CN107707324A - A kind of acoustical signal delay time estimation method based on phase difference and maximal possibility estimation - Google Patents
A kind of acoustical signal delay time estimation method based on phase difference and maximal possibility estimation Download PDFInfo
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- CN107707324A CN107707324A CN201710749729.2A CN201710749729A CN107707324A CN 107707324 A CN107707324 A CN 107707324A CN 201710749729 A CN201710749729 A CN 201710749729A CN 107707324 A CN107707324 A CN 107707324A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
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- 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
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- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
Abstract
The invention belongs to wireless monitoring technology field, disclose a kind of acoustical signal delay time estimation method based on phase difference and maximal possibility estimation, under noise background, gather signal using acoustic sensor array and pre-processed to obtain frequency-region signal by cross-correlation function and Short Time Fourier Transform；Calculate the relative phase of two-way acoustical signal than and combine the principle of maximum- likelihood estimation and obtain the probability of all possible time delay estimate；Under conditions of independent of signal and noise priori, using the time delay value corresponding to maximum probability peak value as final time delay estimate.The present invention can accurately estimate the reaching time-difference TDOA of sound source；Data of 10 groups of long degree for 1024 sampled points are taken, to postponing 0.0029s, 0.0059s, 0.0088s, 0.0118s calculates its mean square error respectively, by Tables 1 and 2 it can be seen that the present invention has the very big degree of accuracy.
Description
Technical field
The invention belongs to wireless monitoring technology field, more particularly to a kind of believed based on the sound of phase difference and maximal possibility estimation
Number delay time estimation method.
Background technology
Target Passive Positioning technology is always the hot issue of wireless monitor area research and supervised in military affairs supervision, environment
Survey, rescue and relief work etc. are used widely.And passive target will not launch electromagnetic wave in itself, there is higher disguise,
Therefore, it is very necessary to study accurate passive target targeting scheme.Work out both at home and abroad at present excellent based on geometric parameter
The location technology of change can be largely classified into based on arrival time TOA, reaching time-difference TDOA, angle of arrival AOA, received signal strength
The classes of RSS tetra-.Arrival time TOA location technology is estimated by the absolute time between measuring sound source arrival node to target location
Meter, although TOA location algorithms can provide accurate location estimation, it requires accurate synchronised clock, increases system
Complexity.AOA location technologies are by determining target to the direction of arrival line of node so that it is determined that the position of sound source, this method need
The array antenna for estimating direction of arrival degree is disposed, increases the cost of system.Received signal strength RSS location technologies
The position of target is estimated by the intensity of measuring node reception sound-source signal, but between the performance number and actual value measured
Due to the presence of obstacle, the receiving power measured is scaled electromagnetic propagation path simply by model, positioning can be made
Precision causes larger error.But compared with other method, TDOA has the advantages of hardware requirement is few, and positioning precision is high, arrives
Absolute time between echo signal and node need not be measured up to time difference TDOA, need to only be reached by measuring target between different nodes
Reaching time-difference realize positioning.The above method is the common method for carrying out passive target positioning, based on wireless sensing
The key of the TDOA location technologies of device network is high-precision time delay estimation.One kind is proceeded to based on non-linear maximum likelihood to be reached
TDOA estimation, the method for realizing sound source position estimation, but the computation complexity of the method is higher.A kind of recurrence based on tree is maximum
Likelihood algorithm positions to sound source, in the case of two microphones are distant, carry out time delay by phase difference between time-frequency and estimates
Meter, realizes the determination to multi-acoustical number and position, but this method only accounts for the processing of static sound source, for motion
Target can not estimate the position of target in real time and realize target following, and the processing and tracker that a frame can be connect by a frame are realized
The detection and positioning of moving target.
In summary, the problem of prior art is present be：Current target Passive Location exist computation complexity compared with
Height, the position of target can not be estimated in real time for the target of motion and realizes target following.
The content of the invention
The problem of existing for prior art, believed the invention provides a kind of based on the sound of phase difference and maximal possibility estimation
Number delay time estimation method.
The present invention is achieved in that a kind of acoustical signal delay time estimation method based on phase difference and maximal possibility estimation,
The acoustical signal delay time estimation method based on phase difference and maximal possibility estimation utilizes acoustic sensor array under noise background
Collection signal simultaneously is pre-processed to obtain frequency-region signal by cross-correlation function and Short Time Fourier Transform；Calculate two-way acoustical signal
Relative phase than and combine the principle of maximum- likelihood estimation and obtain the probability of all possible time delay estimate；Disobeying
Under conditions of relying signal and noise priori, using the time delay value corresponding to maximum probability peak value as final time delay estimate.
