CN103592628A - Multi-sound-source positioning method based on formation of real value weight beam in spherical harmonic domain - Google Patents

Multi-sound-source positioning method based on formation of real value weight beam in spherical harmonic domain Download PDF

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CN103592628A
CN103592628A CN201310559245.3A CN201310559245A CN103592628A CN 103592628 A CN103592628 A CN 103592628A CN 201310559245 A CN201310559245 A CN 201310559245A CN 103592628 A CN103592628 A CN 103592628A
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ball
real
wave beam
valued
mergeformat
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胡瑞
黄青华
李琳
陈飞
冯玉武
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • G—PHYSICS
    • 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
    • G—PHYSICS
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/8083—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems determining direction of source

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Circuit For Audible Band Transducer (AREA)

Abstract

The invention discloses a multi-sound-source positioning method based on formation of a real value weight beam in a spherical harmonic domain. The multi-sound-source positioning method comprises the steps that a sound field model that unit amplitude plane waves enter a spherical microphone array is firstly established; then a spherical harmonic domain noise source signal model is constructed; spherical harmonic domain real value beam forming is carried out on noise source signals received by the spherical microphone array to obtain the beam in the spherical harmonic domain; an MVDR beam when the gain of the spherical microphone array is the maximum is constructed, and the optimal real value weight at the time is obtained; finally, the peak point of the square of the real value weight in the spherical harmonic domain is calculated, and the dimensional orientation maximum estimated value point of sound sources is extracted. According to the multi-sound-source positioning method based on formation of the real value weight beam in the spherical harmonic domain, the optimum real value weight in the spherical harmonic domain is obtained by utilizing the formation of the MVDR beam, the defects of large calculation amount and high calculation complexity of a traditional method are overcome, the calculation amount is obviously lowered, all-dimensional estimation of a free space is met, and the sound field is sampled more sufficiently.

Description

A kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball
Technical field
The present invention relates to a kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball, can be widely used in the fields such as auditory localization.Specifically based on the undistorted response of minimum variance (MVDR) wave beam, form principle, in conjunction with the conversion between He Qiuxie territory, spatial domain, the spatial domain acoustic field signal that spherical microphone array is collected is transformed into the humorous territory of ball, carrying out the real-valued weight wave beam in the humorous territory of ball forms, construct the weight design that real-valued MVDR wave beam forms, utilize lagrange's method of multipliers to try to achieve optimum real-valued weight, finally by searching for the peak value of real-valued weight square, obtain the attitude information of sound source.Compare with traditional sound localization method, what this method adopted is real-valued weight, only needs amplitude weighting, has reduced calculated amount, has reduced computation complexity, can meet the comprehensive estimation of free space, and sound field is sampled more fully.
Background technology
Auditory localization is that the acoustic field signal to collecting is analyzed and processed, and obtains the process of sound source dimensional orientation.First need to adopt microphone array to gather sound field, then the sound field information collecting is carried out to wave beam formation.
The sound source information that single microphone obtains is limited, is difficult to obtain good effect under the environment of actual complex, therefore adopts microphone array, microphone array to have wave beam flexibly and controls, the advantages such as extremely strong antijamming capability and high spatial resolution.The difference of arranging geometric configuration according to array element, can be divided into microphone array: linear microphone array, plane microphone array, spherical microphone array.Linear microphone array is simple in structure, processing is convenient, still, can only provide one dimension orientation angles information in Estimation of Spatial Spectrum.The angle that plane microphone array can provide covers, yet,
Figure 646221DEST_PATH_IMAGE002
* MERGEFORMAT direction of principal axis there is no primitive, cause plane microphone array can only provide the estimation of the angle of pitch
Figure 563362DEST_PATH_IMAGE004
angle cover, plane microphone array can not meet the comprehensive estimation of free space, cause plane microphone array not sample fully to sound field, and notice, spherical microphone array is compared with plane microphone array with traditional linear microphone array, spherical microphone array has the humorous orthogonality of good symmetry, rotatory and ball, meets the comprehensive estimation of free space.These characteristics make it fully obtain angle, sound bearing and angle of pitch information, can sample more fully to sound field, therefore aspect three-dimensional many auditory localizations, are having more advantage.
