CN103197283A - Auditory localization device based on electrical analogue coupling structure - Google Patents

Abstract

The invention relates to an auditory localization device based on an electrical analogue coupling structure. The auditory localization device comprises an input module, a coupling processing module, an output module and a postprocessing module which are connected in sequence, wherein the input module receives a sound signal and converts the sound signal into a current signal; the coupling processing module amplifies the phase of the current signal of the input module and transfers an amplified voltage signal to the output module; the output module converts the voltage into a digital signal and transfer the digital signal to the postprocessing module; and the postprocessing module calculates azimuth information of a sound source. Compared with the prior art, the auditory localization device has the advantages of compact structure, high accuracy, good signal instantaneity, wide application rage and the like.

Description

A kind of auditory localization device based on the electric analogy coupled structure

Technical field

The present invention relates to the acoustics positioning field, especially relate to a kind of auditory localization device based on the electric analogy coupled structure.

Background technology

People such as American scholar R.N.Miles, Robert has studied the sense of hearing orientation mechanism of Ao Miya palm fibre fly (Ormia ochracea) the nineties, the acoustic fix ranging ability of finding this tachinid has benefited from the hearing organ that it has coupled structure, and in the silicon crystallite microphone diaphragm of having developed a secondary in recent years, this vibrating diaphragm is by the moulding of the little processing and manufacturing technology of silicon, utilize laser diffraction technology to obtain vibration signal, thereby realized the directional property near desirable pressure gradient microphone.

Abroad, document Investigation is found, U.S. Patent number US6963653B1, and open day is 2005.11.8, patent name is multistage directional microphone vibrating diaphragm.This patent readme is for " this invention has microminiaturized feature, is the silicon crystallite microphone diaphragm of a secondary, and this vibrating diaphragm is by the moulding of the little processing and manufacturing technology of silicon." this patent has been described a kind of pressure reduction type microphone and directional property thereof, but the localization method of its proposition only possesses two-dimentional acoustic fix ranging function.

At home, document Investigation is found, China Patent No. CN101226235A, and open day is 2008.7.23, patent name is the sound source three-dimensional positioning method based on mechanical coupling diaphragm.This patent is based on the construction features to miniature organism sound sensing positioning system, the further investigation of positioning principle and Nonlinear Dynamical Mechanism etc. thereof, the mechanical model of a kind of accurate description tachinid auditory induction system has been proposed, grasped the biomechanical parameter of tachinid auditory induction system and to the influence of system dynamic characteristic, from the mechanical couplings diaphragm structure, obtained the vibration performance amount of system, and set up characteristic quantity in unison source side to the relation between the information, calculate the sound wave incident angle by certain algorithm exact solution, thereby obtained a kind of sound source three-dimensional positioning method, solved the theoretical question of coupled structure auditory localization in the three dimensions.But the laboratory model difficulty of processing of said method is big, and processing and assembly precision are had relatively high expectations, and in addition, also are subjected to the restriction of factors such as material property, shape, processing technology, so the identification of sound source precision is difficult to meet the demands.

Summary of the invention

Purpose of the present invention is exactly to provide a kind of auditory localization device based on the electric analogy coupled structure for the defective that overcomes above-mentioned prior art existence.

Purpose of the present invention can be achieved through the following technical solutions:

A kind of auditory localization device based on the electric analogy coupled structure, it is characterized in that, comprise the load module, coupling processing module, output module and the post-processing module that connect successively, described load module receives acoustical signal and is converted to current signal, described coupling processing module is amplified the phase place of the current signal of load module, and the voltage signal that amplifies passed to output module, described output module is that digital signal is imported post-processing module into voltage transitions, and described post-processing module is calculated the azimuth information of sound source.

Described load module comprises pretreatment module and three piezoelectric sensors, and described piezoelectric sensor is subjected to the sound-source signal excitation to produce voltage signal and it is transferred to pretreatment module, and described pretreatment module is converted to current signal with voltage signal.

Described pretreatment module is provided with the voltage amplifier that the weak voltage signal is amplified.

Described coupling processing module comprises input and output branch road and coupling circuit of three parallel connections, load module is connected with the input end of three input and output branch roads respectively, the output terminal of described three input and output branch roads is connected with output module respectively, and described three input and output branch roads also are connected with coupling circuit respectively.