Further, the acoustical signal delay time estimation method based on phase difference and maximal possibility estimation comprises the following steps：
Step 1, in t, by the signal of collectionWithEnter line slip correlation, obtaining can between this two paths of signals
Time delay section [(1-N)/f of energys,(N-1)/fs]；
Step 2, time-frequency domain conversation, by signalWithIts frequency domain presentation is obtained using Short Time Fourier TransformWith
Step 3, calculates relative phase ratio, and the relative phase calculated between t two signals of each frequency compares φm(t,
k)；
Step 4, relative phase ratio set is calculated, calculate the relative phase ratio of each possible each frequencies of time delay d, and
Collected and form relative phase than set
Step 5, estimated probability initialization, equality initialization is carried out to the probability parameter of each possible time delay value
Step 6, calculation delay estimated probability, calculate t each may time delay value averaged power spectrum probability
Step 7, time delay value is drawn, using the time delay value corresponding to the maximum in the averaged power spectrum probability of gained as letter
NumberWithReaching time-difference；
Step 8, recursive estimation parameter, the probability parameter of next frame is estimated based on the estimation parameter obtained by previous frame
Meter
Further, the acoustical signal delay time estimation method reaching time-difference TDOA based on phase difference and maximal possibility estimation
Estimation model, wherein t=1 ..., T are the time index of signal time domain, and k=0 ..., K are frequency index, share M to sensing
Device node, the then signal model that i-th of node gathers are：
WhereinV (t, k),Respectively i-th of sonic transducer node is to the sound transfer function of sound source, m
The additive noise of signal is gathered to i-th of microphone of node.
Further, in the step 2：
φm(t, k) is the phase difference that m gathers signal to node,The each time-frequency of signal is gathered for i-th of node
Point signal amplitude,The mould of each time frequency point signal of signal is gathered for i-th of node.
Further, in the step 3：
For the phase difference set of all time delay values, TsFor the sampling time, k=0 ..., K are frequency index, and d is time delay
Value.
Further, the average probability of d-th of time delay value of t is estimated as in the step 6：
For t each may TDOA values averaged power spectrum probability,For d-th at each frequency of t
The probabilistic estimated value of time delay, K are frequency sum.
Further, in the step 8：
For the probabilistic estimated value of all possible time delay value of t,Time delay value is possible to by t
Averaged power spectrum probability, γtRecursive smoothing parameter is represented, its span is (0,1).
Advantages of the present invention and good effect are：Fig. 5 and Fig. 6 can be seen that in the case where signal to noise ratio is relatively low, postpone
In 720 sampled points, the present invention may occur in which obvious peak value, can accurately estimate the reaching time-difference TDOA of sound source.Fig. 7
As can be seen that when data length is 1024 sampled points, when data length is increased into 1300 sampled points, in delay 720
During sampled point, time delay estimate still can be accurately drawn.Data of 10 groups of long degree for 1024 sampled points are taken, to delay
0.0029s, 0.0059s, 0.0088s, 0.0118s calculate its mean square error respectively, by Tables 1 and 2 it can be seen that the present invention
With the very big degree of accuracy.
By MATLAB experiment simulations, the feasibility and validity of algorithm are demonstrated, has carried out three groups of emulation experiments respectively,
Experiment two adds different Gaussian noises on the basis of experiment one, draws this method in the relatively low situation of signal to noise ratio by contrast
Under, still there is higher Time delay Estimation Accuracy.Experiment three increases data length on the basis of experiment two, is drawn at that time by contrast
Prolong the precision of estimation is also influenceed by data length, and data length determines the model for the time delay value that the algorithm can accurately be estimated
Enclose.Therefore, priori of the present invention independent of signal and noise, suitable data length is chosen in the case of signal to noise ratio is relatively low
Degree can accurately estimate the value of reaching time-difference.
Brief description of the drawings
Fig. 1 is the acoustical signal delay time estimation method stream provided in an embodiment of the present invention based on phase difference and maximal possibility estimation
Cheng Tu.
Fig. 2 is time delay estimation model structure schematic diagram provided in an embodiment of the present invention.
