CN108680901A - A kind of novel sound bearing localization method - Google Patents
A kind of novel sound bearing localization method Download PDFInfo
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- CN108680901A CN108680901A CN201810330568.8A CN201810330568A CN108680901A CN 108680901 A CN108680901 A CN 108680901A CN 201810330568 A CN201810330568 A CN 201810330568A CN 108680901 A CN108680901 A CN 108680901A
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- 230000004807 localization Effects 0.000 title abstract description 4
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- 238000004088 simulation Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 5
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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
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Circuit For Audible Band Transducer (AREA)
Abstract
The invention discloses a kind of novel sound bearing localization methods, and sound bearing positioning is carried out using sound bearing algorithm for estimating.Quaternary microphone array is established, sound bearing algorithm for estimating is introduced into Array Model, sound bearing data inversion is carried out on the basis of forward modeling data.Simulation result shows：The New Algorithm positioning accuracy is higher, and error is relatively low, reduces about 10%, 1% than the level angle and elevation angle error of traditional straight trigone bevel-type sound bearing location algorithm respectively, has preferable effect.
Description
Technical Field
The invention relates to a sound source position estimation method, in particular to a novel sound source position positioning method, and belongs to the field of sound source positioning.
Background
Sound source localization refers to the determination of position and angle data for a sound source in space. The sound source orientation estimation algorithm is a positioning equation set related to the sound source position obtained according to the time delay estimation value, and the positioning equation set is a nonlinear equation set. The sound source positioning technology is a passive sound positioning technology which acquires and processes sound signals of a sound source, determines the direction and distance of the received signals relative to a receiving sensor according to a related algorithm, and finally obtains the three-dimensional position of the received sound source, and has a wide application prospect.
The system is composed of a microphone array and a signal processing unit, wherein the signal processing unit is an independent package and can analyze information received by the microphone array through a correlation algorithm and measure information such as an azimuth angle, a pitch angle, a distance and the like of a sound source. The measurement range of the system is 0-360 degrees, the effective action distance is 1000 meters, the azimuth angle error is +/-3 degrees, the pitch angle error is +/-6 degrees, and the distance error is 10-30 percent.
The research of the sound source positioning system in China is still in the infancy stage, various theoretical algorithms are not perfect, the configuration of software and hardware is not advanced, and further learning and research of scholars in various fields are needed, so that the research of the sound source positioning system in China can be rapidly developed.
Disclosure of Invention
In order to solve the problem of low positioning precision of the traditional sound source based on the right triangular pyramid, the invention provides a novel sound source position positioning method.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides a novel sound source azimuth positioning method, which is characterized in that a quaternary microphone array is constructed to invert the position of a sound source; the quaternary microphone array comprises first to fourth microphones, the center of an array element of the quaternary microphone array is used as a coordinate origin, and the distances from the microphones to the coordinate origin are all setThe coordinates of the first to fourth microphones are respectively The coordinates (x, y, z) of the sound source are obtained by inversion:z＝rcosθ，in order to form a horizontal deflection angle,theta is the angle of elevation,wherein, t21Is the relative delay value, t, of sound source propagating to the second and first microphone31Is the relative delay value, t, of sound source propagating to the third and first microphone41Is the relative time delay value of the sound source to propagate to the fourth and first microphone, and c is the sound source propagation speed.
As a further technical scheme of the invention, the distance from the sound source to the center of the array element
As a further aspect of the present invention, t21＝t2-t1，t1、t2Respectively the time of sound source propagation to the first and second microphones.
As a further aspect of the present invention, t41＝t4-t1，t1、t4The times at which the sound source travels to the first and fourth microphones, respectively.
As a further aspect of the present invention, t31＝t3-t1，t1、t3The times at which the sound source travels to the first and third microphones, respectively.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1) the method overcomes the defects of the traditional sound source orientation positioning algorithm based on the straight triangular pyramid, effectively solves the problem of low positioning accuracy based on the straight triangular pyramid sound source orientation positioning algorithm by utilizing the advantages of low computation amount and high positioning accuracy of the sound source orientation estimation algorithm, and enhances the timeliness and the accuracy of sound source orientation positioning;
2) the relative time difference of the sound source reaching the microphone is adopted, so that the influence of attenuation and external interference on the sound source orientation positioning precision in the transmission process of sound is greatly reduced in the algorithm;
3) the novel sound source azimuth positioning algorithm based on the quaternary microphone array can effectively position a sound source, achieves the effects of low computation amount and high positioning precision, and is enough to show that the sound source azimuth estimation algorithm is very effective.
Drawings
FIG. 1 is a quaternary microphone array model;
fig. 2 is a conventional right triangular pyramid array model.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the novel sound source azimuth positioning method establishes a quaternary microphone array, and utilizes a sound source azimuth estimation algorithm to carry out sound source azimuth data inversion on the basis of forward data so as to carry out sound source azimuth positioning.
The invention inverts the sound source position by constructing a quaternary microphone array as shown in fig. 1. The sound source propagation speed is c, the center of the array element of the quaternary microphone array is used as the origin of coordinates (0,0,0), and the distances from the microphones to the origin of coordinates are all set(the value of d is determined by the actual construction of the quaternary microphone array), and the coordinates of the four microphones A, B, C, D are respectively Suppose that the spatial coordinates of the sound source N are (x, y, z), and the horizontal declination angle isThe elevation angle is theta, and r is the distance from the sound source to the center of the array element of the quaternary microphone array. The sound source N travels to the microphone A, B, C, D at times t1、t2、t3、t4，r1Is the distance from the sound source to the microphone a. Set 3 sets of relative delay values: t is t21＝t2-t1，t31＝t3-t1，t41＝t4-t1The corresponding acoustic path difference is: d21＝ct21、d31＝ct31、d41＝ct41。
The distances from the sound source N to the origin and the microphone A, B, C, D are expressed by equations (1) to (5), respectively:
x2+y2+z2＝r2(1)
the following equations (3), (4) and (5) are obtained by subtracting equation (2):
xd-yd＝2r1d21+d21 2(6)
2xd＝2r1d31+d31 2(7)
xd+yd＝2r1d41+d41 2(8)
from equation (7) it follows:
equation (6) is subtracted from equation (8) to yield:
equation (6) is added to equation (8) and subtracted from equation (7) to yield:
using the position coordinates (x, y, z) of the sound source N in the rectangular coordinate system as the position coordinates in the spherical coordinate systemTo show, one can derive:
z＝rcosθ (14)
equation (13) divided by equation (12) yields:
due to ri＞＞di1，d≈di1I is 1,2,3, so:
subtracting formula (2) from formula (1) and substituting formula (9) yields:
from equation (17):
from fig. 1, it can be derived:
by substituting formulae (9), (10) and (11) for formula (19), it is possible to obtain:
by d21＝ct21,d31＝ct31,d41＝ct41Substitution of formulae (16), (18), (20) gives:
in the conventional right triangular pyramid array model shown in fig. 2, the sound source propagation speed is c, and it is assumed that the spatial position of the sound source M is (x ', y', z '), and S is the distance from the sound source M to the origin (0,0, 0'). The coordinates of four microphones A ', B ', C ' and D ' in the right triangular pyramid array are respectively (0,0,0), (D ',0,0), (0, D ',0) and (0,0, D '), and the time of the sound source M propagating to the microphones A ', B ', C ' and D ' is respectively t0'、t1'、t2'、t3' set 3 sets of relative delay values: Δ t1＝t1'-t0'，Δt2＝t2'-t0',Δt3＝t3'-t0'. Defining the included angle between the sound source M and the positive half shaft of the X axis as a horizontal deflection angleThe angle between the sound source M and the X-Y-O plane is defined as the elevation angle theta'.
Order S1＝cΔt1，S2＝cΔt2，S3＝cΔt3Expressing the geometric equation for the distance from the source M to the microphone A, B, C, D, we can derive:
x'2+y'2+z'2＝S2(24)
(x'-d')2+y'2+z'2＝(S+S1)2(25)
x'2+(y'-d')2+z'2＝(S+S2)2(26)
x'2+y'2+(z'-d')2＝(S+S3)2(27)
equation (25) is subtracted from equation (24) to yield:
wherein xx 'is a simulation value corresponding to the forward evolution parameter x' of the sound source coordinate.
Equation (26) is subtracted from equation (24) to yield:
wherein yy 'is a simulation value corresponding to the forward evolution parameter y' of the sound source coordinate.
Equation (27) is subtracted from equation (24) to yield:
and zz 'is a simulation value corresponding to the forward evolution parameter z' of the sound source coordinate.
Using the position coordinates (x ', y ', z ') of the sound source M in the rectangular coordinate system as the position coordinates in the spherical coordinate systemIt is shown as follows:
zz'＝S·cosθ' (33)
the formula (32) is divided by the formula (31) to obtain:
wherein,is the horizontal declination forward valueCorresponding simulation values.
Due to SiD, i ═ 1,2,3, one can approximately find:
wherein, θ "is a simulated value corresponding to the elevation forward value θ'.
In addition, the following can analyze errors to evaluate the effect of the method of the present invention on sound source localization by comparing the initial sound source position with the position obtained by simulation, as shown in tables 1 and 2. Simulation results show that: the novel algorithm has high positioning precision and low error, reduces horizontal deflection angle and elevation angle error by about 10 percent and 1 percent respectively compared with the traditional straight triangular pyramid type sound source azimuth positioning algorithm, and has good effect.
TABLE 1 simulation result table of novel quaternary microphone array-based sound source orientation positioning algorithm
TABLE 2 simulation result table of traditional sound source orientation positioning algorithm based on right triangular pyramid array
Firstly, modeling is carried out based on a microphone array so as to simulate the existence of a space sound source; then, a formula derivation is carried out by utilizing a sound source orientation estimation algorithm and combining a model; and finally carrying out error analysis by comparing the inversion result with the initial sound source data. Simulation data shows that compared with the traditional sound source orientation positioning algorithm based on the straight triangular pyramid, the error is greatly reduced, the problem that the traditional sound source orientation positioning algorithm based on the straight triangular pyramid is low in positioning accuracy can be effectively solved, and the accuracy and the timeliness of sound source orientation positioning are improved.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can understand that the modifications or substitutions within the technical scope of the present invention are included in the scope of the present invention, and therefore, the scope of the present invention should be subject to the protection scope of the claims.
Claims (5)
1. A novel sound source azimuth positioning method is characterized in that the method is used for inverting the position of a sound source by constructing a quaternary microphone array; the quaternary microphone array comprises first to fourth microphones, the center of an array element of the quaternary microphone array is used as a coordinate origin, and the distances from the microphones to the coordinate origin are all setThe coordinates of the first to fourth microphones are respectively The coordinates (x, y, z) of the sound source are obtained by inversion:z＝rcosθ，in order to form a horizontal deflection angle,theta is the angle of elevation,wherein, t21Is the relative delay value, t, of sound source propagating to the second and first microphone31Is the relative delay value, t, of sound source propagating to the third and first microphone41Is the relative delay value of the sound source to the fourth and first microphone, and c is the sound source propagation speed.
2. The method as claimed in claim 1, wherein the distance from the sound source to the center of the array element
3. The method of claim 1, wherein t is the number of the sound sources21＝t2-t1，t1、t2Respectively the time of sound source propagation to the first and second microphones.
4. The method of claim 1, wherein t is the number of the sound sources41＝t4-t1，t1、t4The times at which the sound source travels to the first and fourth microphones, respectively.
5. The method of claim 1, wherein t is the number of the sound sources31＝t3-t1，t1、t3The times at which the sound source travels to the first and third microphones, respectively.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110716179A (en) * | 2019-09-29 | 2020-01-21 | 浙江海洋大学 | Bird positioning system and method based on sound |
| CN111060872A (en) * | 2020-03-17 | 2020-04-24 | 深圳市友杰智新科技有限公司 | Sound source positioning method and device based on microphone array and computer equipment |
| CN111323746A (en) * | 2020-03-19 | 2020-06-23 | 哈尔滨工程大学 | Double-circular-array azimuth-equivalent delay inequality passive positioning method |
| CN111460362A (en) * | 2020-03-30 | 2020-07-28 | 南京信息工程大学 | Sound source positioning data complementation method based on quaternary microphone array group |
| WO2021017256A1 (en) * | 2019-07-31 | 2021-02-04 | 苏州协昌环保科技股份有限公司 | Sound-wave-sensing intelligent electromagnetic pulse valve and electromagnetic pulse valve abnormality detection method |
| CN116299181A (en) * | 2023-03-17 | 2023-06-23 | 成都理工大学 | Sound source three-dimensional space positioning system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106679651A (en) * | 2017-02-08 | 2017-05-17 | 北京地平线信息技术有限公司 | Sound localization method and device and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106679651A (en) * | 2017-02-08 | 2017-05-17 | 北京地平线信息技术有限公司 | Sound localization method and device and electronic equipment |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021017256A1 (en) * | 2019-07-31 | 2021-02-04 | 苏州协昌环保科技股份有限公司 | Sound-wave-sensing intelligent electromagnetic pulse valve and electromagnetic pulse valve abnormality detection method |
| CN110716179A (en) * | 2019-09-29 | 2020-01-21 | 浙江海洋大学 | Bird positioning system and method based on sound |
| CN111060872A (en) * | 2020-03-17 | 2020-04-24 | 深圳市友杰智新科技有限公司 | Sound source positioning method and device based on microphone array and computer equipment |
| CN111060872B (en) * | 2020-03-17 | 2020-06-23 | 深圳市友杰智新科技有限公司 | Sound source positioning method and device based on microphone array and computer equipment |
| CN111323746A (en) * | 2020-03-19 | 2020-06-23 | 哈尔滨工程大学 | Double-circular-array azimuth-equivalent delay inequality passive positioning method |
| CN111323746B (en) * | 2020-03-19 | 2023-05-05 | 哈尔滨工程大学 | Direction-equivalent time delay difference passive positioning method for double circular arrays |
| CN111460362A (en) * | 2020-03-30 | 2020-07-28 | 南京信息工程大学 | Sound source positioning data complementation method based on quaternary microphone array group |
| CN116299181A (en) * | 2023-03-17 | 2023-06-23 | 成都理工大学 | Sound source three-dimensional space positioning system |
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