CN107864444B - A kind of microphone array frequency response calibration method - Google Patents
A kind of microphone array frequency response calibration method Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R29/00—Monitoring arrangements; Testing arrangements
- H04R29/004—Monitoring arrangements; Testing arrangements for microphones
- H04R29/005—Microphone arrays
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/22—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only
- H04R1/222—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only for microphones
Abstract
The invention discloses a kind of microphone array frequency response calibration methods, comprising the following steps: S1: electric audio signal w (n) reaches microphone array through loudspeaker harmony propagation channel, and it is x (n) that microphone array, which inputs acoustical signal,；S2: acoustical signal x (n) by k different microphones and preamplifier, respectively obtains different electric signal x1(n)~xk(n)；S3: electric signal x1(n)~xk(n) it is used to adjust the filter factor of each calibration filter as the input signal of each road calibration filter respectively；S4: according to above-mentioned adjustment mode, calculating the filter factor of each calibration filter, to complete the frequency response calibration of microphone array.This method keeps the frequency response of different microphones in same an array close consistent, to improve the signal handling capacity of microphone array.
Description
Technical field
The present invention relates to signal processing technology field more particularly to a kind of microphone array frequency response calibration methods.
Background technique
Sound is the widely used information carrier of the mankind, and audio signal is an important research pair of signal processing technology
As.Microphone plays an important role in sound signal processing as sound transducer.Since single microphone has sound
Sound pickup is limited in scope and noise inhibiting ability is weak, is unable to satisfy growing audio signal quality requirement, there has been proposed
Microphone array technology.Since it has also introduced the information of spatial domain outside time domain, frequency domain, therefore to the processing capacity of voice signal
Enhanced, has become the preferred object in numerous high quality audio processing applications at present.As acoustic information sampling instrument, wheat
Gram wind array is to having important role in array field of audio processing.Microphone picks up sound process generally by following two portion
Be grouped as: (1) acoustical signal is converted into electric signal；(2) electric signal obtains sufficiently large electric signal using preamplifier.Due to
The reasons such as discreteness of component parameter in the discreteness or amplifier of the sound-electric parameter of microphone, no matter between different microphones
It is that sound/electric signal conversion module or pre-amplifier module can have some differences.These differences in cheap microphone or
It is become apparent between the microphone of different brands.The frequency response that this species diversity results in same an array between each microphone is mutual
It is not identical.Specific manifestation are as follows: when the different microphone of same position picks up same section of acoustical signal, between obtained electric signal
There is certain differences.Frequency response difference between microphone will have a direct impact on subsequent audio signal processing result, such as sound field
It perceives, the performance of speech enhan-cement scheduling algorithm.However, due to hardware circuit etc., with each microphone frequency in an array
Often there are some differences between sound.Some applications of microphone array such as sound field perception, speech enhan-cement etc. all will be by above-mentioned
The influence of difference, causes process performance to decline.Therefore, the frequency response with microphone each in an array is calibrated, makes them close to one
It causes just to become a reality technology demand in microphone array.In the prior art about the gain calibration technology of microphone array
In due to only calibrating the gain in microphone array between each microphone, do not ensure that each microphone mutual one in frequency response
It causes, the amplitude-frequency response of each microphone and phase-frequency response after calibrating is caused to still have different
Summary of the invention
According to problem of the existing technology, the invention discloses a kind of microphone array frequency response calibration methods, including with
Lower step:
S1: electric audio signal w (n) reaches microphone array, microphone array input sound through loudspeaker harmony propagation channel
Signal is x (n)；
S2: acoustical signal x (n) by k different microphones and preamplifier, respectively obtains different electric signal x1
(n)~xk(n)；
S3: electric signal x1(n)~xk(n) it is filtered respectively as the input signal of each road calibration filter for adjusting each calibration
The filter factor of wave device；The adjustment mode of the filter factor of the calibration filter are as follows: by adjusting the filtering of each path filter
Coefficient makes output signal y1(n)~yk(n) it is approached to echo signal d (n), approaching principle is to make y1(n)~yk(n) with d (n)
Between mean square error it is minimum respectively；
S4: according to above-mentioned adjustment mode, the filter factor of each calibration filter is calculated, to complete the frequency response of microphone array
Calibration.
