CN108051800B - Indoor noise source positioning method based on spherical near-field acoustic holographic reconstruction reactive sound intensity - Google Patents
Indoor noise source positioning method based on spherical near-field acoustic holographic reconstruction reactive sound intensity Download PDFInfo
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Abstract
The invention discloses an indoor noise source positioning method based on spherical near-field acoustic holography reconstruction reactive sound intensity, which comprises the following steps: (1) calculating three-dimensional space sound field data radiated by a mechanical sound source in the regular small room; (2) collecting sound pressure signals radiated to a three-dimensional space by a target sound source by adopting a spherical microphone array with an array element number of Q; (3) performing cross-spectral analysis on Q microphone data of the spherical array and the 1 st microphone data respectively to obtain frequency domain complex sound pressure of the whole spherical array; (4) reconstructing sound pressure and particle vibration velocity of a sound source surface by using a spherical near-field acoustic holography algorithm; (5) reconstructing the surface complex sound intensity near the sound source by using the complex sound pressure and the particle vibration velocity, and extracting the reactive sound intensity part of the sound source; determining the position of an indoor noise source through reactive power sound intensity distribution; compared with the prior art, the method can eliminate the influence of the indoor reverberation environment by utilizing the characteristic that the reactive sound intensity is stronger in the near-field area of the sound source, and effectively position the indoor noise source.
Description
Technical Field
The invention relates to an indoor noise source positioning method, in particular to an indoor noise source positioning method by reconstructing the reactive sound intensity distribution of a spherical surface near a sound source by using a spherical near-field acoustic holography algorithm.
Background
The internal noise of the small room is too large, so that the health of workers can be harmed, the effective treatment of the indoor noise source is a vital work, and the necessary premise for effectively controlling the noise source is to accurately position the noise source.
In the field of noise source localization, sound field measurement using microphone arrays is the most common approach. Planar microphone arrays are more commonly used, but are limited in that sound in front of or behind the array cannot be distinguished. The interior of a small room forms a reverberation field due to the reflection action of the wall surface and the ceiling, and in such a complex sound field environment, a plane array is difficult to effectively position a noise source. The spherical array has longitude and latitude angle omni-directivity and three-dimensional symmetry, and can measure sound field information of all directions of a three-dimensional space at one time. The special structure of the spherical array enables the spherical array to have great flexibility and high measurement speed, so that the spherical array can be used for sound field measurement of internal spaces of submarines, airplanes, automobiles and the like.
The near-field acoustic holography technology is a noise source positioning and identifying algorithm based on a microphone array, and has good applicability to the noise source positioning problem of a low-frequency near field. Under the condition of a free field, three-dimensional space sound field data measured by a microphone array can be used as holographic surface data of a near-field acoustic holography technology, and the position of a noise source is determined by reconstructing sound pressure distribution of a spherical surface near the sound source through the algorithm. However, in an internal space such as a small room, due to the effects of ceiling and wall reflection, etc., an internal sound field is superimposed into a reverberant field in multiple stages of strong modes, and at this time, the sound pressure of a spherical surface near a sound source reconstructed by a near-field acoustic holography algorithm applied to a free field often cannot determine the position of the noise source.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for accurately positioning the indoor noise source by utilizing the reactive sound intensity part of the complex sound intensity of the spherical surface near the target sound source is provided, so that the defects of the prior art are overcome.
The technical scheme of the invention is as follows: an indoor noise source positioning method based on spherical near-field acoustic holography reconstruction reactive sound intensity comprises the following steps:
(1) modeling, simulating and calculating three-dimensional space sound field data radiated by a noise source in the regular small room;
(2) collecting sound pressure signals radiated to a three-dimensional space by a noise source by adopting a spherical microphone array with an array element number of Q to obtain complex sound pressure data P (r, t);
(3) performing cross-spectral analysis on Q microphone data of the spherical array and the 1 st microphone data respectively to obtain frequency domain complex sound pressure P (r, theta, phi) of the surface of the whole spherical array;
(4) reconstructing sound pressure p (r) of a spherical surface near a sound source by utilizing a spherical near-field acoustic holography algorithm based on frequency domain complex sound pressure of the surface of the spherical arraySTheta, phi) and particle velocity vn(rS,θ,φ)；
(5) Reconstructing the surface complex sound intensity I by using the spherical complex sound pressure and the particle vibration velocity near the sound sourcec(r, w) extracting the reactive sound intensity part I thereofR(rs,w)；
(6) Reactive sound intensity distribution I through spherical surface near sound sourceR(rsAnd w) determining the indoor noise source position.