At present for the method that adopts wave beam to form to carry out the many auditory localizations of spherical microphone array mainly: fixed beam forms and statistics optimal beam forming.The former is that the signal that adopts fixing weights to collect spherical microphone array carries out wave beam formation, and the method adaptive ability is poor, can only carry out filtering de-noising to the signal on fixed beam, makes auditory localization have limitation, inaccuracy.With respect to the former, the latter carries out adaptive beam formation according to the direction of incoming wave signal, and this makes it have good adaptive ability, can carry out self-adaptation according to the difference of signal and regulate weights, and then obtain optimal beam.The method can strengthen the signal of specific direction, and specific direction signal is carried out to airspace filter, and then obtains the azimuth information of sound-source signal.It is to make array beams output noise variance minimum that MVDR wave beam forms, and undistorted output on the direction of observation of array, belongs to statistics optimal beam forming.Yet the sound localization method forming based on steerable beam need to carry out global search, operand is very big, is difficult to realize in reality; Secondly, existing MVDR wave beam forms, and mostly adopts complex value weight to carry out wave beam formation, and this has also increased the complexity of computing greatly; Finally, existing wave beam is formed on while carrying out global search, employing be the power spectrum of search wave beam output, before obtaining the azimuth information of sound source, need first to power spectrum, solve, increased the complexity of calculating.
Summary of the invention
The object of the invention is the deficiency existing for prior art, a kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball are proposed, the method overcomes the deficiency that classic method calculated amount is large, computation complexity is high, reduced significantly operand, can meet the comprehensive estimation of free space, sound field has been sampled more fully.
In order to achieve the above object, design of the present invention is: model unit amplitude plane wave incides the sound-field model of spherical microphone array; Then build the humorous territory of ball Noise source signal model; The Noise source signal that spherical microphone array is received carries out the real-valued wave beam in the humorous territory of ball and forms; MVDR wave beam while building spherical microphone array array gain maximum, obtains the real-valued weight of optimum now; Finally, calculate the peak point of the real-valued weight in the humorous territory of ball square, extract the dimensional orientation maximum estimated value point of sound source.
According to foregoing invention design, the technical solution used in the present invention is:
A kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball mainly comprise following step:
(1), set up spherical coordinate system, the position of spherical microphone array each array element on sphere is described, set up the sound-field model that unit amplitude plane wave incides spherical microphone array;
(2), build the humorous territory of ball Noise source signal model;
(3), Noise source signal that spherical microphone array is received carries out the real-valued wave beam in the humorous territory of ball and forms, and obtains the wave beam in the humorous territory of ball;
(4), build the MVDR wave beam of spherical microphone array array gain when maximum, utilize lagrange's method of multipliers, obtain the real-valued weight in the humorous territory of optimum ball, be designated as
Figure 530050DEST_PATH_IMAGE006
;
(5), calculate the real-valued weight square in the humorous territory of ball
Figure 925259DEST_PATH_IMAGE008
the peak point of * MERGEFORMAT, the position angle corresponding to maximal peak point of extracting the real-valued weight in the humorous territory of ball square, determines the dimensional orientation maximum estimated value point of sound source, is the orientation of optimum sound source.
A kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball of the present invention compared with prior art, there is following apparent advantage: the method utilizes the three dimensions characteristic of spherical microphone array to carry out sufficient comprehensive sampling to the position angle of acoustic field signal and the angle of pitch, spatial domain signal is carried out to ball Fourier transform to be transformed in the humorous territory of ball, utilize MVDR wave beam to form and obtain the optimum real-valued weight in the humorous territory of ball, adopt the humorous territory of ball optimum real-valued weight square to obtain the azimuth information of sound source, can be widely used in the fields such as auditory localization.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of a kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball of the present invention;
Fig. 2 is the spherical coordinate system schematic diagram that spherical microphone array of the present invention gathers space sound field;
Fig. 3 is the schematic diagram that the real-valued weight wave beam in the humorous territory of ball of the present invention forms;
Fig. 4 is the space circle of equal altitudes of the localization method of the real-valued weight in the humorous territory of ball of the present invention square.
Embodiment
In order to understand better technical scheme of the present invention, be below described in further detail:
The flow process of this method is referring to Fig. 1, a kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball of the present invention, utilize the treatment characteristic of spherical microphone array to high-order sound field, in conjunction with real-valued weight MVDR wave beam, form principle, carry out the location of the many sound sources in space, concrete implementation step is as follows:
(1), set up spherical coordinate system, the position of spherical microphone array each array element on sphere is described, set up the sound-field model that unit amplitude plane wave incides spherical microphone array, specific as follows:
Set up spherical coordinate system, as shown in Figure 2, in figure,
Figure 739631DEST_PATH_IMAGE010
point representative is distributed in radius and is
Figure 499777DEST_PATH_IMAGE012
spherical microphone array on separate, isotropic array element, the number of array element is ; True origin
Figure 654126DEST_PATH_IMAGE016
the centre of sphere for spherical microphone array, is positioned at sphere
Figure 323004DEST_PATH_IMAGE010
the of point place
Figure 254051DEST_PATH_IMAGE018
the angle of pitch of individual array element and position angle are
Figure 8381DEST_PATH_IMAGE020
,
Figure 932343DEST_PATH_IMAGE022
, supposing has
Figure 455728DEST_PATH_IMAGE024
individual far field sound-source signal, the
Figure 885573DEST_PATH_IMAGE026
the incident angle of individual far field sound-source signal is
Figure 64881DEST_PATH_IMAGE028
,
Figure 340005DEST_PATH_IMAGE030
, the angle of pitch of sound source for sound-source signal incident direction and
Figure 4128DEST_PATH_IMAGE034
the angle of axle, , position angle
Figure 749547DEST_PATH_IMAGE038
for from
Figure 247525DEST_PATH_IMAGE040
axle arrive in the counterclockwise direction sound-source signal incident direction with
Figure 206122DEST_PATH_IMAGE042
the angle of projection in plane,
Figure 156761DEST_PATH_IMAGE044
, at sphere observation point
Figure 976949DEST_PATH_IMAGE046
place, the the sound-field model of the plane wave of the unit amplitude that individual microphone receives is:
Figure 960397DEST_PATH_IMAGE048
\* MERGEFORMAT (1)
Wherein,
Figure 336015DEST_PATH_IMAGE050
the modal intensity of the * MERGEFORMAT ball array that is different structure, its expression formula is:
Figure 756632DEST_PATH_IMAGE052
(2)
Wherein,
Figure 229201DEST_PATH_IMAGE054
* MERGEFORMAT,
Figure 529601DEST_PATH_IMAGE056
* MERGEFORMAT be respectively
Figure 454832DEST_PATH_IMAGE058
* MERGEFORMAT rank spheric Bessel function and
Figure 616823DEST_PATH_IMAGE058
rank ball Hankel function,
Figure 678320DEST_PATH_IMAGE060
with
Figure 962671DEST_PATH_IMAGE062
be respectively
Figure 54824DEST_PATH_IMAGE063
rank spheric Bessel function and
Figure 82823DEST_PATH_IMAGE058
the derivative of rank ball Hankel function, in formula (2),
Figure 264406DEST_PATH_IMAGE065
for wave number,
Figure 391762DEST_PATH_IMAGE067
,
Figure 291585DEST_PATH_IMAGE069
for wavelength; Subscript in formula (1) "
Figure 44646DEST_PATH_IMAGE071
" expression conjugation,
Figure 346314DEST_PATH_IMAGE073
* MERGEFORMAT,
Figure 706888DEST_PATH_IMAGE075
* MERGEFORMAT be exponent number,
Figure 31690DEST_PATH_IMAGE077
,
Figure 401492DEST_PATH_IMAGE079
* MERGEFORMAT;
Figure 292087DEST_PATH_IMAGE081
the humorous territory of ball exponent number, * MERGEFORMAT be spheric harmonic function, it is defined as follows:
\* MERGEFORMAT (3)
In formula (3),
Figure 559886DEST_PATH_IMAGE087
,
Figure 508250DEST_PATH_IMAGE089
for associating Legendre function, its expression formula is:
Figure 476206DEST_PATH_IMAGE091
(4)
In formula (4),
Figure 572338DEST_PATH_IMAGE093
for Legendre polynomial,
Figure 470893DEST_PATH_IMAGE095
expression is to unknown number
Figure 336081DEST_PATH_IMAGE040
's
Figure 474938DEST_PATH_IMAGE073
order derivative, its expression formula is:
Figure 996049DEST_PATH_IMAGE097
(5)
(2), build the humorous territory of ball Noise source signal model, it is specific as follows:
In hypothesis space, have
Figure 245765DEST_PATH_IMAGE024
individual amplitude is respectively
Figure 231039DEST_PATH_IMAGE099
arrowband, far field sound-source signal respectively from direction incide spherical microphone array, the humorous territory of the ball Noise source signal that spherical microphone array receives
Figure 226283DEST_PATH_IMAGE103
model be:
Figure DEST_PATH_IMAGE105
(6)
Wherein,
Figure DEST_PATH_IMAGE107
for array element receives data;
Figure DEST_PATH_IMAGE109
for sound-source signal;
Figure DEST_PATH_IMAGE111
for average is 0, variance is additive noise, and and sound-source signal
Figure DEST_PATH_IMAGE115
separate; for guiding matrix,
Figure DEST_PATH_IMAGE119
in element for guiding vector, its expression formula is:
Figure DEST_PATH_IMAGE123
(7)
Wherein,
Figure DEST_PATH_IMAGE125
,
Figure DEST_PATH_IMAGE127
, , its expression formula is:
Figure DEST_PATH_IMAGE131
(8)
Figure DEST_PATH_IMAGE133
(9)
(10)
The signals and associated noises and the noise that adopt ball Fourier pair spherical microphone array to receive convert, and its expression formula is:
Figure DEST_PATH_IMAGE137
(11)
Figure DEST_PATH_IMAGE139
(12)
Wherein, in formula (11)
Figure DEST_PATH_IMAGE141
for the humorous territory of ball signal, in formula (12)
Figure DEST_PATH_IMAGE143
for the humorous territory of ball noise,
Formula (7), formula (11), formula (12) are updated to respectively in formula (6), obtain the humorous territory of ball Noise source signal model, its expression formula is:
Figure DEST_PATH_IMAGE145
(13)
Wherein, subscript "
Figure DEST_PATH_IMAGE147
" expression conjugate transpose, the
Figure 801402DEST_PATH_IMAGE026
the humorous territory of the ball guiding vector of individual sound-source signal is:
Figure DEST_PATH_IMAGE149
(14)
Vector
Figure DEST_PATH_IMAGE151
in element expression be
Figure DEST_PATH_IMAGE153
(15)
(3), Noise source signal that spherical microphone array is received carries out the real-valued wave beam in the humorous territory of ball and forms, and obtains the real-valued wave beam in the humorous territory of ball, specific as follows:
As shown in Figure 3, for the real-valued wave beam in the humorous territory of ball forms schematic diagram,
Figure DEST_PATH_IMAGE155
the humorous territory of the ball Noise source signal receiving for spherical microphone array,
Figure 792492DEST_PATH_IMAGE157
for the real-valued weight in the humorous territory of ball, in Fig. 3 "
Figure 819222DEST_PATH_IMAGE159
" represent carrying out summation operation after spherical microphone array reception signal weighting,
Figure 299882DEST_PATH_IMAGE161
for wave beam output,
Figure 592323DEST_PATH_IMAGE162
* MERGEFORMAT,
Figure 449421DEST_PATH_IMAGE075
* MERGEFORMAT be exponent number,
Figure 81391DEST_PATH_IMAGE077
,
Figure 732952DEST_PATH_IMAGE079
* MERGEFORMAT;
Figure 778268DEST_PATH_IMAGE163
be the humorous territory of ball exponent number, the sound-source signal that spherical microphone array is received is weighted summation, obtains the wave beam in the humorous territory of ball, and its expression formula is:
\* MERGEFORMAT (16)
Formula (16) is adopted to vector expression, and its expression formula is:
\* MERGEFORMAT (17)
(4), build the MVDR wave beam of spherical microphone array array gain when maximum, try to achieve the real-valued weight in the humorous territory of ball, concrete steps are as follows:
If the output signal power of the real-valued wave beam in the humorous territory of ball is
Figure 498728DEST_PATH_IMAGE169
, its expression formula is:
Figure 703444DEST_PATH_IMAGE171
(18)
Wherein,
Figure 902344DEST_PATH_IMAGE173
for the covariance of beamformer output signal, the covariance matrix of the signal receiving for spherical microphone array,
Figure 751537DEST_PATH_IMAGE177
for the covariance matrix of sound-source signal,
Figure 505867DEST_PATH_IMAGE179
* MERGEFORMAT be the covariance matrix of array received noise, the covariance matrix expression formula of above-mentioned sound-source signal is:
Figure 242879DEST_PATH_IMAGE181
(19)
In formula (19),
Figure 703947DEST_PATH_IMAGE183
* MERGEFORMAT be sound-source signal power, the covariance matrix expression formula of above-mentioned array received noise is:
Figure 133791DEST_PATH_IMAGE185
(20)
In formula (20),
Figure 795323DEST_PATH_IMAGE187
* MERGEFORMAT be array received noise power,
Figure 336026DEST_PATH_IMAGE189
* MERGEFORMAT be normalization noise covariance matrix,
If the power that the real-valued wave beam output signal-to-noise ratio in the humorous territory of ball is beamformer output signal and the ratio of noise, be designated as
Figure 979497DEST_PATH_IMAGE191
, its expression formula is as follows:
Figure 314664DEST_PATH_IMAGE193
\* MERGEFORMAT (21)
Wherein,
Figure 981268DEST_PATH_IMAGE195
* MERGEFORMAT be the power that MVDR wave beam forms beamformer output signal,
Figure 60083DEST_PATH_IMAGE197
* MERGEFORMAT be the power that MVDR wave beam forms wave beam output noise.，
If the real-valued wave beam input signal-to-noise ratio in the humorous territory of ball is the power of wave beam input signal and the ratio of noise, be designated as
Figure 558060DEST_PATH_IMAGE199
, its expression formula is as follows:
Figure 251078DEST_PATH_IMAGE201
(22)
If spherical microphone array array gain is the ratio of the real-valued wave beam output signal-to-noise ratio in the humorous territory of ball and the real-valued wave beam input signal-to-noise ratio in the humorous territory of ball, be designated as
Figure 467296DEST_PATH_IMAGE203
, its expression formula is:
Figure 349802DEST_PATH_IMAGE205
\* MERGEFORMAT (23)
Spherical microphone array array gain in calculating formula (23), makes it reach maximum, and wave beam output noise variance is minimum, and the undistorted output of observed ray signal, the weight design that MVDR wave beam forms, and its expression formula is:
Figure 639969DEST_PATH_IMAGE207
(24)
Wherein,
Figure 582517DEST_PATH_IMAGE209
for MVDR wave beam forms weight, subscript " " representing transposition, the weight design that in employing formula (24), MVDR wave beam forms builds Lagrangian function, and its expression formula is:
Figure 129484DEST_PATH_IMAGE213
(25)
Wherein,
Figure 602054DEST_PATH_IMAGE215
for Lagrangian function,
Figure 449924DEST_PATH_IMAGE216
for Lagrangian, the MVDR wave beam in formula (25) is formed to weight
Figure 312838DEST_PATH_IMAGE217
* MERGEFORMAT differentiate, making expression formula after differentiate is zero, obtains
Figure 537146DEST_PATH_IMAGE219
(26)
Formula (26) is got to real arithmetic, order
Figure 864222DEST_PATH_IMAGE221
,
Figure DEST_PATH_IMAGE223
, substitution formula (26), obtains
Figure 335523DEST_PATH_IMAGE225
\* MERGEFORMAT (27)
By formula (27), try to achieve the optimum real-valued weight expression formula in the humorous territory of ball, its expression formula is:
(28)
By formula (28) substitution
Figure 448153DEST_PATH_IMAGE229
in * MERGEFORMAT, try to achieve Lagrangian, its expression formula is:
Figure 629735DEST_PATH_IMAGE231
(29)
Formula (29) substitution formula (28) is tried to achieve to the real-valued weight in the humorous territory of ball, be designated as
Figure 84988DEST_PATH_IMAGE233
, its expression formula is:
Figure 687874DEST_PATH_IMAGE235
(30)
(5), the real-valued weight in the humorous territory of formula (30) ball step (4) Suo Shu is made to square operation, the real-valued weight square in the calculating humorous territory of ball
Figure 253985DEST_PATH_IMAGE008
the peak point of * MERGEFORMAT, extract the real-valued weight square in the humorous territory of ball
Figure 290074DEST_PATH_IMAGE008
the corresponding position angle of maximal peak point of * MERGEFORMAT
Figure 853911DEST_PATH_IMAGE237
* MERGEFORMAT, determine the dimensional orientation maximum estimated value point of sound source, it is specific as follows:
The real-valued Weighting type in the humorous territory of ball (30) step (4) Suo Shu is made to square operation, and its calculation expression is:
Figure 241030DEST_PATH_IMAGE239
(31)
In formula (31), change the incident direction of plane wave
Figure 345252DEST_PATH_IMAGE241
, by the incident direction of different plane waves, in whole three dimensions interscan, obtain the mapping relations of the real-valued weight in the humorous territory of ball square to dimensional orientation, wherein make the optimum real-valued weight square in the humorous territory of ball obtain the estimation orientation that peaked point is sound source.
In above-mentioned formula (31), the humorous territory of ball real-valued weight square is the angle of pitch and the position angle in an auditory localization space function, as shown in Figure 4, in figure, horizontal ordinate represents position angle
Figure 485432DEST_PATH_IMAGE245
,
Figure 94268DEST_PATH_IMAGE247
, ordinate represents the angle of pitch
Figure 205443DEST_PATH_IMAGE249
,
Figure 216125DEST_PATH_IMAGE249
Figure 184081DEST_PATH_IMAGE251
, by the incident direction of different plane waves, whole space scanning, the energy centralization of sound source, at the place, orientation of sound source, can be good at orienting the azimuth information of sound source as can be seen from Figure 4.In Fig. 4, "
Figure 968628DEST_PATH_IMAGE253
" sound bearing of representative supposition, "
Figure 414653DEST_PATH_IMAGE254
" sound bearing that estimates by real-valued MVDR algorithm of representative.From Fig. 4, it can also be seen that, estimated value point is the true bearing that approaches sound source, realizes sound source effective location.