Further, when filter output signal y is calibrated on each road1(n)~yk(n) realization battle array is approached to echo signal d (n)
When column frequency response is calibrated in the following way: setting the length of a frame of digital signal as N, then the input signal of filter is calibrated on the i-th tunnel
xi(n) write as following vector form with echo signal d (n)
xi=[xi(0),xi(1),...,xi(N-1)]T (2)
D=[d (0), d (1) ..., d (N-1)]T (3)
Wherein, []TThe transposition for indicating vector or matrix, lists following cost function
Wherein, Σ indicates the summation of series, keeps cost function J minimum, finding out echo signal d (n) is
D=(x0+x1+...+xk)/k (5)
The sum of input vector of each filter is averaging that is, the vector form d of echo signal is equal to.
After echo signal d (n) is determined, with the i-th path filter output signal yi(n) equal between echo signal d (n)
The square minimum criterion of error, calculates the i-th path filter coefficient hi(n) in the following way:
yi=[yi(0),yi(1),...,yi(N-1)]T (6)
Then yi(n) error signal e between d (n)i(n) write as following vector form
ei=[ei(0),ei(1),...,ei(N-1)]T=yi-d (7)
List another group of cost function
Fi=ei Tei (8)
Wherein, i=1,2 ..., k, k are the number of microphone to be calibrated, make FiMinimum calculates the calibration filtering of the i-th tunnel
The filter factor h of devicei(n), computation rule are as follows:
hi=[hi(0),hi(1),...,hi(Mi-1)]T=(Xi TXi)-1DTxi_m (9)
Wherein, xi_mThe preceding N-M of the i-th tunnel Shi You calibration filter input vectoriThe vector of+1 element composition, i.e.,
xi_m=[xi(0),xi(1),...,xi(N-Mi)]T (10)
And the X in formula (9)iIt is respectively with D
When i gets k from 1, the filter factor of every road calibration filter is calculated in aforementioned manners, completes microphone array
Frequency response calibration.
It calibrates when respectively to multiframe input data, an obtained plurality of sets of filter coefficients is merged, is filtered
Wave device coefficient is in the following way:
If No. i-th microphone is calibrated by Q frame data, obtaining Q group filter coefficient vector according to formula (9) is respectively
hi_1、hi_2、...hi_Q, wherein hi_QIndicate the filter coefficient vector that No. i-th microphone is obtained in Q frame input data；This
Outside, the average vector of Q filter coefficient vector is defined as
Hi=(hi_1+hi_2+...+hi_Q)/Q (13)
The variance vectors of i-th road q frame filter coefficient vector are defined as
δi_q=(hi_q-Hi)·(hi_q-Hi) (14)
Wherein, symbol " " indicates vector dot, q=1,2 ..., Q, the variance of the i-th road q frame filter coefficient vector
Vector θ reciprocali_qIt is defined as
θi_q=[1/ δi_q(0),1/δi_q(1),...,1/δi_q(Mi-1)]T (15)
That is, vector θi_qIn each element be vector δ respectivelyi_qThe inverse of corresponding element is calibrated about the i-th tunnel and is filtered
The variance inverse vector sum of device, filter coefficient vector is defined as
θi=θi_1+θi_2+。。。+θi_Q (16)
According to θiAnd θi_q(q=1,2 ..., Q) obtain Q filter coefficient weight vectors Ci_1, Ci_2...,
Ci_q..., Ci_Q, wherein
Ci_q=[θi_q(0)/θi(0),θi_q(1)/θi(1),...,θi_q(Mi-1)/θi(Mi-1)]T (17)
According to hi_qAnd Ci_qObtain the final filter factor of the i-th tunnel calibration filter
hi=hi_1·Ci_1+hi_2·Ci_2+...+hi_Q·Ci_Q (18)
Wherein, i=1,2 ..., k, k are number of microphone.
By adopting the above-described technical solution, a kind of microphone array frequency response calibration method provided by the invention, this method
Keep the frequency response of different microphones in same an array close consistent, to improve the signal handling capacity of microphone array.Therefore,
The application of some microphone arrays, as the performance of auditory localization or speech enhan-cement all uses microphone array frequency disclosed by the invention
Calibration method is rung to handle signal.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow chart of inventive microphone array frequency response calibration method；
Fig. 2 is the distance between microphone and loudspeaker, microphone and microphone schematic diagram in the present invention；
Fig. 3 is the working principle diagram of alignment filter of the present invention；
Fig. 4 is the effect diagram of microphone array frequency response calibration method in the present invention；
Fig. 5 is the effect diagram of microphone array frequency response calibration method in the present invention；
Fig. 6 is the effect diagram of microphone array frequency response calibration method in the present invention；
Fig. 7 is the effect diagram of microphone array frequency response calibration method in the present invention.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, with reference to the attached drawing in the embodiment of the present invention, to this
Technical solution in inventive embodiments carries out clear and complete description:
A kind of microphone array frequency response calibration method as shown in Figure 1, specifically includes the following steps:
S1: electric audio signal w (n) reaches microphone array, microphone array input sound through loudspeaker harmony propagation channel
Signal is x (n)；
S2: acoustical signal x (n) by k different microphones and preamplifier, respectively obtains different electric signal x1
(n)~xk(n)；
S3: electric signal x1(n)~xk(n) it is filtered respectively as the input signal of each road calibration filter for adjusting each calibration
The filter factor of wave device；The adjustment mode of the filter factor of the calibration filter are as follows: by adjusting the filtering of each path filter
Coefficient makes output signal y1(n)~yk(n) it is approached to echo signal d (n), approaching principle is to make y1(n)~yk(n) with d (n)
Between mean square error it is minimum respectively；
S4: according to above-mentioned adjustment mode, the filter factor of each calibration filter is calculated, to complete the frequency response of microphone array
Calibration.