In the step (2), a spherical array is formed by Q microphones, and the complex sound pressure data of the whole spherical array measurement data is as follows:
wherein: taking the center of the random spherical array as the origin of coordinates (0,0, 0);
the number of spherical array elements is Q, the array elements are numbered as 1, …, Q, … Q, and the space coordinate of the Q microphone is (x)q,yq,zq)；
P0The sound pressure amplitude is 1m away from the point sound source, and the unit is pa;
omega is angular frequency, and the unit is rad/s; t is a time point and is in units of s; k is the wave number. Assuming that K point source targets are incident on the spherical array in the space, the data received by each microphone is the superposition of the K point source targets.
In the step (3), cross-spectrum analysis is performed on the Q microphone data of the spherical array and the 1 st microphone data respectively, and the frequency domain complex sound pressure of the whole spherical array is obtained as follows:
the calculation formula for reconstructing the sound pressure distribution of the spherical surface near the sound source by adopting the spherical near-field acoustic holography algorithm in the step (4) is as follows:
in the formula: r isSTo reconstruct the surface radius, rHIs the holographic face radius;
is n-order m-order ball
Harmonic function, reconstructed spherical sound pressure spherical wave spectrum Pnm(rS) The calculation formula of (a) is as follows:
in the formula: pnm(rH) Is a spherical wave spectrum of the holographic surface;
jn(kr) is the Bessel function of the first sphere, jn(krs)/jn(krH) Is a holographic surface spherical wave spectrum Pnm(rH) And reconstructed surface spherical wave spectrum Pnm(rS) The transfer function between the two holographic surfaces, the spherical wave spectrum of the holographic surface is calculated by the following formula:
in the formula: (r)q,θq,φq) As coordinates of the location of the q microphone, pq(rq,θq,φq) Sampling the obtained frequency complex sound pressure for the q microphone; alpha is alphaq＝4πa2Q is weight coefficient, which is the area of spherical grid corresponding to each microphone position, and N is the sphere to be calculatedThe highest order of the surface spectrum;
the step (4) adopts a spherical near-field acoustic holography algorithm to reconstruct the particle vibration velocity distribution of the sphere near the sound source as follows:
in the formula: i.e. i2＝-1；ρ0c0Is the dielectric characteristic impedance of air;
j'n(kr) is the derivative of the n-th order spherical Bessel function of the first kind.
And (5) obtaining the complex sound intensity complex sound pressure distribution and the complex mass point vibration velocity distribution of the spherical surface near the sound source, wherein the calculation formula is as follows:
Ic(r,w)＝p(rS,w)·vn(rS,w)
in the formula: p (r)sW) Fourier transformation of spherical sound pressure near the sound source; v. ofn(rsW) Fourier transform of the vibration velocity;
the complex sound intensity is decomposed into an active sound intensity part and a reactive sound intensity part, and is represented by the following formula:
Ic(r,w)＝IA(rs,w)+i·IR(rs,w)
in the formula: i isA(rsW) is the active sound intensity part, which represents the sound energy of the sound wave propagating to the far distance;
IR(rsand w) is the reactive intensity component, representing acoustic energy that does not propagate.
The working principle of the invention is as follows: the active sound intensity and the reactive sound intensity are different in the intensity of the near field, the reactive sound intensity is stronger in the near field and weaker in the far field, and the reactive sound intensity is used for reflecting the complexity of the near field sound field.
Compared with the prior art, the invention has the following advantages:
1) the longitude and latitude angle omni-directivity and the three-dimensional symmetry of the spherical array can measure the sound field information of all directions of the three-dimensional space at one time.
2) The characteristic that the reactive sound intensity is stronger in a sound source near-field area is utilized, the influence of an indoor reverberation environment can be eliminated, and an indoor noise source is effectively positioned.
