CN105629202A - Method for umbrella-type reconfigurable three-dimensional microphone array to recognize three-dimensional coordinates of sound source - Google Patents
Method for umbrella-type reconfigurable three-dimensional microphone array to recognize three-dimensional coordinates of sound source Download PDFInfo
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- CN105629202A CN105629202A CN201610167600.6A CN201610167600A CN105629202A CN 105629202 A CN105629202 A CN 105629202A CN 201610167600 A CN201610167600 A CN 201610167600A CN 105629202 A CN105629202 A CN 105629202A
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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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention provides a method for an umbrella-type reconfigurable three-dimensional microphone array to recognize the three-dimensional coordinates of a sound source. According to the method, based on a near-field spherical wave sound field and beam forming principles, with an umbrella-type array used in combination, the three-dimensional coordinates of the sound source can be recognized. With the umbrella-type array adopted, pseudo sound sources at the front side or back side of the array can be eliminated, the problem of front-and-back fuzziness caused by the limitations of a two-dimensional array can be eliminated; HPWB (namely, 3dB bandwidth of which the physical meaning is that bandwidth before power is decreased by half represents half power is accumulated in the bandwidth) is adopted as an evaluation index; the recognition and positioning effects of the umbrella-type reconfigurable three-dimensional microphone array for sound sources in an X axis and a Y axis are obviously better than that of a spoke array.
Description
Technical field
The invention belongs to the crossing domains such as structural acoustic, pneumatic acoustics, underwater acoustics, signal processing, image procossing, noise and vibration control, a kind of specifically adopt umbrella shape three-dimensional microphone array identification sound source three-dimensional of can recombinating to sit calibration method.
Background technology
The quality of Wave beam forming device array performance depends on the design of geometric array itself to a great extent, and identification of sound source result can be had a huge impact by the difference of array layout. Nowadays existing cubical array mainly contains semisphere microphone array, spherical microphone array, multilayer stereoscopic grid array, star array. Wherein spherical microphone array is applicable to interior acoustic field, complexity height. Multilayer stereoscopic grid array advantage is under the prerequisite not increasing microphone number, decreases the impact of graing lobe and diplopia.
Existing beam-forming method harmony source electricity technology is applied to limitation when three-dimensional identification of sound source is located to be had: when (1) multilayer stereoscopic grid array designs adjacent microphone interval and adjacent two layers between interval be the same, cause the inclination angle in four pyramid faces to immobilize, also it is exactly that analysis frequency scope is constant. (2) cannot effectively distinguish sound source and be positioned at the front side of array or rear side, it is easy to be fuzzy before and after causing.
Summary of the invention
The present invention to be avoided the weak point existing for above-mentioned technology, and self-developing designs and produces umbrella shape three-dimensional microphone array identification sound source three-dimensional of can recombinating and sits calibration method, it provides the array of a kind of conveniently relatively best identification of sound source location.
The beam-forming method of the identification sound source three-dimensional coordinate that the present invention proposes, the appearance design of star array is improved, turn into umbrella-shaped structure, by the slide handle installed on main shaft with the inclination angle of control three bars, with change the inclination angle of connecting rod being furnished with microphone to regulate the subtended angle of array, array aperture is changed with the change of subtended angle, and microphone spacing is adjustable, thus obtain relatively best identification of sound source locating effect.
Below the inventive method is described further.
(1) development and Design makes a umbrella shape and can recombinate three-dimensional microphone, it is assumed that its main shaft length is L1, every root connecting rod length is L2, each pole length is L3, it is L that connecting rod and pole interface are held distance to slip4, connecting rod number is N, and choosing first microphone to the distance of main shaft and rod connection point is d0��
(2) umbrella shape can be recombinated the array element distance d of three-dimensional microphone array1Minimum being about 0.02m, its array element maximum spacing is aboutAccording to spatial sampling law, so it analysis frequency scope can be about 200Hz-8kHz.
(3) setting up rectangular coordinate system in space, namely taking main shaft and pole interface O as initial point, main shaft is Z direction of principal axis, and connecting rod 1 is in ZOY plane. Owing to three connecting rods are equally distributed on cone surface, angle between connecting rod and main shaft can be calculatedThe funtcional relationship that the distance z to little shack is changed is held, namely with slip
(4) according to design requirements, angle between connecting rod and main shaftVariation range isWork as angleForSlip is held moving to limit position one, and array has minimum subtended angleMain shaft upper extreme position one is z to the distance of initial point O1; Work as angleForSlip is held moving to limit position two, and array has maximum subtended angle ��max=90 ��, three connecting rods are on the same face, and array is plane array, and main shaft upper extreme position two is z to the distance of initial point O2. So, slip is held maximum mobile range delta zmax. At limit position one, place puts on scale ��min, at limit position two, place puts on scale ��max��
(5) each microphone volume coordinate (x on connecting rodij,yij,zij), (i=1,2,3; J=1 ..., M/3) withThe funtcional relationship of change, so all microphones X, Y, Z-direction coordinate matrix representation as shown by the equation, wherein every row each connecting rod corresponding, each microphone position coordinate on the corresponding connecting rod of the often row in a line. Namely
(6) the concrete expression formula of microphone coordinate is as follows:
x1j=0
Wherein Pj(M) for array element distance changes function.