The input signal for needing different microphones in this method as shown in Figure 1: is x (n), i.e., needs between different microphones
Keep identical input signal.However, causing each microphone to receive in the actual environment since the position of microphone is different
To signal between have differences.When calibration, close to consistent, loudspeaker and Mike between the reception signal to make each microphone
The placement regulation of wind array is as shown in Figure 2, in which: (1) the distance between loudspeaker and microphone array L are kept sufficiently large；(2)
The distance between microphone l answers sufficiently small.
Further, calibration filter is made of k FIR filter, and effect is the frequency made between microphone to be calibrated
Sound mutually approaches.Defining calibration filter input signal corresponding to i-th of microphone is xi(n), it exports as filter result yi
(n), i.e.,
Wherein, MiThe order of filter, h are calibrated for the i-th tunneliIt (m) is m-th of filter coefficient, yiIt (n) is the filter at n moment
Wave is as a result, xiIt (n-m) is the input signal at n-m moment, integer of the value range of i between 1~k.The filter block diagram is such as
Shown in Fig. 3.In addition, the filter factor h of the i-th tunnel calibration filteri(m) its filter input signal x is depended oni(n) believe with target
Number d (n).After input signal w (n) is determined, the i-th path filter input signal xi(n) i-th of microphone is only dependent upon with before
The frequency response of amplifier is set, so the calculating of echo signal d (n) is particularly important.
Further, in order to which filter output signal y is calibrated on the road Shi Ge1(n)~yk(n) it is approached to echo signal d (n), from
And reach alignment purpose.If the length of a frame of digital signal is N, then the input signal x of filter is calibrated on the i-th tunneli(n) and target
Signal d (n) can be write as following vector form
xi=[xi(0),xi(1),...,xi(N-1)]T (2)
D=[d (0), d (1) ..., d (N-1)]T (3)
Wherein, []TIndicate the transposition of vector or matrix.To make between echo signal and the input signal of each filter
Mean square error is minimum, can list following cost function
Wherein, Σ indicates the summation of series.Keep cost function J minimum, can find out echo signal d (n) is
D=(x0+x1+...+xk)/k (5)
The sum of input vector of each filter is averaging that is, the vector form d of echo signal is equal to.
Filter coefficient calculates in the following way:
After echo signal d (n) is determined, the present invention is with the i-th path filter output signal yi(i) with echo signal d (n)
Between the minimum criterion of mean square error, calculate the i-th path filter coefficient hi(n).Define the output of the i-th tunnel calibration filter
Signal yi(n) vector form is
yi=[yi(0),yi(1),...,yi(N-1)]T (6)
Then yi(i) error signal e between d (n)i(n) it can be write as following vector form
ei=[ei(0),ei(1),...,ei(N-1)]T=yi-d (7)
At this point, another group of cost function can be listed
Fi=ei Tei (8)
Wherein, i=1,2 ..., k, k are the number of microphone to be calibrated.Make FiMinimum can calculate the calibration filtering of the i-th tunnel
The filter factor h of devicei(n), computation rule are as follows:
hi=[hi(0),hi(1),...,hi(Mi-1)]T=(Xi TXi)-1DTxi_m (9)
Wherein, xi_mThe preceding N-M of the i-th tunnel Shi You calibration filter input vectoriThe vector of+1 element composition, i.e.,
xi_m=[xi(0),xi(1),...,xi(N-Mi)]T (10)
And the X in formula (9)iIt is respectively with D
When i gets k from 1, the filter factor of every road calibration calibration filter can be calculated in aforementioned manners, to complete wheat
Gram wind array frequency response calibration calibration.
