CN104502892B - Localization method, positioner and user equipment - Google Patents
Localization method, positioner and user equipment Download PDFInfo
- Publication number
- CN104502892B CN104502892B CN201410756930.XA CN201410756930A CN104502892B CN 104502892 B CN104502892 B CN 104502892B CN 201410756930 A CN201410756930 A CN 201410756930A CN 104502892 B CN104502892 B CN 104502892B
- Authority
- CN
- China
- Prior art keywords
- electromagnetic wave
- information
- sound source
- intensity
- sound
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- 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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The embodiment of the present application discloses a kind of localization method, positioner and user equipment, and methods described includes：Obtain at least three reflection of electromagnetic wave signals of at least three position correspondences；Wherein：At least three reflections of electromagnetic wave signal is reflected to form by least three reflection of electromagnetic wave modules of at least three opening position in the state of the sound sent in response to a sound source produces vibration to electromagnetic wave signal；According at least three reflections of electromagnetic wave signal, at least three oscillation intensity information of at least three reflections of electromagnetic wave module caused by the sound source are obtained；The corresponding relation between each oscillation intensity information and the source sound strength information of the sound source, the sound source position information of the sound source at least three oscillation intensitys information obtains the sound source position information.The technical scheme of the embodiment of the present application can be positioned using the electromagnetic wave in environment to sounding object, is saved and is reduced system complexity.
Description
Technical field
The application is related to location technology, more particularly to a kind of localization method, positioner and user equipment.
Background technology
With data service and the quick increase of multimedia service, people increasingly increase the demand for positioning with navigating, especially
Its complexity indoor environment, in such as airport hall, exhibition room, warehouse, supermarket, library, underground parking, mine environment,
Usually it needs to be determined that object waits the positional information of fixed-site indoors.
The content of the invention
The possible purpose of the embodiment of the present application is：A kind of location technology scheme is provided.
In a first aspect, the possible embodiment of the application provides a kind of localization method, including：
Obtain at least three reflection of electromagnetic wave signals of at least three position correspondences；Wherein：At least three electromagnetic wave
Reflected signal is by least three reflection of electromagnetic wave modules of at least three opening position in the sound sent in response to a sound source
And electromagnetic wave signal is reflected to form in the state of generation vibration；
According at least three reflections of electromagnetic wave signal, it is anti-to obtain at least three electromagnetic wave caused by the sound source
Penetrate at least three oscillation intensity information of module；
The source sound of each oscillation intensity information and the sound source at least three oscillation intensitys information
Strength information, the sound source sound source position information between corresponding relation obtain the sound source position information.
Second aspect, the possible embodiment of the application provide a kind of positioner, including：
Electromagnetic wave signal acquisition module, for obtaining at least three reflection of electromagnetic wave signals of at least three position correspondences；
Wherein：At least three reflections of electromagnetic wave signal is existed by least three reflection of electromagnetic wave modules of at least three opening position
Produce in response to the sound that a sound source is sent and electromagnetic wave signal is reflected to form in the state of vibrating；
Oscillation intensity acquisition module, for according at least three reflections of electromagnetic wave signal, obtaining the sound source and causing
At least three reflections of electromagnetic wave module at least three oscillation intensity information；
Sound source position acquisition module, for each oscillation intensity information at least three oscillation intensitys information
Source sound strength information with the sound source, the corresponding relation between the sound source position information of the sound source obtain the sound source
Positional information.
The third aspect, the possible embodiment of the application provide a kind of user equipment, including recited above fixed
Position device.
At least one embodiment of the embodiment of the present application is by obtaining and analyzing sound of multiple opening positions in by environment
The reflection of electromagnetic wave signal of influence, the sound is obtained in oscillation intensity information caused by the multiple opening position, and then to sound
Source is positioned.The location technology can utilize the electromagnetic wave in environment, save and reduce system complexity, be particularly suitable for making
The occasion and multiple positions are gathered in a space that unsuitable active device uses used in number voice collection position
The occasion that acoustic information is positioned positions to sounding object.
Brief description of the drawings
Fig. 1 is a kind of flow chart of localization method of the embodiment of the present application；
Fig. 2 is a kind of application scenarios schematic diagram of localization method of the embodiment of the present application；
Fig. 3 is a kind of structural schematic block diagram of positioner of the embodiment of the present application；
Fig. 4 a and 4b are the structural schematic block diagram of two kinds of positioners of the embodiment of the present application；
Fig. 5 is a kind of structural schematic block diagram of positioner of the embodiment of the present application；
Fig. 6 is a kind of structural schematic block diagram of user equipment of the embodiment of the present application.
Embodiment
(identical label represents identical element in some accompanying drawings) and embodiment below in conjunction with the accompanying drawings, to the tool of the application
Body embodiment is described in further detail.Following examples are used to illustrate the application, but are not limited to scope of the present application.