(7) coordinate of microphone can be obtained according to the formula of step (6), again according to identifying the theory that the three-dimensional sound source wave beam in location is shaped, wave beam shaping principle, in conjunction with the method for the three-dimensional sound source in spoke array identification location, can obtain umbrella shape three-dimensional microphone array of can recombinating and obtain the three-dimensional identification locating effect to identification of sound source location.
It is an advantage of the invention that: when carrying out sound source depth recognition, can eliminate on front side of array or after the pseudo-sound source of side, distinguish sound source and be positioned at the front side of array or rear side, breach the front and back that the limitation due to plane array causes fuzzy. With HPWB (i.e. three dB bandwidth, its physical significance is exactly the frequency span of power before reducing to half, represent in this bandwidth, concentrated the power of half) as evaluation index, umbrella shape can recombinate three-dimensional microphone array be listed on X, Y-axis direction will significantly better than spoke array to the identification locating effect of sound source.
Accompanying drawing explanation
The umbrella shape that Fig. 1 the present invention uses can be recombinated three-dimensional microphone array structural representation.
Fig. 2 umbrella shape can be recombinated the size marking schematic diagram of three-dimensional microphone array.
Fig. 3 simulating, verifying schema.
Fig. 4 experimental verification schema.
Fig. 5 spoke array locates the result emulation of single sound source.
Fig. 6 spoke array locates the experimental result of single sound source.
The result emulation of single sound source is located in the three-dimensional microphone array identification of can recombinating of Fig. 7 umbrella shape.
The test-results of single sound source is located in the three-dimensional microphone array identification of can recombinating of Fig. 8 umbrella shape.
Fig. 9 spoke array on X, Y-axis direction HPBW with the variation relation of frequency of source f
Figure 10 shape three-dimensional microphone array of can recombinating is listed on X, Y, Z axis direction HPBW with the variation relation of frequency of source f.
Specific embodiments
Below by specific embodiment, the present invention is further described
The present embodiment mainly being shown, the three-dimensional can recombinated the three-dimensional identification locating effect that identification of sound source locate by two dimensional plane spoke arrays and umbrella shape identification of sound source locate by three-dimensional microphone array identifies locating effect respectively. Spoke array is listed on X, Y, Z axis direction HPBW with the variation relation of frequency of source f at HPBW on X, Y-axis direction with the variation relation of frequency of source f and umbrella shape three-dimensional microphone array of can recombinating.
Emulation and test parameter are set respectively according to figure: setting the sound field of reconstruct as rectangular parallelepiped, it is centrally located at true origin O, and its final condition is-1m��xf��1m��-1m��yf��1m��-5m��zf�� 5m, if the spacing in X, Y-axis direction is 0.01m, the spacing of Z direction of principal axis is 0.1m.
Assuming that sound source is point sound source, wouldn't consider ground unrest, sound source coordinate is (0.04m ,-0.08m, 1m), and frequency of source is 4kHz, and the intensity of point source is 1Pa.
According to the simulation parameter arranged above, by the operating process of Fig. 3 and Fig. 4, it is possible to obtain emulation result and experimental result that two dimensional plane spoke arrays locate single sound source.
Fig. 5 and Fig. 6 is bright by exporting the response of maximum sound field | V (xf,yf,zk,��)|maxThe locus at place, the position of the three-dimensional sound source in single arrowband, location can be identified, but in the negative direction of spoke array, there is a pseudo-sound source in Z rotational symmetry, the conclusion drawn in this result verification theoretical analysis, two-dimensional planar array can correctly identify the position of the three-dimensional sound source in array front, location in conjunction with present method, but limitation fuzzy before and after Z-direction exists
Umbrella shape microphone sum M on three-dimensional microphone array of can recombinating is 30, and microphone spacing variation pattern is geometric ratio spacing, and array subtended angle �� is 60 degree, when array aperture remains unchanged, can obtain the coordinate of microphone according to formula,
Three-dimensional locating effect is identified again according to what Fig. 3 and Fig. 4 operating process can obtain that umbrella shape can recombinate that identification of sound source locate by three-dimensional microphone array.
Fig. 7 and Fig. 8 shows the locus by exporting 0dB place, the coordinate in localization of sound source X, Y, Z axis direction can be identified, and the spatial distribution of HPBW is very little, when carrying out sound source depth recognition, a pseudo-sound source can not be produced at the Z direction of principal axis of symmetry, sound source can be distinguished and it is positioned at the front side of array or rear side, breach the front and back that the limitation due to plane array causes fuzzy.