In order to further increase calibration effect, can by the above method respectively to multiframe input data when calibrate, so
An obtained plurality of sets of filter coefficients is merged afterwards, to obtain more accurately filter coefficient.If No. i-th microphone passes through
Q frame data are calibrated, and Q group filter coefficient vector, respectively h can be obtained according to formula (9)i_1、hi_2、...hi_Q, wherein
hi_QIndicate the filter coefficient vector that No. i-th microphone is obtained in Q frame input data.In addition, Q filter coefficient vector
Average vector may be defined as
Hi=(hi_1+hi_2+...+hi_Q)/Q (13)
At this point, the variance vectors of the i-th road q frame filter coefficient vector may be defined as
δi_q=(hi_q-Hi)·(hi_q-Hi) (14)
Wherein, symbol ' ' indicate vector dot, q=1,2 ..., Q.The variance of i-th road q frame filter coefficient vector
Vector θ reciprocali_qIt is defined as
θi_q=[1/ δi_q(0),1/δi_q(1),...,1/δi_q(Mi-1)]T (15)
That is, vector θi_qIn each element be vector δ respectivelyi_qThe inverse of corresponding element.It calibrates and filters about the i-th tunnel
The variance inverse vector sum of device, filter coefficient vector is defined as
θi=θi_1+θi_2+。。。+θi_Q (16)
At this point, according to θiAnd θi_q(q=1,2 ..., Q) it can obtain Q filter coefficient weight vectors Ci_1, Ci_2...,
Ci_q..., Ci_Q.Wherein,
Ci_q=[θi_q(0)/θi(0),θi_q(1)/θi(1),...,θi_q(Mi-1)/θi(Mi-1)]T (17)
Finally, according to hi_qAnd Ci_qObtain the final filter factor of the i-th tunnel calibration filter
hi=hi_1·Ci_1+hi_2·Ci_2+...+hi_Q·Ci_Q (18)
Wherein, i=1,2 ..., k, k are number of microphone.
In order to verify the effect of method of the invention, calibration experiments are carried out using two different microphones of frequency response,
Its amplitude-frequency response and phase-frequency response difference are as shown in Figure 4, Figure 5.By Fig. 4, Fig. 5 as it can be seen that two microphone frequency responses are in passband, resistance
There is some difference for band, amplitude-frequency, phase frequency etc..
Above-mentioned two microphone is calibrated using calibration method proposed by the present invention.System parameter selection is as follows: adopting
Sample frequency is 16KHz, microphone number k=2, frame of digital signal length a N=32768, the order M of two calibration filters1
=M2=128, input data frame number Q=2, input signal w (n) are uniform white noise.Calibration result is as shown in Figure 6, Figure 7.It can
To find out that calibrate latter two microphone frequency response mutually approaches in passband, stopband, amplitude-frequency, phase frequency.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (3)
1. a kind of microphone array frequency response calibration method, it is characterised in that: the following steps are included:
S1: electric audio signal w (n) reaches microphone array through loudspeaker harmony propagation channel, and microphone array inputs acoustical signal
For x (n)；
S2: acoustical signal x (n) by k different microphones and preamplifier, respectively obtains different electric signal x1(n)~xk
(n)；
S3: electric signal x1(n)~xk(n) respectively as the input signal of each road calibration filter for adjusting each calibration filter
Filter factor；The adjustment mode of the filter factor of the calibration filter are as follows: by adjusting the filter factor of each path filter
Make output signal y1(n)~yk(n) it is approached to echo signal d (n), approaching principle is to make y1(n)~yk(n) between d (n)
Mean square error it is minimum respectively；
S4: according to above-mentioned adjustment mode, the filter factor of each calibration filter is calculated, to complete the frequency response school of microphone array
It is quasi-；
When filter output signal y is calibrated on each road1(n)~yk(n) it is adopted when approaching to echo signal d (n) and realize that array frequency response is calibrated
With such as under type: setting the length of a frame of digital signal as N, then the input signal x of filter is calibrated on the i-th tunneli(n) and echo signal
D (n) is write as following vector form
xi=[xi(0),xi(1),...,xi(N-1)]TFormula 2
D=[d (0), d (1) ..., d (N-1)]TFormula 3
Wherein, []TThe transposition for indicating vector or matrix, lists following cost function
Wherein, Σ indicates the summation of series, keeps cost function J minimum, finding out echo signal d (n) is
D=(x0+x1+...+xk)/k formula 5
The sum of input vector of each filter is averaging that is, the vector form d of echo signal is equal to.