Every the input and output branch road all has one group of parallel resistor and electric capacity, described coupling circuit is made of three inductance of connecting successively, described resistance and load module are connected in series, described electric capacity and output module are connected in parallel, described electric capacity one end ground connection, the other end is connected between the two adjacent inductance.

Be provided with reometer between described resistance and the load module, be provided with voltage table between described electric capacity and the inductance.

Described output module comprises A/D converter, conditioner, the collector that connects successively, described A/D converter is converted to digital signal with voltage signal, this digital signal through conditioner conditioning back by collector to signal sample, oscillography shows and preserve.

Described post-processing module according to three amplifications that obtain after phase differential, adopt coupled processing method to calculate the azimuth information of sound source.

Described sound bearing information refers to the geometric relationship between sound source incident direction and the piezoelectric sensor, i.e. longitude θ and latitude α in the spherical coordinate system of being determined by piezoelectric sensor.

Described coupled processing method refers to that the mode of employing sound-electrical analogy simulates the processing procedure of mechanical couplings.

Mechanical couplings and which couple analogy relation are as shown in the table:

Mechanical couplings

Which couple

m	C
		c
	1/R
		k
	1/L c
		f	I
x	U

In the mechanical couplings structure as shown in Figure 2.D ₁, D ₂, D ₃Be three sound reception vibrating diaphragms, the vibrating diaphragm area is S, B ₁, B ₂, B ₃Be three connecting rods, the fulcrum of connecting rod is O, is k by rigidity between the connecting rod ₃Spring connect.

The mode of employing sound-electrical analogy, above-mentioned structural drawing can analogize to circuit diagram, as shown in Figure 3.They all have the identical differential equation:

$\left[\begin{array}{ccc}\mathrm{<figure-callout\; id="0"\; label="m"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">m</figure-callout>}& 0& 0\\ 0& \mathrm{<figure-callout\; id="0"\; label="m"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">m</figure-callout>}& 0\\ 0& 0& m\end{array}\right]\left[\begin{array}{c}{\stackrel{\&CenterDot;\&CenterDot;}{x}}_1\\ {\stackrel{\&CenterDot;\&CenterDot;}{x}}_2\\ {\stackrel{\&CenterDot;\&CenterDot;}{x}}_3\end{array}\right]\left[\begin{array}{ccc}\mathrm{<figure-callout\; id="0"\; label="c"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">c</figure-callout>}& 0& 0\\ 0& \mathrm{<figure-callout\; id="0"\; label="c"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">c</figure-callout>}& 0\\ 0& 0& c\end{array}\right]\left[\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_1\\ {\stackrel{\&CenterDot;}{x}}_2\\ {\stackrel{\&CenterDot;}{x}}_3\end{array}\right]+\left[\begin{array}{ccc}{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+{2k}_3& k_3& k_3\\ k_3& {\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+{2k}_3& k_3\\ k_3& k_3& {\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+{2k}_3\end{array}\right]\left[\begin{array}{c}{x}_1\\ x_2\\ x_3\end{array}\right]\left[\begin{array}{c}{f}_1\\ f_2\\ f_3\end{array}\right]---\left(1\right)$

In the mechanical couplings method, the transport function between the input acoustic pressure p of system and each vibrating diaphragm displacement

For:

$\left[\begin{array}{c}{H}_{x_{1}p}\\ H_{x_{2}p}\\ H_{x_{3}p}\end{array}\right]=\left[\begin{array}{ccc}{A}_1/B& A_2/B& A_2/B\\ A_2/B& A_1/B& A_2/B\\ A_2/B& A_2/B& A_1/B\end{array}\right]\left[\begin{array}{c}{e}^{{\mathrm{s\&tau;}}_1}\\ e^{{\mathrm{s\&tau;}}_2}\\ e^{{\mathrm{s\&tau;}}_3}\end{array}\right],---\left(2\right)$

Be the time delay correlation parameter, matrix parameter is:

$\frac{A_1}{B}=\frac{1}{3({\mathrm{<figure-callout\; id="2"\; label="ms"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">ms</figure-callout>}}^2+\mathrm{cs}+{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+{4k}_3)}+\frac{2}{3({\mathrm{<figure-callout\; id="2"\; label="ms"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">ms</figure-callout>}}^2+\mathrm{cs}+{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+k_3)}$ ， (3)