Drawings
FIG. 1 is a ball grid data reception model of the present invention;
FIG. 2 is a model of indoor noise source localization according to the present invention;
FIG. 3 is a flow chart of the present invention;
FIG. 4 shows the results of the 100Hz sound field calculation of the present invention;
FIG. 5 shows the results of the 400Hz sound field calculation of the present invention;
FIG. 6 is the 100Hz noise source localization result of the present invention; (a) f is 100Hz sound source plane theoretical sound pressure distribution; (b) reconstructing spherical reactive sound intensity distribution; (c) expanding the reconstructed spherical reactive power distribution;
FIG. 7 is a 400Hz noise source localization result of the present invention; (a) sound source surface theoretical sound pressure distribution; (b) reconstructing spherical reactive sound intensity distribution; (c) and (5) expanding the distribution of the reconstructed spherical reactive power sound intensity.
Detailed Description
The invention will be further described with reference to the following drawings and specific embodiments:
the process of the invention is as shown in fig. 3, firstly calculating the radiation sound field of a sound source in a room with a given size, extracting data of spherical array acquisition points, performing cross-spectrum analysis on Q channel data and the 1 st channel data respectively to obtain frequency domain complex sound pressure of the spherical array, reconstructing the sound pressure distribution and particle vibration velocity distribution of a spherical surface near the sound source by adopting a spherical surface near-field acoustic holography algorithm, obtaining the complex sound intensity of the spherical surface near the sound source by a complex sound intensity calculation formula, extracting the imaginary part of the complex sound intensity as the reactive part of the complex sound intensity, and determining the position of a noise source by using the reactive sound intensity distribution of the spherical surface near the sound source. The specific method comprises the following steps:
(1) and modeling, simulating and calculating three-dimensional space sound field data radiated by a mechanical sound source in the regular small room.
The COMSOL modeling simulation is carried out by utilizing multi-physics coupling software, a spherical array data receiving model is shown in figure 1, the spherical center of a spherical array is taken as a coordinate origin (0,0,0) in a three-dimensional space, and a point sound source is positioned at (x)0,y0,z0). Indoor noise source positioning dieThe pattern is as shown in FIG. 2, in a length Lx＝4m,Ly＝3m,LzIn a room with 3m, all four walls are hard boundary conditions, a spherical array is placed in the room, the sphere center of the spherical array is taken as the origin of coordinates (0,0,0), a point sound source is placed at a position 0.6m away from the sphere center of the spherical array, the position information of the No. 25 microphone on the spherical array is just aligned to the position of the No. 25 microphone on the spherical array under a rectangular coordinate system (x)0,y0,z0) (-0.5619,0.2100,0.0075) corresponding to (r) in spherical coordinates0,θ0,φ0)＝(0.6m,89°,160°)。
(2) And P (r, t) is acquired by adopting a spherical microphone array with an array element number of Q to acquire a sound pressure signal radiated to a three-dimensional space by a target sound source.
The complex sound pressure data of the whole spherical array measurement data of the spherical array formed by Q microphones is as follows:
wherein: taking the center of the random spherical array as the origin of coordinates (0,0, 0);
the number of spherical array elements is Q, the array elements are numbered as 1, …, Q, … Q, and the space coordinate of the Q microphone is (x)q,yq,zq)；
P0Is the sound pressure amplitude, pa, at 1m from the point source;
omega is angular frequency, rad/s; t is the time point, s; k is the wave number.
Assuming that K point source targets are incident on the spherical array in the space, the data received by each microphone is the superposition of the K point source targets.