It will be understood by those skilled in the art that the term such as " first ", " second " in the application be only used for distinguishing it is asynchronous
Suddenly, equipment or module etc., any particular technology implication is neither represented, does not also indicate that the inevitable logical order between them.
The embodiment of the present application it is described below in, " sound " is not limited to the sound for the scope that human ear can be heard
Sound, can cause the sound of corresponding reflection of electromagnetic wave module vibration can be included in the protection domain of the application.
As shown in figure 1, the embodiment of the present application provides a kind of localization method, including：
S110 obtains at least three reflection of electromagnetic wave signals of at least three position correspondences；Wherein：At least three electricity
Magnetic wave reflected signal is being sent by least three reflection of electromagnetic wave modules of at least three opening position in response to a sound source
Sound and produce vibration in the state of electromagnetic wave signal is reflected to form；
S120 obtains the sound source at least three opening position according at least three reflections of electromagnetic wave signal
At least three oscillation intensity information；
The sound source of each oscillation intensity information of the S130 at least three oscillation intensitys information and the sound source
Corresponding relation between intensity of sound information, the sound source position information of the sound source obtains the sound source position information.
For example, executive agent of the positioner provided by the invention as the present embodiment, S110~S130 is performed.Tool
Body, the positioner can be set in a user device in a manner of software, hardware or software and hardware combining, or, it is described
The inherently described user equipment of positioner；The user equipment includes but is not limited to：Mobile phone, computer, tablet personal computer, family
Gateway, intelligent robot etc..
The embodiment of the embodiment of the present application is by obtaining and analyzing the electricity of acoustic impacts of multiple opening positions in by environment
Magnetic wave reflected signal, the sound is obtained in oscillation intensity information caused by the multiple opening position, and then sound source is determined
Position.The localization method can utilize the electromagnetic wave in environment, save and reduce system complexity, be particularly well suited for use in
Sound collection position is not suitable for the occasion that uses of active device and the acoustic information of multiple positions is gathered in a space
The occasion positioned positions to sounding object.
By following each embodiment, each step of the embodiment of the present application is further illustrated：
When needing to obtain two-dimensional position information of the sound source in two-dimensional space, at least three position be three or
It is all right above, such as can be three positions；It is described when needing to obtain three dimensional local information of the sound source in three dimensions
At least three positions are then at least four positions, and in a kind of possible embodiment, such as at least four position can be with
Take four positions.
Following each embodiment is to need to obtain two-dimensional position information of the sound source in two-dimensional space, and described at least three
Individual position be three positions exemplified by illustrate.
S110 obtains three reflection of electromagnetic wave signals of three position correspondences.
Wherein, three reflection of electromagnetic wave signals are being responded by three reflection of electromagnetic wave modules of three opening positions
Electromagnetic wave signal is reflected to form in the state of the sound that a sound source is sent produces vibration.
As shown in Fig. 2 in first position (x1, y1), the second place (x2, y2) and the 3rd position (x3, y3) place is respectively equipped with
First reflection of electromagnetic wave module 211, the second reflection of electromagnetic wave module 212 and the 3rd reflection of electromagnetic wave module 213, these three electricity
Magnetic wave reflecting module is respectively to an electromagnetic wave receiving position reflection electromagnetic wave signal, for example, can be made by a mobile terminal 220
Three electricity after three reflection of electromagnetic wave modules reflection are obtained at the receiving position for the executive agent of present embodiment
Magnetic wave reflected signal 241~243.
Alternatively, the reflecting surface of three reflection of electromagnetic wave modules is distributed in an irregular pattern, for example, mutually uneven
Row distribution etc..
The voice signal 231 that one sound source 230 is sent is transmitted separately to the first position (x1, y1), the second place (x2,
y2) and the 3rd position (x3, y3) place, cause the first reflection of electromagnetic wave module 211, the second reflection of electromagnetic wave module 212 and
The vibration of 3rd reflection of electromagnetic wave module 213.By the Doppler effect of sound it is recognised that three reflection of electromagnetic wave modules
Vibration the spectral characteristic of the reflection of electromagnetic wave signal received at the electromagnetic wave receiving position can be caused to change.
In a kind of possible embodiment, the reflection of electromagnetic wave module for example can be reflection of electromagnetic wave film.
In a kind of possible embodiment, in order to obtain corresponding reflection of electromagnetic wave characteristic, the reflection of electromagnetic wave is thin
Also there is printed antenna on film.
In a kind of possible embodiment, the reflection of electromagnetic wave film for example can be metallic film.Can at other
In the embodiment of energy, the reflection of electromagnetic wave film can be the film of other materials, and reflecting surface be provided with printed antenna.
