CN106707239B - A kind of microphone array angle estimation postfilter design method based on probability distribution - Google Patents
A kind of microphone array angle estimation postfilter design method based on probability distribution Download PDFInfo
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- CN106707239B CN106707239B CN201611217488.9A CN201611217488A CN106707239B CN 106707239 B CN106707239 B CN 106707239B CN 201611217488 A CN201611217488 A CN 201611217488A CN 106707239 B CN106707239 B CN 106707239B
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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 microphone array angle estimation postfilter design method based on probability distribution that the present invention relates to a kind of, the operating procedure of this method are as follows: carrying out rough estimate to reference angle, statistically analyze angle rough estimate evaluation and draw histogram.Histogram is fitted, obtains the probability density function of current environment lower angle distribution.After carrying out angle rough estimate to the sound source to be estimated under current environment, probability density function is utilizedAngle number group is filtered.The maximum value that probability density function curve is mixed after filtering is searched, and using the abscissa of this maximum value as the result of an angle estimation.This method can be applied in the scene for being carried out angle estimation using delay inequality, and the stability of sound source angle estimated result and precision are greatly promoted.
Description
Technical field
The present invention relates to carry out angle estimation to sound source using microphone array to be more particularly related to a kind of base
In the microphone array angle estimation postfilter design method of probability distribution.
Background technique
Carrying out angle estimation using the delay inequality that sound source reaches microphone array element based on microphone array is that sound source angle is estimated
Common technology in meter.There is a large amount of method to focus on accurate time delay estimation at present, derive various cross correlation algorithms,
Including broad sense cross-correlation method, phse conversion broad sense cross-correlation method (PHAT-GCC), based on the controllable responding power of joint and phase
Method (SRP-PHAT) that bit map combines etc..These algorithms depend on higher sound-source signal signal-to-noise ratio, in certain journey
The accuracy of time delay estimation is improved on degree, but it is inclined not consider that the multipath effect bring time delay due to sound-source signal is estimated
Difference.
Summary of the invention
The present invention for overcome the deficiencies in the prior art, and provides a kind of microphone array angle based on probability distribution and estimates
Count postfilter design method.The method of the present invention can in real time, efficiently solve sound source angle estimation problem.To a certain degree
On reduce interference of the signals such as multipath effect, reverberation to angle estimation, improve the precision and stability of angle estimation.
In order to achieve the above object, the present invention is as follows using technical solution:
A kind of microphone array angle estimation postfilter design method based on probability distribution, the specific steps are as follows:
1) in the angular range that microphone array can be estimated, source reference point of more optionally making a sound；
2) microphone array reaches the delay inequality between microphone array element using sound source, according to known geometric relationship, to sound
Source reference point carries out angle rough estimate；
3) result of angle rough estimate is for statistical analysis, obtaining is influenced by noise and multipath effect under current environment
Probability density function f (the θ of angular distributionl)；
4) sound source to be estimated in the angular range that can be estimated microphone array in current environment carries out angle rough estimate
After meter, applied probability density function f (θl) carry out angle estimation after filtering processing, using filtered peak point abscissa as
The result of angle estimation.
The step 3) obtains the probability density function f (θ of angular distributionl), specific method includes:
After 3-1) counting to angle rough estimate result, according to the frequency that angle occurs, angular distribution histogram is drawn；
3-2) histogram is fitted, obtains the probability density function f (θ) of angular distribution；
3-3) in view of sound source reference point is arbitrarily chosen, probability density function f (θ), which is expanded to microphone array, to be estimated
In the angular range of meter, there is probability density function f (θl), wherein l=1,2,3 ... K, according to point of required angle estimation
Resolution, the size of customized K.