(3) And performing cross-spectral analysis on the Q microphone data of the spherical array and the 1 st microphone data respectively to obtain the frequency domain complex sound pressure P (r, theta, phi) of the whole spherical array. The formula is as follows:
(4) reconstructing the sound pressure p (r) of a spherical surface near a sound source by utilizing a spherical surface near-field acoustic holography algorithm based on the frequency domain complex sound pressure of the spherical arraySTheta, phi) and particle velocity vn(rS,θ,φ)。
The calculation formula for reconstructing the sound pressure distribution of the spherical surface near the sound source by adopting the spherical near-field acoustic holography algorithm is as follows:
in the formula: r isSTo reconstruct the surface radius, rHIs the holographic face radius;
is n-order m-order ball
Harmonic function, reconstructed spherical sound pressure spherical wave spectrum Pnm(rS) The calculation formula of (a) is as follows:
in the formula: pnm(rH) Is a spherical wave spectrum of the holographic surface;
jn(kr) is the Bessel function of the first sphere, jn(krs)/jn(krH) Is a holographic surface spherical wave spectrum Pnm(rH) And reconstructed surface spherical wave spectrum Pnm(rS) The transfer function between the two holographic surfaces, the spherical wave spectrum of the holographic surface is calculated by the following formula:
in the formula: (r)q,θq,φq) For the position of the q microphoneLabel, pq(rq,θq,φq) Sampling the obtained frequency complex sound pressure for the q microphone; alpha is alphaq＝4πa2the/Q is a weight coefficient and is the area of a spherical grid corresponding to the position of each microphone, and the N is the highest order of a spherical wave spectrum needing to be calculated;
the method for reconstructing the particle vibration velocity distribution of the sphere near the sound source by adopting the spherical near-field acoustic holography algorithm comprises the following steps:
in the formula: i.e. i2＝-1；ρ0c0Is the dielectric characteristic impedance of air;
j'n(kr) is the derivative of the n-th order spherical Bessel function of the first kind.
(5) Method for reconstructing spherical complex sound intensity I near sound source by using complex sound pressure and particle vibration velocityc(r, w) extracting the reactive sound intensity part I thereofR(rs,w)。
The complex sound intensity of the spherical surface near the sound source is obtained by complex sound pressure distribution and complex mass point vibration velocity distribution, and the calculation formula is as follows:
Ic(r,w)＝p(rS,w)·vn(rS,w)
in the formula: p (r)sW) Fourier transformation of spherical sound pressure near the sound source; u (r)sW) Fourier transformation of the complex point vibration velocity;
the complex sound intensity is decomposed into an active sound intensity part and a reactive sound intensity part, and is represented by the following formula:
Ic(r,w)＝IA(rs,w)+i·IR(rs,w)
in the formula: i isA(rsW) is the active sound intensity part, which represents the sound energy of the sound wave propagating to the far distance;
IR(rsand w) is the reactive intensity component, representing acoustic energy that does not propagate.
(6) Reactive sound intensity distribution I through spherical surface near sound sourceR(rsAnd w) determining the indoor noise source position.
The calculation result of the three-dimensional sound field of the room model is shown in fig. 4 and 5, firstly, calculation parameters and boundary conditions are set, a spherical center of a spherical array is used as a coordinate origin, an excitation point sound source is arranged at a position which is 0.6m away from the spherical center and is opposite to a No. 25 microphone of the spherical array, the radiation frequency f of the sound source is respectively 100Hz and 400Hz, sound field information of each point in the room is calculated, and sound pressure data of a collection point on the surface of the spherical array and sound pressure data of a sphere where the radius of the sound source is located are extracted.
The theoretical sound pressure distribution of the sound source surface is shown in fig. 6, and the reactive sound intensity distribution of the sphere near the sound source reconstructed by the spherical near-field acoustic holography algorithm is shown in fig. 7. And (3) reconstructing the spherical surface near the sound source by taking the sound pressure data of the spherical array surface as holographic data to obtain the sound pressure and particle vibration velocity distribution, further solving the reactive sound intensity distribution of the spherical surface near the sound source, and realizing the accurate positioning of the noise source.