In a kind of possible embodiment, the reflection includes orienting reflex.That is, determine to the electromagnetic wave receiving position
To the reflection reflection of electromagnetic wave signal.
In a kind of possible embodiment, the orientation can be realized by the shape of the reflection of electromagnetic wave module
Reflection, for example, in a kind of possible embodiment, the reflection of electromagnetic wave module is the electromagnetic wave of the reflecting surface with curved surface
Reflective film, the electromagnetic wave receiving position are located at the reflection zone of convergence of the curved surface.In a kind of possible embodiment,
The curved surface for example can be parabola or ellipsoidal surface.
In a kind of possible embodiment, the electromagnetic wave signal includes：Environmental electromagnetic wave signal, for example, in environment
Radio wave, optical signal etc..I.e., in the present embodiment, it is not necessary to which electromagnetic signals are used to reflect in addition, but can
With to existing environmental electromagnetic wave signal carries out reflecting to form the reflection of electromagnetic wave signal in environment.People in the art
As can be seen that present embodiment can be reused in space, existing electromagnetic field information without transmission signal, both saved member
System complexity is reduced again.
In a kind of possible embodiment, for example, an at least electromagnetism can be received by way of signal acquisition
Wave reflection signal.For example, believed by receiving three reflections of electromagnetic wave in the receiving module of the electromagnetic wave receiving position
Number.
, can also be (as stated above from an external equipment by communication module in alternatively possible embodiment
Receiving module) obtain three reflection of electromagnetic wave signals.
In a kind of possible embodiment, in order to by receive three reflection of electromagnetic wave signals and three electromagnetism
Wave reflection module corresponds, and the reflection of electromagnetic wave characteristic of three reflection of electromagnetic wave modules is different, such as can lead to
Printed antenna different in the reflection of electromagnetic wave module is crossed to realize different reflection of electromagnetic wave characteristics.
In the present embodiment, the step S110 includes：
According to electromagnetic wave corresponding to three reflection of electromagnetic wave signals and three reflection of electromagnetic wave modules difference
Reflection characteristic, determine the one-to-one relationship between three positions and three reflection of electromagnetic wave signals.
, can also be otherwise by three positions and three electricity in other possible embodiments
Magnetic wave reflected signal is matched, for example, can at the electromagnetic wave receiving position the different multiple reception moulds of set location
Block divides to receive three reflection of electromagnetic wave signals that three positions reflect, then for example, by vertical-AT＆T Labs
The multiple-input and multiple-outputs such as layer space -time code (Vertical-Bell Labs Layered Space-Time, V-BLAST)
(Multiple-Input Multiple-Output, MIMO) receiving algorithm determines position corresponding to each reflection of electromagnetic wave signal
Put.
S120 obtains three vibrations of the sound source in three opening positions according to three reflection of electromagnetic wave signals
Strength information.
In a kind of possible embodiment, the step S120 includes：
Three vibration informations of three position correspondences are obtained according to three reflection of electromagnetic wave signals；
The three oscillation intensity information is obtained according to three vibration informations.
By taking the scene shown in Fig. 2 as an example, in a kind of possible embodiment, three reflections of electromagnetic wave can be passed through
The change of the spectrum distribution of signal, using the fm demodulation method or machine learning method of classics, obtain three electromagnetism
Three vibration informations corresponding to wave reflection module difference.
S130 is strong according to the source sound of each oscillation intensity information and the sound source in the three oscillation intensity information
Corresponding relation between degree information, the sound source position information of the sound source obtains the sound source position information.
In a kind of possible embodiment, the step S130 includes：
According to the three oscillation intensity information, obtain three groups of intensity locations respectively with three position correspondences and close
System, every group of intensity locations relation include with multiple possible source sound intensity of corresponding position correspondence in three positions with
Multiple intensity locations relations between possible sound source position；
According to all in three positions under in the multiple possible source sound intensity one possible source sound intensity
The common factor of three intensity locations relations of position correspondence obtains the sound source position information.
In a kind of possible embodiment, according to the propagation principle of sound, the intensity of sound of a position arrives with the position
The distance of sound source and the source sound intensity of sound source are related.In addition, cause a position reflection of electromagnetic wave module (such as electricity
Magnetic wave reflective film) vibration oscillation intensity and the position intensity of sound and direction of sound propagation and reflection of electromagnetic wave mould
Angle between the normal of the vibration plane of block is related.Therefore, can be according to a position in three positions by these principles
The oscillation intensity information at place, the possibility source sound intensity for the oscillation intensity for obtaining causing the opening position and may sound source position
Intensity locations relation between putting.
, can be by the method for learning, training in a kind of possible embodiment, obtaining each opening position, respectively vibration is strong
Spend corresponding multiple intensity locations relations under information.