2. a kind of microphone array frequency response calibration method according to claim 1, it is further characterized in that: as echo signal d
(n) after determining, with the i-th path filter output signal yi(n) the minimum criterion of mean square error between echo signal d (n), meter
Calculate the i-th path filter coefficient hi(n) in the following way:
yi=[yi(0),yi(1),...,yi(N-1)]TFormula 6
Then yi(n) error signal e between d (n)i(n) write as following vector form
ei=[ei(0),ei(1),...,ei(N-1)]T=yi- d formula 7
List another group of cost function
Fi=ei TeiFormula 8
Wherein, i=1,2 ..., k, k are the number of microphone to be calibrated, make FiMinimum calculates the filter of the i-th tunnel calibration filter
Wave coefficient hi(n), computation rule are as follows:
hi=[hi(0),hi(1),...,hi(Mi-1)]T=(Xi TXi)-1DTxi_mFormula 9
Wherein, xi_mThe preceding N-M of the i-th tunnel Shi You calibration filter input vectoriThe vector of+1 element composition, Mi are the i-th tunnel school
The order of quasi- filter, i.e.,
xi_m=[xi(0),xi(1),...,xi(N-Mi)]TFormula 10
And the X in formula 9iIt is respectively with D
When i gets k from 1, the filter factor of every road calibration filter is calculated in aforementioned manners, completes microphone array frequency response
Calibration.
3. a kind of microphone array frequency response calibration method according to claim 2, it is further characterized in that: when respectively to multiframe
It is calibrated when input data, an obtained plurality of sets of filter coefficients is merged, obtains filter coefficient in the following way:
If No. i-th microphone is calibrated by Q frame data, obtaining Q group filter coefficient vector according to formula 9 is respectively hi_1、
hi_2、...hi_Q, wherein hi_QIndicate the filter coefficient vector that No. i-th microphone is obtained in Q frame input data；In addition, Q
The average vector of a filter coefficient vector is defined as
Hi=(hi_1+hi_2+...+hi_Q)/Q formula 13
The variance vectors of i-th road q frame filter coefficient vector are defined as
δi_q=(hi_q-Hi)·(hi_q-Hi) formula 14
Wherein, symbol " " indicates that vector dot, the variance of q=1,2 ..., Q, the i-th road q frame filter coefficient vector are reciprocal
Vector θi_qIt is defined as
θi_q=[1/ δi_q(0),1/δi_q(1),...,1/δi_q(Mi-1)]TFormula 15
That is, vector θi_qIn each element be vector δ respectivelyi_qThe inverse of corresponding element calibrates filter about the i-th tunnel,
The variance inverse vector sum of its filter coefficient vector is defined as
θi=θi_1+θi_2+……+θi_QFormula 16
According to θiAnd θi_q(q=1,2 ..., Q) obtain Q filter coefficient weight vectors Ci_1, Ci_2..., Ci_q..., Ci_Q,
Wherein,
Ci_q=[θi_q(0)/θi(0),θi_q(1)/θi(1),...,θi_q(Mi-1)/θi(Mi-1)]TFormula 17
According to hi_qAnd Ci_qObtain the final filter factor of the i-th tunnel calibration filter
hi=hi_1·Ci_1+hi_2·Ci_2+...+hi_Q·Ci_QFormula 18
Wherein, i=1,2 ..., k, k are number of microphone.
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| CN116437280A (en) * | 2018-08-22 | 2023-07-14 | 深圳市汇顶科技股份有限公司 | Method, device, apparatus and system for evaluating consistency of microphone array |
| CN109275084B (en) * | 2018-09-12 | 2021-01-01 | 北京小米智能科技有限公司 | Method, device, system, equipment and storage medium for testing microphone array |
| CN109246517B (en) * | 2018-10-12 | 2021-03-12 | 歌尔科技有限公司 | Noise reduction microphone correction method of wireless earphone, wireless earphone and charging box |
| CN111182434A (en) * | 2019-12-31 | 2020-05-19 | 深圳市潮流网络技术有限公司 | Conference system microphone anomaly detection method, conference system and test system |
| CN113207065B (en) * | 2021-05-10 | 2022-04-12 | 杭州兆华电子股份有限公司 | Acoustic calibrator and method based on ANC feedforward topology |
| CN113068111B (en) * | 2021-06-03 | 2021-09-24 | 深圳市创成微电子有限公司 | Microphone and microphone calibration method and system |
| CN115776626B (en) * | 2023-02-10 | 2023-05-02 | 杭州兆华电子股份有限公司 | Frequency response calibration method and system for microphone array |
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