Step 4) the applied probability density function f (θl) filtering processing after angle estimation is carried out, specific method includes:
The delay inequality on each frequency point of a pair of of microphone speech frame 4-1) is calculated, and constitutes time delay array τ [N], according to several
What relationship obtains the corresponding angle array A [N] of time delay array τ [N]；If microphone array includes M microphone, with wheat two-by-two
Gram wind is one group, constitutes microphone group number and isBecause showing that an angle estimation, microphone array obtain between microphone two-by-two
Angle array out is
4-2) according to the resolution ratio of required angle estimation, to N number of data in angle number group A [N], or to angle number
GroupInA data choose corresponding probability density function curve f (θl)；
4-3) by step 4-2) N item orProbability density function curve is overlapped, and obtains mixing probability density
Function curve；
If 4-4) above-mentioned curve only has a maximum value, using the abscissa of the maximum value as this filter of angle estimation
The result of wave；If above-mentioned curve there are multiple contour maximum values, take mean value as this after the abscissa of all maximum values is added
The result of secondary filtering.
Compared with prior art, the present invention has the advantages that following substantive distinguishing features outstanding and significant:
The method of the present invention considers the influence that multipath effect estimates time delay, it is assumed that estimates resulting angle estimation by time delay
As a result a kind of probability distribution can be presented.By statistics angle estimation as a result, obtained by multi-path influence angular distribution and its
Probability density function is filtered angle estimated result using the probability density function curve of angular distribution, to improve
The precision of angle estimation.
Detailed description of the invention
Fig. 1 is implementation flow chart of the invention.
Fig. 2 is the realization block diagram of first embodiment in the present invention.
Fig. 3 is the realization block diagram of second embodiment in the present invention.
Specific embodiment
Below by specific embodiment and in conjunction with attached drawing, the present invention will be further described.
Embodiment one: as depicted in figs. 1 and 2, a kind of microphone array angle estimation based on probability distribution of the present embodiment
Postfilter design method, this method operating procedure are as follows:
1) in the estimable angular range of microphone linear array, source reference point of more optionally making a sound；
2) microphone linear array reaches the delay inequality between microphone array element using sound source, according to known geometric relationship,
Angle rough estimate is carried out to sound source reference point；
3) result of angle rough estimate is for statistical analysis, obtaining is influenced by noise and multipath effect under current environment
Probability density function f (the θ of angular distributionl), specifically:
3-1) angle rough estimate result is counted, according to the frequency that angle occurs, draws angular distribution histogram；
3-2) histogram is fitted, obtains angular distribution Gaussian distributed, and its probability density function is f (θ)；
3-3) in view of sound source reference point is arbitrarily chosen, probability density function f (θ) is expanded to microphone linear array can
In the angular range of estimation (0 arrives 180 degree), the resolution ratio for choosing angle estimation is 1 degree, there is probability density function f (θl), wherein
L=1,2,3 ... 180；
4) sound source to be estimated in the angular range that can be estimated microphone array in current environment carries out angle rough estimate
After meter, applied probability density function f (θl) carry out angle estimation after filtering processing, using filtered peak point abscissa as
Angle estimation as a result, specifically:
4-1) under current environment, delay inequality on each frequency point of rough estimate a pair of microphone speech frame, and constituted with it
The corresponding angle array A [N] of time delay array τ [N] can be obtained according to geometrical relationship in time delay array τ [N]；
4-2) N number of data in angle number group A [N] are chosen corresponding according to the resolution ratio of required angle estimation
Probability density function curve f (θl)；
4-3) above-mentioned probability density function curve is overlapped, obtains mixing probability density function curve；
4-4) because only having a peak value in above-mentioned curve, therefore using the abscissa of the peak value as speech frame microphone two-by-two
To the angle estimation result of sound source.
Embodiment two: as shown in figure 3, the present embodiment is basically the same as the first embodiment, same group of angular distribution can be used
Probability density function f (θl), special feature is as follows: by taking the linear microphone array of quaternary as an example, the step 4-4) obtain
It as a result is only the angle estimation that a pair of of microphone obtains under a frame speech frame as a result, and being chosen according to microphone two-by-two, the wheat
Gram wind array can obtain under practical every frame speech frameA angle estimation leads to as a result, in view of angle estimation stability
8 frame speech frames are often chosen as primary statistics, totally 48 data can be obtained accordingly, using this 48 data as angle-data group B
[48], step 4) is carried out again；According to the resolution ratio of required angle estimation, to 48 data in angle number group B [48],
Choose corresponding probability density function curve f (θl)；Probability density function curve in above-mentioned steps is overlapped, is mixed
Close probability density function curve；Because only having a peak value in above-mentioned curve, therefore using the abscissa of the peak value as 4 yuan of linear Mikes
The angle result that wind array obtains in an angle estimation.