The intensity locations relation can for example be represented by iso-intensity curve 251~253,251 '~253 ' in Fig. 2,
Here, each point on same iso-intensity curve corresponds to the strength of sound source information of same intensity, on the iso-intensity curve not
The diverse location information of positional representation sound source where same point.
As shown in Fig. 2 illustrated by taking first position as an example, according to the first reflection of electromagnetic wave module at first position
Reflection of electromagnetic wave signal 241 corresponding to 211 obtains the first oscillation intensity I of the first reflection of electromagnetic wave module 211f1.If
Need to cause the first reflection of electromagnetic wave module 211 to produce the first oscillation intensity I at the first positionf1Shake
It is dynamic, it is necessary to which that the sound source 230 is at the various point locations on iso-intensity curve 251 with the first source sound intensity Is1Sounding, or
Various point locations of the person on iso-intensity curve 251 ' sentence the second sound source intensity of sound Is2Sounding.Certainly, merely illustrated in Fig. 2 with
The first position, the first oscillation intensity If1Two related iso-intensity curves, those skilled in the art are it is recognised that right
There should be an iso-intensity curve in each source sound intensity, therefore equal strength corresponding with an oscillation intensity of a position is bent
Line can be any a plurality of.
Equally, the second oscillation intensity of the second reflection of electromagnetic wave module 212 is obtained according to reflection of electromagnetic wave signal 242
If2.Obtain again and the second place and the second oscillation intensity If2Corresponding iso-intensity curve 252 and 252 '.Wherein,
The iso-intensity curve 252 corresponds to the first source sound intensity Is1, the iso-intensity curve 252 ' corresponds to described the
Two source sound intensity Iss2。
3rd oscillation intensity I of the 3rd reflection of electromagnetic wave module 213 is obtained according to reflection of electromagnetic wave signal 243f3.Again
Obtain and the 3rd position and the 3rd oscillation intensity If3Corresponding iso-intensity curve 253 and 253 '.Wherein, it is described etc.
Intensity curve 253 corresponds to the first source sound intensity Is1, the iso-intensity curve 253 ' corresponds to second sound source
Intensity of sound Is2。
It is described according to institute under in the multiple possible source sound intensity one possible source sound intensity in present embodiment
State three intensity locations relations of all position correspondences in three positions common factor obtain the sound source position information be find
The intersection point of iso-intensity curve corresponding to each position under identical source sound intensity.
For example, it is the second sound source intensity of sound I in the source sound intensity in the present embodiments2When, each position pair
There is no intersection point between iso-intensity curve 251 '~253 ' answered, be the first source sound intensity I in the source sound intensitys1
When, there is a common intersection point between iso-intensity curve 251~253 corresponding to each position, the position of the intersection point is the sound
Position where source.
Iso-intensity curve described in Fig. 2 is a kind of possible table of intensity locations relation described in the embodiment of the present application
Existing mode.In other embodiments, iso-intensity curve corresponding to the intensity locations relation is also possible to as other shapes, example
Such as, can with the reflection of electromagnetic wave module 213 shape it is different and different.
Certainly, those skilled in the art are it is recognised that when the sound source position information is three dimensional local information, according to extremely
It is probably equal strength song corresponding to the intensity locations relation that few four positions and corresponding at least four oscillation intensitys information obtain
Face.
By above description it is recognised that in the present embodiment, the electromagnetic wave signal receiving position can be not
Know, therefore, the receiving module can be the receiving module on mobile device.
It will be understood by those skilled in the art that in the above method of the application embodiment, the sequence number of each step
Size is not meant to the priority of execution sequence, and the execution sequence of each step should be determined with its function and internal logic, without answering
Any restriction is formed to the implementation process of the application embodiment.
As shown in figure 3, a kind of possible embodiment of the embodiment of the present application provides a kind of positioner 300, including：
Electromagnetic wave signal acquisition module 310, for obtaining at least three reflections of electromagnetic wave letter of at least three position correspondences
Number；Wherein：At least three reflections of electromagnetic wave signal by least three opening position at least three reflection of electromagnetic wave moulds
Block reflects to form in the state of the sound sent in response to a sound source produces vibration to electromagnetic wave signal；
Oscillation intensity acquisition module 320, for according at least three reflections of electromagnetic wave signal, obtaining the sound source and drawing
At least three oscillation intensity information of at least three reflections of electromagnetic wave module risen；
Sound source position acquisition module 330, for each oscillation intensity at least three oscillation intensitys information
The source sound strength information of information and the sound source, the sound source sound source position information between corresponding relation obtain it is described
Sound source position information.