Verify that frequency of source f changes the impact of pair array performance again. For spoke array, it is assumed that frequency of source f constant interval is 500Hz to 6kHz, varied pitch is 100Hz, and the X of sound source, Y, Z coordinate are (0.05m ,-0.05m, 0.5m), reconstruction point xfConstant interval is-0.5m to 0.5m, and varied pitch is 0.01m, yf=y0��zf=z0, now can obtain the variation relation of the HPBW of spoke array in X-axis direction with frequency of source; As reconstruction point yfConstant interval is-0.5m to 0.5m, and varied pitch is 0.01m, xf=x0��zf=z0Time, it is possible to obtain on X, Y-axis direction HPBW with the variation relation of frequency of source.
Umbrella shape microphone sum on three-dimensional microphone array of can recombinating is 30, the difference is that frequency of source f is in change, its constant interval is 500Hz to 6kHz, varied pitch is 500Hz, then by the experimental data under each frequency of source of gained, calculate the HPBW on X, Y-axis direction, umbrella shape can be obtained and can recombinate the HPBW of three-dimensional microphone array with the variation tendency of frequency of source f.
Fig. 9 and Figure 10 shows, sound source is carried out identifying location by spoke array of comparing in closer distance, its HPBW is obviously greater than umbrella shape and can recombinate three-dimensional microphone array, illustrate using HPWB as evaluation index, umbrella shape can recombinate three-dimensional microphone array be listed on X, Y-axis direction will significantly better than spoke array to the identification locating effect of sound source.
Claims (1)
1. umbrella shape three-dimensional microphone array identification sound source three-dimensional of can recombinating sits calibration method, carries out as follows:
(1) development and Design makes a umbrella shape and can recombinate three-dimensional microphone, it is assumed that its main shaft length is L1, every root connecting rod length is L2, each pole length is L3, it is L that connecting rod and pole interface are held distance to slip4, connecting rod number is N, and choosing first microphone to the distance of main shaft and rod connection point is d0;
(2) umbrella shape can be recombinated the array element distance d of three-dimensional microphone array1Minimum is 0.02m, and its array element maximum spacing is aboutAccording to spatial sampling law, it analysis frequency scope can be about 200Hz-8kHz;
(3) setting up rectangular coordinate system in space, namely taking main shaft and pole interface O as initial point, main shaft is Z direction of principal axis, and connecting rod 1 is in ZOY plane; Owing to three connecting rods are equally distributed on cone surface, angle between connecting rod and main shaft can be calculatedThe funtcional relationship that the distance z to little shack is changed is held, namely with slip
(4) according to design requirements, angle between connecting rod and main shaftVariation range isWork as angleForSlip is held moving to limit position one, and array has minimum subtended angleMain shaft upper extreme position one is z to the distance of initial point O1; Work as angleForSlip is held moving to limit position two, and array has maximum subtended angle ��max=90 ��, three connecting rods are on the same face, and array is plane array, and main shaft upper extreme position two is z to the distance of initial point O2; So, slip is held maximum mobile range delta zmax; At limit position one, place puts on scale ��min, ��minRepresenting the minimum subtended angle of main shaft and connecting rod, at limit position two, place puts on scale ��max, ��maxRepresent the maximum subtended angle of main shaft and connecting rod;
(5) each microphone volume coordinate (x on connecting rodij,yij,zij), (i=1,2,3; J=1 ..., M/3) withThe funtcional relationship of change, M represents the sum of microphone, so all microphones X, Y, Z-direction coordinate matrix representation as shown by the equation, wherein every row each connecting rod corresponding, each microphone position coordinate on the corresponding connecting rod of the often row in a line; Namely
(6) the concrete expression formula of microphone coordinate is as follows:
xij=0
Wherein Pj(M) for array element distance changes function;
(7) coordinate of microphone can be obtained according to the formula of step (5), again according to identifying the theory that the three-dimensional sound source wave beam in location is shaped, wave beam shaping principle, in conjunction with the method for the three-dimensional sound source in spoke array identification location, can obtain umbrella shape three-dimensional microphone array of can recombinating and obtain the three-dimensional identification locating effect to identification of sound source location.
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| CN102033223A (en) * | 2010-12-29 | 2011-04-27 | 北京信息科技大学 | Method for positioning sound source by using microphone array |
| CN102305925A (en) * | 2011-07-22 | 2012-01-04 | 北京大学 | Robot continuous sound source positioning method |
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| JP2005181088A (en) * | 2003-12-19 | 2005-07-07 | Advanced Telecommunication Research Institute International | Motion-capturing system and motion-capturing method |
| CN102033222A (en) * | 2010-11-17 | 2011-04-27 | 吉林大学 | Large-scale multiple-object ultrasonic tracking and locating system and method |
| CN102033223A (en) * | 2010-12-29 | 2011-04-27 | 北京信息科技大学 | Method for positioning sound source by using microphone array |
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