating the distance difference from the sound source to each microphone by using the time delay between the signals and a sound propagation formula;
the module M3 includes: based on the distance difference from the sound source to each microphone obtained through calculation, a least mean square LMS algorithm is introduced on the basis of a spherical interpolation SI algorithm, the analytic value of the spherical difference value SI algorithm is used as the initial estimation value of the sound source, and the positioning is updated through an iterative process by utilizing the error criterion of the maximum likelihood, so that the position of the sound source is determined.
4. The spatial sound effect based positioning system according to claim 1, further comprising:
an abnormal sound detection module: setting a sound condition set, detecting to obtain external sounds meeting the sound condition set, and recording the external sounds as abnormal sounds;
abnormal sound positioning module: collecting abnormal sounds of the same sound source by using more than three sensors distributed on VR glasses and having intervals between the sensors respectively to obtain the spatial position of the sound source emitting the abnormal sounds;
an abnormal sound source display module: during the duration of the abnormal sound and within a set time after the abnormal sound is finished, when the view of the image collected by the camera of the VR glasses covers the abnormal sound source, overlapping or replacing the real image at the spatial position of the abnormal sound source acquired by the camera in the virtual picture of the VR glasses, wherein the real image corresponds to the spatial position;
an abnormal sound source indicating module: and displaying an indicative graph in a virtual picture of the VR glasses to indicate the position, corresponding to the space position, in the virtual picture of the VR glasses when the view of the image collected by the camera of the VR glasses does not cover the abnormal sound source in the duration of the abnormal sound and a set time after the abnormal sound is finished.
5. A positioning method based on spatial sound effect is characterized by comprising the following steps:
step M1: acquiring time delay differences among the microphones by acquiring signals received by the microphones;
step M2: calculating the distance difference of the sound source reaching each microphone by using the time delay difference;
step M3: and determining the position of the sound source by using the distance difference through a geometric algorithm to realize the tracking of the target sound source.
6. The method for positioning based on spatial sound effect according to claim 5, wherein the step M1 comprises:
step M1.1: collecting signals received by a plurality of microphones;
step M1.2: carrying out noise reduction processing on the received signal;
step M1.3: performing cross correlation on the signals subjected to noise reduction processing;
step M1.4: and searching the maximum value of the cross-correlation signals to obtain the time delay between the signals.
7. The method for positioning based on spatial sound effect according to claim 5, wherein the step M2 comprises: and calculating the distance difference from the sound source to each microphone by using the time delay between the signals through a sound propagation formula.
8. The method for positioning based on spatial sound effect according to claim 5, wherein the step M3 comprises: based on the distance difference from the sound source to each microphone obtained through calculation, a least mean square LMS algorithm is introduced on the basis of a spherical interpolation SI algorithm, the analytic value of the spherical difference value SI algorithm is used as the initial estimation value of the sound source, and the positioning is updated through an iterative process by utilizing the error criterion of the maximum likelihood, so that the position of the sound source is determined.
9. The spatial sound effect-based positioning method according to claim 5, further comprising:
an abnormal sound detection step: setting a sound condition set, detecting to obtain external sounds meeting the sound condition set, and recording the external sounds as abnormal sounds;
abnormal sound positioning step: collecting abnormal sounds of the same sound source by using more than three sensors distributed on VR glasses and having intervals between the sensors respectively to obtain the spatial position of the sound source emitting the abnormal sounds;
an abnormal sound source display step: during the duration of the abnormal sound and within a set time after the abnormal sound is finished, when the view of the image collected by the camera of the VR glasses covers the abnormal sound source, overlapping or replacing the real image at the spatial position of the abnormal sound source acquired by the camera in the virtual picture of the VR glasses, wherein the real image corresponds to the spatial position;
an abnormal sound source indicating step: and displaying an indicative graph in a virtual picture of the VR glasses to indicate the position, corresponding to the space position, in the virtual picture of the VR glasses when the view of the image collected by the camera of the VR glasses does not cover the abnormal sound source in the duration of the abnormal sound and a set time after the abnormal sound is finished.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 5 to 9.
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