The embodiment of the embodiment of the present application is by obtaining and analyzing the electricity of acoustic impacts of multiple opening positions in by environment
Magnetic wave reflected signal, the sound is obtained in oscillation intensity information caused by the multiple opening position, and then sound source is determined
Position.The positioner can utilize the electromagnetic wave in environment, save and reduce system complexity, be particularly well suited for use in
Sound collection position is not suitable for the occasion that uses of active device and the acoustic information of multiple positions is gathered in a space
The occasion positioned positions to sounding object.
Each module and unit of the embodiment of the present application are further illustrated by following embodiment.
With the embodiment identical shown in Fig. 1, in the present embodiment, needing to obtain the sound source the two of two-dimensional space
When tieing up positional information, at least three position is three or more all right, such as can be three positions；Needing to obtain institute
Sound source is stated in the three dimensional local information of three dimensions, at least three position is then at least four positions, a kind of possible
Embodiment in, such as at least four position can take four positions.
As shown in fig. 4 a, in a kind of possible embodiment, it is anti-that described device also includes at least three electromagnetic wave
Penetrate module 340.
In a kind of possible embodiment, the reflection of electromagnetic wave module 340 for example can be reflection of electromagnetic wave film.
In a kind of possible embodiment, in order to obtain corresponding reflection of electromagnetic wave characteristic, the reflection of electromagnetic wave is thin
Also there is printed antenna on film.
In a kind of possible embodiment, the reflection of electromagnetic wave film for example can be metallic film.Can at other
In the embodiment of energy, the reflection of electromagnetic wave film can be the film of other materials, and reflecting surface be provided with printed antenna.
In a kind of possible embodiment, the reflection includes orienting reflex.That is, determine to the electromagnetic wave receiving position
To the reflection reflection of electromagnetic wave signal.
In a kind of possible embodiment, the orientation can be realized by the shape of the reflection of electromagnetic wave module
Reflection, for example, in a kind of possible embodiment, the reflection of electromagnetic wave module is the electromagnetic wave of the reflecting surface with curved surface
Reflective film, the electromagnetic wave receiving position are located at the reflection zone of convergence of the curved surface.In a kind of possible embodiment,
The curved surface for example can be parabola or ellipsoidal surface.
In a kind of possible embodiment, the electromagnetic wave signal includes：Environmental electromagnetic wave signal, for example, in environment
Radio wave, optical signal etc..I.e., in the present embodiment, it is not necessary to which electromagnetic signals are used to reflect in addition, but can
With to existing environmental electromagnetic wave signal carries out reflecting to form the reflection of electromagnetic wave signal in environment.People in the art
As can be seen that present embodiment can be reused in space, existing electromagnetic field information without transmission signal, both saved member
System complexity is reduced again.
As shown in fig. 4 a, in a kind of possible embodiment, the electromagnetic wave signal acquisition module 310 can include：
Electromagnetic wave receiving unit 311, for gathering at least three reflections of electromagnetic wave signal.
As shown in Figure 4 b, in alternatively possible embodiment, the electromagnetic wave acquisition module 310 can include：
Communication unit 312, for from an external equipment (electromagnetic wave receiving unit 311 as stated above) to obtain
State three reflection of electromagnetic wave signals.
In the present embodiment, at least three reflections of electromagnetic wave signal, at least three position and the sound source
Between relation referring to corresponding description in Fig. 1 and embodiment illustrated in fig. 2.
In a kind of possible embodiment, the reflection of electromagnetic wave characteristic of at least three reflections of electromagnetic wave module 340
Difference, such as can be by forming different printed antennas in the reflection of electromagnetic wave module 340 to realize different electromagnetic waves
Reflection characteristic.
Now, in a kind of possible embodiment, as shown in fig. 4 a, the electromagnetic wave signal acquisition module 310 also wraps
Include：
Signal source position determining unit 313, for according at least three reflections of electromagnetic wave signal and it is described extremely
Reflection of electromagnetic wave characteristic corresponding to few three reflection of electromagnetic wave modules difference, determines at least three position and described at least three
One-to-one relationship between individual reflection of electromagnetic wave signal.
, can also be with other modules or unit by three positions and described three in other possible embodiments
Individual reflection of electromagnetic wave signal is matched.For example, in a kind of possible embodiment, the electromagnetic wave receiving unit 311 can
An electromagnetic wave receiving array is thought, wherein including multiple electromagnetic wave reception antennas.Received further according to each electromagnetic wave reception antenna
At least three reflection of electromagnetic wave signals each reflection of electromagnetic wave signal is determined for example, by the MIMO such as V-BLAST receiving algorithms
Corresponding position.
As shown in fig. 4 a, in a kind of possible embodiment, the oscillation intensity acquisition module 320 includes：
Vibration information acquiring unit 321, for described in being obtained according at least three reflections of electromagnetic wave signal at least three
At least three vibration informations of individual position correspondence；
Intensity of sound acquiring unit 322, for obtaining at least three vibration according at least three vibration information
Strength information.