Claims (4)

1. the many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball, is characterized in that, the method comprises the following steps:
(1), set up spherical coordinate system, the position of spherical microphone array each array element on sphere is described, set up the sound-field model that unit amplitude plane wave incides spherical microphone array;
(2), build the humorous territory of ball Noise source signal model;
(3), Noise source signal that spherical microphone array is received carries out the real-valued wave beam in the humorous territory of ball and forms, and obtains the wave beam in the humorous territory of ball;
(4), build the MVDR wave beam of spherical microphone array array gain when maximum, utilize lagrange's method of multipliers, obtain the real-valued weight in the humorous territory of optimum ball, be designated as
Figure 527386DEST_PATH_IMAGE001
;
(5), calculate the real-valued weight square in the humorous territory of ball
Figure 444526DEST_PATH_IMAGE002
peak point, the position angle corresponding to maximal peak point of extracting the real-valued weight in the humorous territory of ball square, determines the dimensional orientation maximum estimated value point of sound source, is the orientation of optimum sound source.
2. a kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball according to claim 1, it is characterized in that, the Noise source signal that spherical microphone array is received described in above-mentioned steps (3) carries out the real-valued wave beam in the humorous territory of ball and forms, obtain the wave beam in the humorous territory of ball, specific as follows:
If the real-valued wave beam in the humorous territory of ball forms,
Figure 224263DEST_PATH_IMAGE003
the humorous territory of the ball Noise source signal receiving for spherical microphone array,
Figure 432522DEST_PATH_IMAGE004
for the real-valued weight in the humorous territory of ball, in Fig. 3 " " represent carrying out summation operation after spherical microphone array reception signal weighting,
Figure 131674DEST_PATH_IMAGE006
for wave beam output,,
Figure 2013105592453100001DEST_PATH_IMAGE007
* MERGEFORMAT be exponent number,
Figure 398707DEST_PATH_IMAGE008
,
Figure 2013105592453100001DEST_PATH_IMAGE009
* MERGEFORMAT;
Figure 410656DEST_PATH_IMAGE010
be the humorous territory of ball exponent number, the sound-source signal that spherical microphone array is received is weighted summation, obtains the wave beam in the humorous territory of ball, and its expression formula is:
\* MERGEFORMAT (16)
Formula (16) is adopted to vector expression, and its expression formula is:
Figure 79535DEST_PATH_IMAGE012
\* MERGEFORMAT (17)。
3. a kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball according to claim 2, it is characterized in that, MVDR wave beam when the structure spherical microphone array array gain described in above-mentioned steps (4) is maximum, tries to achieve the real-valued weight in the humorous territory of ball, and concrete steps are as follows:
If the output signal power of the real-valued wave beam in the humorous territory of ball is
Figure 2013105592453100001DEST_PATH_IMAGE013
, its expression formula is:
Figure 135216DEST_PATH_IMAGE014
(18)
Wherein,
Figure 2013105592453100001DEST_PATH_IMAGE015
for the covariance of beamformer output signal,
Figure 889545DEST_PATH_IMAGE016
the covariance matrix of the signal receiving for spherical microphone array,
Figure 2013105592453100001DEST_PATH_IMAGE017
for the covariance matrix of sound-source signal,
Figure 430817DEST_PATH_IMAGE018
* MERGEFORMAT be the covariance matrix of array received noise, the covariance matrix expression formula of above-mentioned sound-source signal is:
(19)
In formula (19), * MERGEFORMAT be sound-source signal power, the covariance matrix expression formula of above-mentioned array received noise is:
Figure 2013105592453100001DEST_PATH_IMAGE021
(20)
In formula (20),
Figure 446364DEST_PATH_IMAGE022
* MERGEFORMAT be array received noise power, * MERGEFORMAT be normalization noise covariance matrix,