Fig. 3 is PRP extractions preprocessing process schematic diagram provided in an embodiment of the present invention.
Fig. 4 is TDOA algorithm for estimating block diagram provided in an embodiment of the present invention.
Fig. 5 is the time delay schematic diagram of emulation experiment 1 provided in an embodiment of the present invention；
In figure：(a) estimation of 0.0029s time delays is postponed；(b) estimation of 0.0059s time delays is postponed；(c) 0.0088s time delays are postponed
Estimation.
Fig. 6 is the time delay schematic diagram of emulation experiment 2 provided in an embodiment of the present invention；
In figure：(a) estimation of 0.0029s time delays is postponed；(b) estimation of 0.0059s time delays is postponed；(c) postpone
0.0088s time delays are estimated.
Fig. 7 is the time delay schematic diagram of emulation experiment 3 provided in an embodiment of the present invention；
In figure：(a) 1024 sampled point delay 0.0118s time delay estimations；(b) during 1300 sampled point delay 0.0118s
Prolong estimation.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in figure 1, provided in an embodiment of the present invention estimated based on the acoustical signal time delay of phase difference and maximal possibility estimation
Method comprises the following steps：
S101：Under noise background, signal is gathered using acoustic sensor array and by cross-correlation function and in short-term in Fu
Leaf transformation is pre-processed to obtain frequency-region signal；
S102：Calculate two-way acoustical signal relative phase than and combine maximum- likelihood estimation principle obtain it is all can
The probability of the time delay estimate of energy；
S103：Under conditions of independent of signal and noise priori, by the time delay value corresponding to maximum probability peak value
As final time delay estimate.
The application principle of the present invention is further described below in conjunction with the accompanying drawings.
1 model structure
Using acoustic sensor array, the reaching time-difference TDOA of reception signal between estimated sensor.Reaching time-difference TDOA
Model structure is estimated as shown in Fig. 2 wherein t=1 ..., T are the time index of signal time domain, and k=0 ..., K are under frequency
Mark, M is shared to sensor node, then the signal model that i-th of node gathers is：
WhereinV (t, k),Respectively i-th of sonic transducer node is to the sound transfer function of sound source, m
The additive noise of signal is gathered to i-th of microphone of node.
2 Time Delay Estimation Algorithms
2.1 extraction relative phase ratios
In many auditory localization algorithms, the amplitude of reception signal is only used, have ignored phase information.But it is based on phase
The reaching time-difference estimation mechanism of potential difference can show higher precision.Need to carry out reception signal before time delay estimation is carried out
Pretreatment, to extract the frequency domain information of signal, detailed process is as shown in Figure 3.Relative signal collected to sensor node of m
Phase is than PRP：
2.2 relative phases are than collection
By two paths of signalsWithIt is related in the enterprising line slip of time domain, signal length N, 2N-1 is had after carrying out cross-correlation
Individual time delay value, D gather for all possible TDOA, TsFor the sampling time.Assuming that the acoustical signal of collection is that W- separation is orthogonal, this
The each time frequency point of sample is related, predefined relative phase collection to each time delay valueFor：
2.3 recurrence maximal possibility estimation RDEM
By the way that to above relative phase, than set analysis, the relative phase of each sensor node and each time frequency point compares PRP
It can be used to lower statistical model to represent, i.e.,：
Wherein ψdFor in the estimated probability of d-th of time delay value of time frequency point (t, k), Nc(.；.；) represent that variance is σ2Complexity
Gaussian probability, i.e.,：
Wherein
Recurrence maximum likelihood estimate is being derived, and grid coordinate search on two-dimensional space is converted in the one-dimensional space
The search of step-out time, it can derive that its probability density function is：
By asking a series of derivation such as local derviation to obtain probability density function maximum, when can finally draw t d-th
The probability Estimation for prolonging value is：
The average probability of d-th of time delay value of t is estimated as：
The processing realization that a frame is connect by the frames of recurrence maximal possibility estimation RDEM mono- is estimated the TDOA of moving target.It is passed
Return parameterEquality initialization is carried out in t=0, the parameter Estimation of each frame is by Recursive Implementation afterwards, i.e.,：
Wherein：φm(t, k) is the phase difference that m gathers signal to node,It is every that signal is gathered for i-th of node
Individual time frequency point signal amplitude,The mould of each time frequency point signal of signal is gathered for i-th of node；For all time delays
The phase difference set of value, TsFor the sampling time, k=0 ..., K are frequency index, and d is time delay value；Each may for t
The averaged power spectrum probability of TDOA values,For the probabilistic estimated value of d-th of time delay at each frequency of t, K is that frequency is total
Number；For the probabilistic estimated value of all possible time delay value of t,Being averaged for time delay value is possible to by t to estimate
Count probability, γtRecursive smoothing parameter is represented, its span is (0,1).