The further describing referring to figure of at least three vibration information is obtained by the vibration information acquiring unit 321
1 and embodiment illustrated in fig. 2 in corresponding description.
In a kind of possible embodiment, as shown in fig. 4 a, the sound source position acquisition module 330 includes：
Intensity locations Relation acquisition unit 331, for according at least three oscillation intensitys information, obtain respectively with institute
At least three groups of intensity locations relations of at least three position correspondences are stated, every group of intensity locations relation includes and described at least three
Put multiple intensity locations relations between multiple possible source sound intensity of corresponding position and possible sound source position；
Sound source position acquiring unit 332, for according in the multiple possible source sound intensity one possible source sound
The common factor of at least three intensity locations relations of all position correspondences obtains the sound source at least three position under intensity
Positional information.
The intensity locations Relation acquisition unit 331 is realized with the 332 further function of sound source position acquiring unit
Referring to corresponding description in Fig. 1 and embodiment illustrated in fig. 2.
The structural representation for another positioner 500 that Fig. 5 provides for the embodiment of the present application, the application specific embodiment
The specific implementation to positioner 500 does not limit.As shown in figure 5, the positioner 500 can include：
Processor (processor) 510, communication interface (Communications Interface) 520, memory
(memory) 530 and communication bus 540.Wherein：
Processor 510, communication interface 520 and memory 530 complete mutual communication by communication bus 540.
Communication interface 520, for being communicated with the network element of such as client etc..
Processor 510, for configuration processor 532, it can specifically perform the correlation step in above method embodiment.
Specifically, program 532 can include program code, and described program code includes computer-managed instruction.
Processor 510 is probably a central processor CPU, or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or it is arranged to implement the integrated electricity of one or more of the embodiment of the present application
Road.
Memory 530, for depositing program 532.Memory 530 may include high-speed RAM memory, it is also possible to also include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.Program 532 can specifically be used
Following steps are performed in causing the positioner 500：
Obtain at least three reflection of electromagnetic wave signals of at least three position correspondences；Wherein：At least three electromagnetic wave
Reflected signal is by least three reflection of electromagnetic wave modules of at least three opening position in the sound sent in response to a sound source
And electromagnetic wave signal is reflected to form in the state of generation vibration；
According at least three reflections of electromagnetic wave signal, the sound source is obtained at least three opening position at least
Three oscillation intensity information；
The source sound of each oscillation intensity information and the sound source at least three oscillation intensitys information
Strength information, the sound source sound source position information between corresponding relation obtain the sound source position information.
Corresponding to the specific implementation of each step may refer in corresponding steps and the unit in above-described embodiment in program 532
Description, will not be described here.It is apparent to those skilled in the art that for convenience and simplicity of description, it is above-mentioned to retouch
The equipment and the specific work process of module stated, the corresponding process description in preceding method embodiment is may be referred to, herein no longer
Repeat.
As shown in fig. 6, the embodiment of the present application additionally provides a kind of user equipment 600, including shown in Fig. 3, Fig. 4 a or Fig. 4 b
Positioner 610 described in embodiment.
The user equipment 610 includes but is not limited to：Mobile phone, computer, tablet personal computer, home gateway, intelligent robot etc..
The user equipment 600 of the embodiment of the present application can utilize the electromagnetic wave pair in environment by the positioner 610
Sound source is positioned, and is saved and is reduced system complexity, be particularly well suited for use in number voice collection position be not suitable for it is active
Occasion that device uses and occasion that the acoustic informations of multiple positions is positioned is gathered in a space to sounding pair
As being positioned.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and method and step, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
Scope of the present application.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the application is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform each embodiment methods described of the application all or part of step.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
Embodiment of above is merely to illustrate the application, and is not the limitation to the application, about the common of technical field
Technical staff, in the case where not departing from spirit and scope, it can also make a variety of changes and modification, thus it is all
Equivalent technical scheme falls within the category of the application, and the scope of patent protection of the application should be defined by the claims.
Claims (13)
- A kind of 1. localization method, it is characterised in that including：Obtain at least three reflection of electromagnetic wave signals of at least three position correspondences；Wherein：At least three reflection of electromagnetic wave Signal is produced by least three reflection of electromagnetic wave modules of at least three opening position in the sound sent in response to a sound source Electromagnetic wave signal is reflected to form in the state of raw vibration, the electromagnetic wave signal includes environmental electromagnetic wave signal；According at least three reflections of electromagnetic wave signal, at least three reflections of electromagnetic wave mould caused by the sound source is obtained At least three oscillation intensity information of block；The source sound intensity of each oscillation intensity information and the sound source at least three oscillation intensitys information Corresponding relation between information, the sound source position information of the sound source obtains the sound source position information.