If the power that the real-valued wave beam output signal-to-noise ratio in the humorous territory of ball is beamformer output signal and the ratio of noise, be designated as
Figure 501039DEST_PATH_IMAGE024
, its expression formula is as follows:
Figure 2013105592453100001DEST_PATH_IMAGE025
\* MERGEFORMAT (21)
Wherein,
Figure 776162DEST_PATH_IMAGE026
* MERGEFORMAT be the power that MVDR wave beam forms beamformer output signal, * MERGEFORMAT be the power that MVDR wave beam forms wave beam output noise,
If the real-valued wave beam input signal-to-noise ratio in the humorous territory of ball is the power of wave beam input signal and the ratio of noise, be designated as
Figure 481950DEST_PATH_IMAGE028
, its expression formula is as follows:
Figure 2013105592453100001DEST_PATH_IMAGE029
(22)
If spherical microphone array array gain is the ratio of the real-valued wave beam output signal-to-noise ratio in the humorous territory of ball and the real-valued wave beam input signal-to-noise ratio in the humorous territory of ball, be designated as
Figure 817116DEST_PATH_IMAGE030
, its expression formula is:
Figure 2013105592453100001DEST_PATH_IMAGE031
\* MERGEFORMAT (23)
Spherical microphone array array gain in calculating formula (23), makes it reach maximum, i.e. wave beam output noise variance minimum and the undistorted output of observed ray signal, and the weight design that MVDR wave beam forms, its expression formula is:
Figure 359087DEST_PATH_IMAGE032
(24)
Wherein,
Figure DEST_PATH_IMAGE033
for MVDR wave beam forms weight, subscript "
Figure 437902DEST_PATH_IMAGE034
" representing transposition, the weight design that in employing formula (24), MVDR wave beam forms builds Lagrangian function, and its expression formula is:
Figure DEST_PATH_IMAGE035
(25)
Wherein,
Figure 998196DEST_PATH_IMAGE036
for Lagrangian function,
Figure DEST_PATH_IMAGE037
for Lagrangian, the MVDR wave beam in formula (25) is formed to weight
Figure 582892DEST_PATH_IMAGE038
* MERGEFORMAT differentiate, making expression formula after differentiate is zero, obtains
Figure DEST_PATH_IMAGE039
(26)
Formula (26) is got to real arithmetic, order
Figure 533531DEST_PATH_IMAGE040
,
Figure DEST_PATH_IMAGE041
, substitution formula (26), obtains
Figure 478353DEST_PATH_IMAGE042
\* MERGEFORMAT (27)
By formula (27), try to achieve the optimum real-valued weight expression formula in the humorous territory of ball, its expression formula is:
Figure DEST_PATH_IMAGE043
(28)
By formula (28) substitution
Figure 830837DEST_PATH_IMAGE044
in * MERGEFORMAT, try to achieve Lagrangian, its expression formula is:
(29)
Formula (29) substitution formula (28) is tried to achieve to the real-valued weight in the humorous territory of ball, be designated as
Figure 583505DEST_PATH_IMAGE046
, its expression formula is:
Figure DEST_PATH_IMAGE047
(30)。
4. a kind of many sound localization methods that form based on the real-valued weight wave beam in the humorous territory of ball according to claim 3, is characterized in that the real-valued square operation that acts temporarily as in the humorous territory of (30) ball described in above-mentioned steps (5) calculates the real-valued weight square in the humorous territory of ball the peak point of * MERGEFORMAT, extract the real-valued weight square in the humorous territory of ball
Figure 442056DEST_PATH_IMAGE048
the corresponding position angle of maximal peak point of * MERGEFORMAT
Figure DEST_PATH_IMAGE049
* MERGEFORMAT, determine the dimensional orientation maximum estimated value point of sound source, it is specific as follows:
The real-valued Weighting type in the humorous territory of ball (30) step (4) Suo Shu is made to square operation, and its calculation expression is:
Figure 976943DEST_PATH_IMAGE050
(31)
In formula (31), change the incident direction of plane wave , by the incident direction of different plane waves, in whole three dimensions interscan, obtain the mapping relations of the real-valued weight in the humorous territory of ball square to dimensional orientation, wherein make the optimum real-valued weight square in the humorous territory of ball obtain the estimation orientation that peaked point is sound source.
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