2.4 algorithms are realized
Based on estimation of the relative phase than carrying out step-out time with recursive maximum likelihood algorithm, each frame signal in the present invention
Data length be N, sample rate fs, the algorithm flow block diagram is as shown in Figure 4.It is as follows to implement step：
Step 1：In t, by the signal of collectionWithEnter line slip correlation, obtain possibility between this two paths of signals
Time delay section [(1-N)/fs,(N-1)/fs]；
Step 2：Time-frequency domain conversation.By signalWithIts frequency domain presentation is obtained using Short Time Fourier TransformWith
Step 3：Calculate relative phase ratio.The relative phase between t two signals of each frequency is calculated using formula (2)
Compare φ in positionm(t,k)；
Step 4：Relative phase is calculated than set.The relative of each possible each frequencies of time delay d is calculated using formula (3)
Phase ratio, and collected and form relative phase than set
Step 5：Estimated probability initializes.Equality initialization is carried out to the probability parameter of each possible time delay value
Step 6：Calculation delay estimated probability.Using formula (5) and formula (7), calculating t each may time delay value
Averaged power spectrum probability
Step 7：Draw time delay value.Time delay value corresponding to maximum in averaged power spectrum probability obtained by previous step is made
For signalWithReaching time-difference；
Step 8：Recursive estimation parameter.Probability using formula (9) based on the estimation parameter obtained by previous frame to next frame
Parameter is estimated
The application effect of the present invention is explained in detail with reference to emulation.
1 simulation analysis
Assuming that form acoustic sensor array, z by two sensors 1 and 21(t) signal received for sensor 1, is energy
It is enough to obtain accurate theoretical time delay value, two groups of emulation experiments are carried out respectively, and experiment one is that two paths of signals data length is 1024
Sampled point, by signal z1(t) signal z is obtained after postponing different sampled points2(t) z, is used2(t) letter that analog sensor 2 receives
Number.Experiment two is that two signals are added into different Gaussian noises, and data length is 1024 sampled points.In order to verify difference
Influence of the data length to experimental result precision, carry out the 3rd group of emulation experiment, experiment three is to be set to data length
1024 sampled points and 1300 sampled points, by signal z1(t) signal z is obtained after postponing 720 sampled points2(t) z, is used2(t) mould
Intend the signal that sensor 2 receives, compare influence of the different data lengths to Time delay Estimation Accuracy.Sample frequency is 61kHz, it is assumed that
Sound-source signal is incoherent with noise.It is combined using above-mentioned introduction using relative phase ratio and recurrence maximal possibility estimation
TDOA algorithm for estimating carry out simulating, verifying.
2 emulation experiments
Emulation experiment 1
Signal z2(t) relative to signal z1(t) 180,360,540 sampled points, i.e., corresponding time delay point are postponed respectively
Not Wei 0.0029s, 0.0059s, 0.0088s, shown in the time delay tried to achieve respectively such as Fig. 5 (a), Fig. 5 (b), Fig. 5 (c).
Emulation experiment 2
Two signals are added into different Gaussian noises, signal z respectively2(t) relative to signal z1(t) 180 are postponed respectively,
360,540 sampled points, i.e., corresponding time delay are respectively 0.0029s, 0.0059s, 0.0088s, the time tried to achieve respectively
Delay such as Fig. 6 (a), shown in Fig. 6 (b), Fig. 6 (c).
Emulation experiment 3
By signal z1(t) signal z is obtained after postponing 720 sampled points2(t), data length is set to 1024 and 1300
During sampled point, the time delay such as Fig. 7 (a), Fig. 7 (b) tried to achieve is shown.