- 2. the method as described in claim 1, it is characterised in thatThe reflection of electromagnetic wave characteristic of at least three reflections of electromagnetic wave module is different；At least three reflections of electromagnetic wave signal for obtaining at least three position correspondence includes：According to electricity corresponding at least three reflections of electromagnetic wave signal and at least three reflections of electromagnetic wave module difference Magnetic wave reflection characteristic, determine that the one-to-one corresponding between at least three position and at least three reflections of electromagnetic wave signal closes System.
- 3. the method as described in claim 1, it is characterised in that described to be obtained according at least three reflections of electromagnetic wave signal At least three oscillation intensitys information includes：At least three vibration informations of at least three position correspondence are obtained according at least three reflections of electromagnetic wave signal；At least three oscillation intensitys information is obtained according at least three vibration information.
- 4. the method as described in claim 1, it is characterised in that according to each oscillation intensity information and the source sound Corresponding relation between strength information, the sound source position information, which obtains the sound source position information, to be included：According at least three oscillation intensitys information, at least three groups of intensity respectively with least three position correspondence are obtained Position relationship, every group of intensity locations relation include multiple possible source sounds with corresponding position at least three position Multiple intensity locations relations between intensity and possible sound source position；According to all at least three position under in the multiple possible source sound intensity one possible source sound intensity The common factor of at least three intensity locations relations of position correspondence obtains the sound source position information.
- 5. the method as described in claim 1, it is characterised in that corresponding to the sound source position information it is three dimensional local information, At least three position is：At least four positions.
- A kind of 6. positioner, it is characterised in that including：Electromagnetic wave signal acquisition module, for obtaining at least three reflection of electromagnetic wave signals of at least three position correspondences；Wherein： At least three reflections of electromagnetic wave signal is being responded by least three reflection of electromagnetic wave modules of at least three opening position Electromagnetic wave signal is reflected to form in the state of the sound that a sound source is sent produces vibration, the electromagnetic wave signal includes ring Border electromagnetic wave signal；Oscillation intensity acquisition module, for according at least three reflections of electromagnetic wave signal, obtaining institute caused by the sound source State at least three oscillation intensity information of at least three reflection of electromagnetic wave modules；Sound source position acquisition module, for each oscillation intensity information at least three oscillation intensitys information and institute The corresponding relation stated between the source sound strength information of sound source, the sound source position information of the sound source obtains the sound source position Information.
- 7. device as claimed in claim 6, it is characterised in that the electromagnetic wave signal acquisition module includes：Electromagnetic wave receiving unit, for gathering at least three reflections of electromagnetic wave signal.
- 8. device as claimed in claims 6 or 7, it is characterised in thatThe reflection of electromagnetic wave characteristic of at least three reflections of electromagnetic wave module is different；The electromagnetic wave signal acquisition module includes：Signal source position determining unit, for according at least three reflections of electromagnetic wave signal and at least three electricity Reflection of electromagnetic wave characteristic corresponding to magnetic wave reflecting module difference, determines at least three position and at least three electromagnetic wave One-to-one relationship between reflected signal.
- 9. device as claimed in claim 6, it is characterised in that the oscillation intensity acquisition module includes：Vibration information acquiring unit, for obtaining at least three position pair according at least three reflections of electromagnetic wave signal At least three vibration informations answered；Intensity of sound acquiring unit, believe for obtaining at least three oscillation intensity according at least three vibration information Breath.
- 10. device as claimed in claim 6, it is characterised in that the sound source position acquisition module includes：Intensity locations Relation acquisition unit, for according at least three oscillation intensitys information, obtain respectively with it is described at least At least three groups of intensity locations relations of three position correspondences, every group of intensity locations relation include with it is right at least three position Multiple intensity locations relations between the multiple possible source sound intensity for the position answered and possible sound source position；Sound source position acquiring unit, for according to institute under in the multiple possible source sound intensity one possible source sound intensity The common factor for stating at least three intensity locations relations of all position correspondences at least three positions obtains the sound source position information.
- 11. device as claimed in claim 6, it is characterised in that described device also includes at least three reflection of electromagnetic wave Module.
- 12. device as claimed in claim 6, it is characterised in that corresponding to the sound source position information it is three dimensional local information, At least three position is：At least four positions.