Claims (3)
1. a kind of microphone array angle estimation postfilter design method based on probability distribution, which is characterized in that specific
Steps are as follows:
1) in the angular range that microphone array can be estimated, source reference point of more optionally making a sound；
2) microphone array reaches the delay inequality between microphone array element using sound source, according to known geometric relationship, joins to sound source
Examination point carries out angle rough estimate；
3) result of angle rough estimate is for statistical analysis, obtain the angle influenced under current environment by noise and multipath effect
Probability density function f (the θ of distributionl)；
4) sound source to be estimated in the angular range that can be estimated microphone array in current environment carries out angle rough estimate
Afterwards, applied probability density function f (θl) filtering processing after angle estimation is carried out, using filtered peak point abscissa as angle
Spend the result of estimation.
2. the microphone array angle estimation postfilter design method according to claim 1 based on probability distribution,
It is characterized in that, the step 3) obtains the probability density function f (θ of angular distributionl), specific method includes:
After 3-1) counting to angle rough estimate result, according to the frequency that angle occurs, angular distribution histogram is drawn；
3-2) histogram is fitted, obtains the probability density function f (θ of angular distributionl)；
3-3) in view of sound source reference point is arbitrarily chosen, by the probability density function f (θ of angular distributionl) expand to microphone array
In the angular range that can be estimated, the probability density function f (θ of angular distributionl), wherein l=1,2,3 ... K, according to required
Angle estimation resolution ratio, the size of customized K.
3. the microphone array angle estimation postfilter design method according to claim 1 based on probability distribution,
It is characterized in that, the step 4) applies the probability density function f (θ of angular distributionl) filtering processing after angle estimation is carried out,
Specific method includes:
The delay inequality on each frequency point of a pair of of microphone speech frame 4-1) is calculated, and constitutes time delay array τ [N], is closed according to geometry
System obtains the corresponding angle array A [N] of time delay array τ [N]；If microphone array includes M microphone, with microphone two-by-two
It is one group, constituting microphone group number isBecause obtaining an angle estimation between microphone two-by-two, what microphone array obtained
Angle array is
4-2) according to the resolution ratio of required angle estimation, to N number of data in angle number group A [N], or to angle number groupInA data choose the probability density function f (θ of corresponding angular distributionl)；
4-3) by step 4-2) N item orProbability density function curve is overlapped, and obtains mixing probability density function
Curve；
If 4-4) above-mentioned curve only has a maximum value, using the abscissa of the maximum value as this filtering of angle estimation
As a result；If above-mentioned curve there are multiple contour maximum values, take mean value as this filter after the abscissa of all maximum values is added
The result of wave.
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| CN102866385A (en) * | 2012-09-10 | 2013-01-09 | 上海大学 | Multi-sound-source locating method based on spherical microphone array |
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| CN102866385A (en) * | 2012-09-10 | 2013-01-09 | 上海大学 | Multi-sound-source locating method based on spherical microphone array |
Non-Patent Citations (2)
| Title |
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| MULTIPLE SPEAKER TRACKING USING A MICROPHONE ARRAY BY COMBINING AUDITORY PROCESSING AND A GAUSSIAN MIXTURE CARDINALIZED PROBABILITY HYPOTHESIS DENSITY FILTER;Axel Plinge et al.;《2011 IEEE International Conference on Acoustics, Speech and Signal Processing》;20110712;全文 |
| 宽间距麦克风阵列实时无模糊多声源被动测向;许志勇 等;《电子与信息学报》;20110930;第33卷(第9期);全文 |
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