$\frac{A_2}{B}=\frac{1}{3({\mathrm{<figure-callout\; id="2"\; label="ms"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">ms</figure-callout>}}^2+\mathrm{cs}+{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+{4k}_3)}-\frac{1}{3({\mathrm{<figure-callout\; id="2"\; label="ms"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">ms</figure-callout>}}^2+\mathrm{cs}+{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+k_3)}$

Wherein, f is the predominant frequency of sound source, ω=2 π f, and i is imaginary unit, s=i ω/f; M is the quality of mechanical coupling diaphragm, corresponding to the big or small C of electric capacity in the circuit; C is the damping of vibrating diaphragm and sound bearing medium, the 1/R reciprocal of the size of resistance in the corresponding circuits; k ₁Be the equivalent stiffness of vibrating diaphragm, k ₃The rigidity of spring between the connecting rod, all corresponding to the 1/Lc reciprocal of the size of inductance in the circuit, x is the displacement of vibrating diaphragm, the voltage U in the corresponding circuits,

Be the first order derivative of displacement x, Second derivative for displacement x;

s ₁, s ₂, s ₃Be respectively three piezoelectric sensors, H ₁₃Be piezoelectric sensor s ₁With s ₃Between transport function, H ₂₃Be piezoelectric sensor s ₂With s ₃Between transport function, can get according to above-mentioned formula:

$H_{13}=\frac{H_{x_{1}p}}{H_{x_{3}p}}$

$H_{23}=\frac{H_{x_{2}p}}{H_{x_{3}p}},---\left(4\right)$

So just set up H ₁₃, H ₂₃With time delay (τ ₁, τ ₂, τ ₃) between relation.

Adopt localization method to calculate and obtain real-time Sounnd source direction information, the formula of its geometric relationship is:

$\frac{({\mathrm{\&tau;}}_3-{\mathrm{\&tau;}}_2){\mathrm{<figure-callout\; id="0"\; label="c"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">c</figure-callout>}}_0}{\sqrt{3}d}=\sin \mathrm{\&theta;}\sin \mathrm{\&alpha;}={\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">D</figure-callout>}}_1$

$\frac{({\mathrm{\&tau;}}_2-{\mathrm{\&tau;}}_1)+({\mathrm{\&tau;}}_3-{\mathrm{\&tau;}}_1)}{3\mathrm{<figure-callout\; id="0"\; label="d\; c"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">d</figure-callout>}}{c}_{}{}_0=\sin \mathrm{\&theta;}\cos \mathrm{\&alpha;}=D_2---\left(5\right)$

In conjunction with (4) and (5), can obtain position angle and H ₁₃, H ₂₃Between relation, concrete formula is:

$\sin \mathrm{\&theta;}=\sqrt{{\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">D</figure-callout>}}_1^2+{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">D</figure-callout>}}_2^2}$

$\sin \mathrm{\&alpha;}=\frac{D_1}{\sqrt{{\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">D</figure-callout>}}_1^2+{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">D</figure-callout>}}_2^2}},---\left(6\right)$

Wherein:

${\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">D</figure-callout>}}_1=\frac{c_0}{i\sqrt{3}\mathrm{\&omega;d}}\ln \frac{\frac{1}{{\mathrm{<figure-callout\; id="13"\; label="L\; c\; H"\; filenames="HDA00003091293700013.png"\; state="\{\{state\}\}">L</figure-callout>}}_c}{H}_{}{}_{13}+\frac{1}{L_c}{H}_{23}+(-{\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})}{\frac{1}{L_c}{H}_{13}+(-{\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})H_{23}+\frac{1}{L_c}},---\left(7\right)$

${\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA00003091293700023.png"\; state="\{\{state\}\}">D</figure-callout>}}_2=\frac{c_0}{i3\mathrm{\&omega;d}}\ln [\frac{\frac{1}{{\mathrm{<figure-callout\; id="13"\; label="L\; c\; H"\; filenames="HDA00003091293700013.png"\; state="\{\{state\}\}">L</figure-callout>}}_c}{H}_{}{}_{13}+(-{\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})H_{23}+\frac{1}{L_c}}{({-\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})H_{13}+\frac{1}{L_c}{H}_{23}+\frac{1}{L_c}}$ ， (8)

$+\ln \frac{\frac{1}{{\mathrm{<figure-callout\; id="13"\; label="L\; c\; H"\; filenames="HDA00003091293700013.png"\; state="\{\{state\}\}">L</figure-callout>}}_c}{H}_{}{}_{13}+\frac{1}{L_c}{H}_{23}+({-\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})}{({-\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})H_{13}+\frac{1}{L_c}{H}_{23}+\frac{1}{L_c}}]$

In the above-mentioned formula, c ₀Being the sound propagation velocity in the medium, is a known constant, and d is that piezoelectric sensor is to the radius of central point.

Compared with prior art, the present invention has the following advantages:

1, replaced mechanical couplings with which couple, overcome processing difficulties and mismachining tolerance in the mechanical couplings, realized the function that phase place is amplified, thereby realized station-keeping ability.

2, coupling parameter is realized with simple components such as resistance, inductance, electric capacity, and each element is coupling and realization easily.

3, coupling parameter can be optimized, to adapt to different measurement requirements.

4, the coupling branch road is three input and output branch roads, thereby obtains two groups of effective transport functions, can be used in the location in the three dimensions, and precision increases with respect to mechanical system.

Description of drawings

Fig. 1 is structured flowchart of the present invention.

Fig. 2 is that the present invention institute is with reference to mechanical construction drawing.

Fig. 3 is coupling module circuit diagram of the present invention.

Fig. 4 is coupling module current signal excitation figure in the embodiment of the invention.

Fig. 5 is coupling module voltage signal response diagram in the embodiment of the invention.

Fig. 6 arranges orientation diagram for piezoelectric sensor of the present invention.

Embodiment

The present invention is described in detail below in conjunction with the drawings and specific embodiments.

As shown in Figure 1, a kind of auditory localization device based on the electric analogy coupled structure, comprise the load module 1, coupling processing module 2, output module 3 and the post-processing module 4 that connect successively, described load module 1 receives acoustical signal and is converted to current signal, described coupling processing module 2 is amplified the phase place of the current signal of load module 1, and amplification is obtained voltage signal pass to output module 3, described output module 3 is that digital signal is imported post-processing module 4 into voltage transitions, and described post-processing module 4 is calculated the azimuth information of sound source.

Described load module 1 comprises pretreatment module and three piezoelectric sensors, and described piezoelectric sensor is subjected to the sound-source signal excitation to produce voltage responsive, and described pretreatment module is converted to current signal with voltage responsive.Described pretreatment module can select to increase voltage amplifier, regulates suitable voltage magnitude, simultaneously voltage waveform is distorted, and makes faint voltage signal be exaggerated, and voltage amplifier filtering within the specific limits reduces the signal interference.

Described output module 3 comprises A/D converter, conditioner, collector, and described A/D converter is converted to digital signal with voltage signal, and described collector shows signal sampling, oscillography and preserves.

The phase differential of described post-processing module after according to three amplifications adopts coupled processing method to calculate the azimuth information of sound source.

As shown in Figure 3, described coupling processing module 2 comprises input and output branch road 201 and coupling circuit 202 of three parallel connections, three outputs of load module 1 are corresponding respectively to be connected with three input and output branch roads, input and output branch road one end ground connection, and the other end connects coupling circuit 202 and output module 3.Described every input and output branch road all has one group of parallel resistor and electric capacity (R1 and C1, R2 and C2, R3 and C3), and described coupling circuit 202 has the inductance L of three connections _c1, L _c2, L _c3.Current source Is _i, i=1,2,3 is not the actual current source, but simulation is from the current input signal of load module 1.Described three input and output branch roads are connected to reometer and voltage table, I respectively _i, V _i, i=1,2,3 test input current and output voltage respectively.

Core of the present invention is to realize the amplification of signal phase difference by coupled circuit, and the coupled circuit parameter of present embodiment is:

Component symbol	Parameter	Size	Unit
				R1，R2，R3	Resistance value	156	Kilo-ohm (k Ω)
C1，C2，C3	Capacitance	1.53	Millifarad (mF)
				L c1，L c2，L c3	Inductance value	0.4	Milihenry (mH)
Is1，Is2，Is3	Current value	1	Ampere (A)
				(θ，α)	Incident angle	See the following form	Degree (°)
d	Radius sensor	0.05	Rice (m)
				c0	The velocity of sound	340	Meter per second (m/s)

Notice that not represent be optimized parameter to used parameter, only as the explanation of phase differential and the condition of checking are amplified in coupling here.

Shown in Fig. 4,5, input current (Fig. 4) does not have difference of vibration and very little phase differential, and behind overcoupled circuits, output voltage (Fig. 5) has little amplitude and more obvious phase differential.Obviously, phase differential has obtained amplification.

As shown in Figure 6, piezoelectric sensor s1, s2, s3 are arranged on 1,2,3 of xy plane, and sound source is S, the incident angle of sound source be (θ, α).With the parameter in the last table respectively substitution formula (1), (2), (3), by resolving of transport function between the output current, can solve incident angle by formula (4), (5), (6), choose the mean value that resolves as positioning result, as shown in the table:

(θ, α) [input]	Simulation result	Maximum error
			(30°，87°)	(31.197°，85.864°)	1.136°
(30°，84°)	(31.578°，83.007°)	1.578°
			(30°，81°)	(31.377°，80.140°)	1.377°
(30°，78°)	(31.093°，77.268°)	1.093°

The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all within the spirit and principles in the present invention any modification, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. auditory localization device based on the electric analogy coupled structure, it is characterized in that, comprise the load module, coupling processing module, output module and the post-processing module that connect successively, described load module receives acoustical signal and is converted to current signal, described coupling processing module is amplified the phase place of the current signal of load module, and the voltage signal that amplifies passed to output module, described output module is that digital signal is imported post-processing module into voltage transitions, and described post-processing module is calculated the azimuth information of sound source.

2. a kind of auditory localization device based on the electric analogy coupled structure according to claim 1, it is characterized in that, described load module comprises pretreatment module and three piezoelectric sensors, described piezoelectric sensor is subjected to the sound-source signal excitation to produce voltage signal and it is transferred to pretreatment module, and described pretreatment module is converted to current signal with voltage signal.

3. a kind of auditory localization device based on the electric analogy coupled structure according to claim 2 is characterized in that, described pretreatment module is provided with the voltage amplifier that the weak voltage signal is amplified.

4. a kind of auditory localization device based on the electric analogy coupled structure according to claim 2, it is characterized in that, described coupling processing module comprises input and output branch road and coupling circuit of three parallel connections, load module is connected with the input end of three input and output branch roads respectively, the output terminal of described three input and output branch roads is connected with output module respectively, and described three input and output branch roads also are connected with coupling circuit respectively.

5. a kind of auditory localization device based on the electric analogy coupled structure according to claim 4, it is characterized in that, every the input and output branch road all has one group of parallel resistor and electric capacity, described coupling circuit is made of three inductance of connecting successively, described resistance and load module are connected in series, described electric capacity and output module are connected in parallel, described electric capacity one end ground connection, and the other end is connected between the two adjacent inductance.

6. a kind of auditory localization device based on the electric analogy coupled structure according to claim 5 is characterized in that, is provided with reometer between described resistance and the load module, is provided with voltage table between described electric capacity and the inductance.

7. a kind of auditory localization device based on the electric analogy coupled structure according to claim 1, it is characterized in that, described output module comprises A/D converter, conditioner, the collector that connects successively, described A/D converter is converted to digital signal with voltage signal, this digital signal through conditioner conditioning back by collector to signal sample, oscillography shows and preserve.

8. a kind of auditory localization device based on the electric analogy coupled structure according to claim 5 is characterized in that, described post-processing module according to three amplifications that obtain after phase differential, adopt coupled processing method to calculate the azimuth information of sound source.

9. a kind of auditory localization device based on the electric analogy coupled structure according to claim 8, it is characterized in that, described sound bearing information refers to the geometric relationship between sound source incident direction and the piezoelectric sensor, i.e. longitude θ and latitude a in the spherical coordinate system of being determined by piezoelectric sensor.