By observing three groups of the simulation experiment results above, experiment 1 is contrasted with experiment 2, from Fig. 5 and Fig. 6
As can be seen that in the case where signal to noise ratio is relatively low, postponing in 720 sampled points, this method may occur in which obvious peak value, can
The accurate reaching time-difference TDOA for estimating sound source.In experiment three, adopted from figure 7 it can be seen that data length is 1024
During sampling point, the relative signal 1 of signal 2 postpones do not have obvious peak value during 720 sampled points, so has to the precision of Delay Estima-tion
Very big influence, and when data length is increased into 1300 sampled points, when postponing 720 sampled points, still can be accurate
Go out time delay estimate.It can thus be seen that the precision that data length is estimated time delay has a very big impact.
In order to verify the Time delay Estimation Accuracy of the algorithm, data of 10 groups of long degree for 1024 sampled points are taken, to delay
0.0029s, 0.0059s, 0.0088s, 0.0118s calculate its mean square error respectively.
The mean square error of 11024 sampled point different delays of table
The mean square error of 21300 sampled point different delays of table
The present invention is based on relative phase ratio and maximal possibility estimation principle, has in the case where signal to noise ratio is relatively low higher
Time delay Estimation Accuracy, but the precision of its time delay estimation is also influenceed by data length, and data length determines that algorithm institute can essence
The scope for the time delay value really estimated, the validity of above-mentioned algorithm is demonstrated finally by emulation experiment.Major advantage be independent of
The priori of signal and noise, step-out time value can accurately be estimated by choosing suitable data length.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (7)
1. a kind of acoustical signal delay time estimation method based on phase difference and maximal possibility estimation, it is characterised in that described to be based on phase
The acoustical signal delay time estimation method of potential difference and maximal possibility estimation gathers signal simultaneously under noise background, using acoustic sensor array
Pre-processed to obtain frequency-region signal by cross-correlation function and Short Time Fourier Transform；Calculate the relative phase of two-way acoustical signal
Than and combine the principle of maximum- likelihood estimation and obtain the probability of all possible time delay estimate；Independent of signal and making an uproar
Under conditions of sound priori, using the time delay value corresponding to maximum probability peak value as final time delay estimate.
2. the acoustical signal delay time estimation method based on phase difference and maximal possibility estimation, its feature exist as claimed in claim 1
In described to be comprised the following steps based on phase difference and maximal possibility estimation delay time estimation method：
Step 1, in t, by the signal of collectionWithEnter line slip correlation, obtain possible between this two paths of signals
Time delay section [(1-N)/fs,(N-1)/fs]；
Step 2, time-frequency domain conversation, by signalWithIts frequency domain presentation is obtained using Short Time Fourier Transform
With
Step 3, calculates relative phase ratio, and the relative phase calculated between t two signals of each frequency compares φm(t,k)；
Step 4, calculate relative phase than set, calculate the relative phase ratios of each possible each frequencies of time delay d, and by its
Collect and form relative phase than set
Step 5, estimated probability initialization, equality initialization is carried out to the probability parameter of each possible time delay value
Step 6, calculation delay estimated probability, calculate t each may time delay value averaged power spectrum probability
Step 7, time delay value is drawn, using the time delay value corresponding to the maximum in the averaged power spectrum probability of gained as signalWithReaching time-difference；
Step 8, recursive estimation parameter, the probability parameter of next frame is estimated based on the estimation parameter obtained by previous frame
3. the acoustical signal delay time estimation method based on phase difference and maximal possibility estimation, its feature exist as claimed in claim 2
In described based on phase difference and maximal possibility estimation delay time estimation method reaching time-difference TDOA estimation models, wherein t=
1 ..., T are the time index of signal time domain, and k=0 ..., K be frequency index, share M to sensor node, then save for i-th
Putting the signal model gathered is：
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4. the acoustical signal delay time estimation method based on phase difference and maximal possibility estimation, its feature exist as claimed in claim 2
In in the step 2：
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Number amplitude,The mould of each time frequency point signal of signal is gathered for i-th of node.
5. the acoustical signal delay time estimation method based on phase difference and maximal possibility estimation, its feature exist as claimed in claim 2
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6. the acoustical signal delay time estimation method based on phase difference and maximal possibility estimation, its feature exist as claimed in claim 2
In the average probability of d-th of time delay value of t is estimated as in the step 6：
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7. the acoustical signal delay time estimation method based on phase difference and maximal possibility estimation, its feature exist as claimed in claim 2
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For the probabilistic estimated value of all possible time delay value of t,Being averaged for time delay value is possible to by t to estimate
Count probability, γtRecursive smoothing parameter is represented, its span is (0,1).
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