FIG. 6 and FIG. 7 are the results of noise source localization at 100Hz and 400Hz frequencies, respectively, where "+" indicates the theoretical sound source position in a rectangular coordinate system (x)0,y0,z0) (-0.5619,0.2100,0.0075), spherical coordinate system (r)0,θ0,φ0) (0.6m,89 °,160 °). In the figure, (a) corresponds to the sound pressure distribution of the spherical surface where the radius of the sound source is extracted from the sound field calculation result, in the figure, (b) and (c) are the results of positioning the noise source by using the reactive sound intensity distribution reconstructed by the spherical array measurement data, wherein (b) is the positioning result in a rectangular coordinate system, and (c) is the positioning result in a spherical coordinate system, and the comparison of (a) and (c) in fig. 6 and 7 respectively shows that the noise source can be accurately positioned by using the reactive sound intensity distribution of the spherical surface near the sound source.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (2)
1. An indoor noise source positioning method based on spherical near-field acoustic holography reconstruction reactive sound intensity is characterized by comprising the following steps:
(1) modeling, simulating and calculating three-dimensional space sound field data radiated by a noise source in the regular small room;
(2) collecting sound pressure signals radiated to a three-dimensional space by a noise source by adopting a spherical microphone array with an array element number of Q to obtain complex sound pressure data P (r, t);
(3) performing cross-spectral analysis on Q microphone data of the spherical array and the 1 st microphone data respectively to obtain frequency domain complex sound pressure P (r, theta, phi) of the surface of the whole spherical array;
(4) reconstructing sound pressure p (r) of a spherical surface near a sound source by utilizing a spherical near-field acoustic holography algorithm based on frequency domain complex sound pressure of the surface of the spherical arraySTheta, phi) and particle velocity vn(rS,θ,φ)；
(5) Reconstructing the surface complex sound intensity I by using the spherical complex sound pressure and the particle vibration velocity near the sound sourcec(r, w) extracting the reactive sound intensity part I thereofR(rs,w)；
(6) Reactive sound intensity distribution I through spherical surface near sound sourceR(rsW) determining the indoor noise source position;
in the step (2), a spherical array is formed by Q microphones, and the complex sound pressure data of the whole spherical array measurement data is as follows:
wherein: taking the center of the random spherical array as the origin of coordinates (0,0, 0);
the number of spherical array elements is Q, the array elements are numbered as 1, …, Q, … Q, and the space coordinate of the Q microphone is (x)q,yq,zq)；
P0The sound pressure amplitude is 1m away from the point sound source, and the unit is pa;
omega is angular frequency, and the unit is rad/s; t is a time point and is in units of s; k is the wave number;
in the step (3), cross-spectrum analysis is performed on the Q microphone data of the spherical array and the 1 st microphone data respectively, and the frequency domain complex sound pressure of the whole spherical array is obtained as follows:
the calculation formula for reconstructing the sound pressure distribution of the spherical surface near the sound source by adopting the spherical near-field acoustic holography algorithm in the step (4) is as follows:
in the formula: r isSTo reconstruct the surface radius, rHIs the holographic face radius;
reconstructing spherical surface sound pressure spherical surface wave spectrum P for n order m order spherical harmonic functionnm(rS) The calculation formula of (a) is as follows:
in the formula: pnm(rH) Is a spherical wave spectrum of the holographic surface;
jn(kr) is the Bessel function of the first sphere, jn(krs)/jn(krH) Is a holographic surface spherical wave spectrum Pnm(rH) And reconstructed surface spherical wave spectrum Pnm(rS) The transfer function between the two holographic surfaces, the spherical wave spectrum of the holographic surface is calculated by the following formula:
in the formula: (r)q,θq,φq) As coordinates of the location of the q microphone, pq(rq,θq,φq) Sampling the obtained frequency complex sound pressure for the q microphone; alpha is alphaq＝4πa2the/Q is a weight coefficient and is the area of a spherical grid corresponding to the position of each microphone, and the N is the highest order of a spherical wave spectrum needing to be calculated;
the step (4) adopts a spherical near-field acoustic holography algorithm to reconstruct the particle vibration velocity distribution of the sphere near the sound source as follows:
in the formula: i.e. i2＝-1；ρ0c0Is the dielectric characteristic impedance of air;
j'n(kr) is the derivative of the n-th order spherical Bessel function of the first kind.
2. The indoor noise source positioning method based on spherical near-field acoustic holography reconstruction reactive sound intensity as claimed in claim 1, wherein: and (5) obtaining the complex sound intensity complex sound pressure distribution and the complex mass point vibration velocity distribution of the spherical surface near the sound source, wherein the calculation formula is as follows:
Ic(r,w)＝p(rS,w)·vn(rS,w)
in the formula: p (r)sW) Fourier transformation of spherical sound pressure near the sound source; v. ofn(rsW) Fourier transformation of the complex point vibration velocity;
the complex sound intensity is decomposed into an active sound intensity part and a reactive sound intensity part, and is represented by the following formula:
Ic(r,w)＝IA(rs,w)+i·IR(rs,w)
in the formula: i isA(rsW) is the active sound intensity part, which represents the sound energy of the sound wave propagating to the far distance;
IR(rsand w) is the reactive intensity component, representing acoustic energy that does not propagate.
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