10. a kind of auditory localization device based on the electric analogy coupled structure according to claim 9, it is characterized in that, described coupled processing method refers to that the mode of employing sound-electrical analogy simulates the processing procedure of mechanical couplings, in the mechanical couplings method, the transport function between system's input acoustic pressure and each vibrating diaphragm displacement

For:

$\left[\begin{array}{c}{H}_{x_{1}p}\\ H_{x_{2}p}\\ H_{x_{3}p}\end{array}\right]=\left[\begin{array}{ccc}{A}_1/B& A_2/B& A_2/B\\ A_2/B& A_1/B& A_2/B\\ A_2/B& A_2/B& A_1/B\end{array}\right]\left[\begin{array}{c}{e}^{{\mathrm{s\&tau;}}_1}\\ e^{{\mathrm{s\&tau;}}_2}\\ e^{{\mathrm{s\&tau;}}_3}\end{array}\right],---\left(1\right)$

Be the time delay correlation parameter, matrix parameter is:

$\frac{A_1}{B}=\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+{4k}_3)}+\frac{2}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+k_3)},$ (2)

$\frac{A_2}{B}=\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+{4k}_3)}-\frac{1}{3({\mathrm{ms}}^2+\mathrm{cs}+k_1+k_3)}$

Wherein, f is the predominant frequency of sound source, ω=2 π f, and i is imaginary unit, s=i ω/f; M is the quality of mechanical coupling diaphragm, corresponding to the big or small C of electric capacity in the circuit; C is the damping of vibrating diaphragm and sound bearing medium, the 1/R reciprocal of the size of resistance in the corresponding circuits; k ₁Be the equivalent stiffness of vibrating diaphragm, k ₃The rigidity of spring between the connecting rod is all corresponding to the 1/Lc reciprocal of the size of inductance in the circuit;

s ₁, s ₂, s ₃Be respectively three piezoelectric sensors, H ₁₃Be piezoelectric sensor s ₁With s ₃Between transport function, H ₂₃Be piezoelectric sensor s ₂With s ₃Between transport function, can get according to above-mentioned formula:

$H_{13}=\frac{H_{x_{1}p}}{H_{x_{3}p}}$

$H_{23}=\frac{H_{x_{2}p}}{H_{x_{2}p}},---\left(3\right)$

Set up H ₁₃, H ₂₃With time delay (τ ₁, τ ₂, τ ₃) between relation;

Adopt localization method to calculate and obtain real-time Sounnd source direction information, the formula of its geometric relationship is:

$\frac{({\mathrm{\&tau;}}_3-{\mathrm{\&tau;}}_2)c_0}{\sqrt{3}d}=\sin \mathrm{\&theta;}\sin \mathrm{\&alpha;}=D_1$ (4)

$\frac{({\mathrm{\&tau;}}_2-{\mathrm{\&tau;}}_1)+({\mathrm{\&tau;}}_3-{\mathrm{\&tau;}}_1)}{3d}{c}_0=\sin \mathrm{\&theta;}\cos \mathrm{\&alpha;}=D_2$

In conjunction with (3) and (4), can obtain position angle and H ₁₃, H ₂₃Between relation, concrete formula is:

$\sin \mathrm{\&theta;}=\sqrt{D_1^2+D_2^2}$

$\sin \mathrm{\&alpha;}=\frac{D_1}{\sqrt{D_1^2+D_2^2}},---\left(5\right)$

Wherein:

$D_1=\frac{c_0}{i\sqrt{3}\mathrm{\&omega;d}}\ln \frac{\frac{1}{L_c}{H}_{13}+\frac{1}{L_c}{H}_{23}+(-{\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})}{\frac{1}{L_c}{H}_{13}+(-{\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})H_{23}+\frac{1}{L_c}},---\left(6\right)$

$D_2=\frac{c_0}{i3\mathrm{\&omega;d}}\ln [\frac{\frac{1}{L_c}{H}_{13}+(-{\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})H_{23}+\frac{1}{L_c}}{({-\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})H_{13}+\frac{1}{L_c}{H}_{23}+\frac{1}{L_c}}$ (7)

$+\ln \frac{\frac{1}{L_c}{H}_{13}+\frac{1}{L_c}{H}_{23}+({-\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})}{({-\mathrm{C\&omega;}}^2+\frac{\mathrm{i\&omega;}}{R}+\frac{2}{L_c})H_{13}+\frac{1}{L_c}{H}_{23}+\frac{1}{L_c}}],$

In the above-mentioned formula, c ₀Being the sound propagation velocity in the medium, is a known constant, and d is that piezoelectric sensor is to the radius of central point.

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