- 13. a kind of user equipment, it is characterised in that including the positioner any one of claim 6-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410756930.XA CN104502892B (en) | 2014-12-10 | 2014-12-10 | Localization method, positioner and user equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410756930.XA CN104502892B (en) | 2014-12-10 | 2014-12-10 | Localization method, positioner and user equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104502892A CN104502892A (en) | 2015-04-08 |
| CN104502892B true CN104502892B (en) | 2018-02-02 |
Family
ID=52944303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410756930.XA Active CN104502892B (en) | 2014-12-10 | 2014-12-10 | Localization method, positioner and user equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104502892B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104374464B (en) | 2014-11-17 | 2017-10-10 | 北京智谷睿拓技术服务有限公司 | Vibration information acquisition methods and vibration information acquisition device |
| CN108828501B (en) * | 2018-04-29 | 2020-07-28 | 桂林电子科技大学 | Method for real-time tracking and positioning of mobile sound source in indoor sound field environment |
| CN108710108A (en) * | 2018-06-20 | 2018-10-26 | 上海掌门科技有限公司 | A kind of auscultation apparatus and its automatic positioning method |
| CN109765525A (en) * | 2019-01-16 | 2019-05-17 | 重庆交通大学 | A kind of underwater cobble movement position real time tracing system and method |
| CN115824226B (en) * | 2023-02-23 | 2023-04-28 | 北京数字光芯集成电路设计有限公司 | Navigation method, device, equipment and medium based on digital projection lamp guidance |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1128863A (en) * | 1995-02-07 | 1996-08-14 | 电子科技大学 | Photoelectric sound sensor |
| CN1291067A (en) * | 1999-07-01 | 2001-04-11 | 青井电子株式会社 | Electromagnetic microphone |
| CN101226235A (en) * | 2008-01-03 | 2008-07-23 | 上海交通大学 | Sound source three-dimensional positioning method based on mechanical coupling diaphragm |
| CN101339242A (en) * | 2008-08-25 | 2009-01-07 | 清华大学 | Auditory localization wireless measurement method |
| CN101414838A (en) * | 2008-12-02 | 2009-04-22 | 中国电子科技集团公司第十四研究所 | Passive microwave interception system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020118115A1 (en) * | 2001-02-28 | 2002-08-29 | Schendel Robert E. | Infrasound sensor |
| JP4396739B2 (en) * | 2007-07-25 | 2010-01-13 | ソニー株式会社 | Information transmission method, information transmission system, information receiving apparatus, and information transmitting apparatus |
-
2014
- 2014-12-10 CN CN201410756930.XA patent/CN104502892B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1128863A (en) * | 1995-02-07 | 1996-08-14 | 电子科技大学 | Photoelectric sound sensor |
| CN1291067A (en) * | 1999-07-01 | 2001-04-11 | 青井电子株式会社 | Electromagnetic microphone |
| CN101226235A (en) * | 2008-01-03 | 2008-07-23 | 上海交通大学 | Sound source three-dimensional positioning method based on mechanical coupling diaphragm |
| CN101339242A (en) * | 2008-08-25 | 2009-01-07 | 清华大学 | Auditory localization wireless measurement method |
| CN101414838A (en) * | 2008-12-02 | 2009-04-22 | 中国电子科技集团公司第十四研究所 | Passive microwave interception system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104502892A (en) | 2015-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104502893B (en) | positioning method, positioning device and user equipment | |
| CN104502892B (en) | Localization method, positioner and user equipment | |
| Chen et al. | Source localization and beamforming | |
| CA2870597C (en) | Orientation of an ultrasonic signal | |
| CN106054133A (en) | Far field sound source positioning system and method | |
| US20100177909A1 (en) | Beamforming system comprising a transducer assembly | |
| CN106226777A (en) | Infrared acquisition localization method and system | |
| WO2023071519A1 (en) | Audio information processing method, electronic device, system, product, and medium | |
| EP2470924B1 (en) | Position locating by polyhedral morphing | |
| EP3622730A1 (en) | Spatializing audio data based on analysis of incoming audio data | |
| CN104374464B (en) | Vibration information acquisition methods and vibration information acquisition device | |
| KR20180092535A (en) | Apparatus and method for connecting device in wireless lan system | |
| CN104244055A (en) | Real-time interaction method of multimedia devices within effective space range | |
| CN104360309B (en) | Moving sound information determines method and determines device, user equipment | |
| CN104374463A (en) | Vibration information acquisition method and device and user equipment | |
| Emokpae et al. | Throughput analysis for shallow water communication utilizing directional antennas | |
| CN104105198B (en) | signal processing method, device and equipment | |
| Nava et al. | A high-speed camera-based approach to massive sound sensing with optical wireless acoustic sensors | |
| CN108353002A (en) | The fine time-ordered measurement assignment messages of batch | |
| CN107371228B (en) | Method and electronic equipment for adjusting transmission parameters of wireless routing equipment | |
| CN107395260A (en) | Distributed security beam forming method and device based on man-made noise | |
| CN104374462A (en) | Vibration information acquisition method and device and user equipment | |
| CN103889048A (en) | Device positioning method and apparatus | |
| CN110490295A (en) | A kind of neural network model, data processing method and processing unit | |
| CN109784932A (en) | A kind of method and relevant apparatus of numerical value transfer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |