CN108702558A - Method and apparatus for estimating arrival direction and electronic equipment - Google Patents
Method and apparatus for estimating arrival direction and electronic equipment Download PDFInfo
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- CN108702558A CN108702558A CN201880000943.0A CN201880000943A CN108702558A CN 108702558 A CN108702558 A CN 108702558A CN 201880000943 A CN201880000943 A CN 201880000943A CN 108702558 A CN108702558 A CN 108702558A
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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
- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
- H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
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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
- H04R3/00—Circuits for transducers, loudspeakers or microphones
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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
- H04R3/00—Circuits for transducers, loudspeakers or microphones
- H04R3/005—Circuits for transducers, loudspeakers or microphones for combining the signals of two or more microphones
-
- 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
- H04R1/08—Mouthpieces; Microphones; Attachments therefor
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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
- H04R1/10—Earpieces; Attachments therefor ; Earphones; Monophonic headphones
- H04R1/1041—Mechanical or electronic switches, or control elements
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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
- H04R2430/00—Signal processing covered by H04R, not provided for in its groups
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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
- H04R2430/00—Signal processing covered by H04R, not provided for in its groups
- H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
- H04R2430/21—Direction finding using differential microphone array [DMA]
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- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Otolaryngology (AREA)
- General Health & Medical Sciences (AREA)
- Circuit For Audible Band Transducer (AREA)
- Obtaining Desirable Characteristics In Audible-Bandwidth Transducers (AREA)
Abstract
The invention discloses the method and apparatus and electronic equipment for estimating arrival direction.The method includes:The input audio signal of a pair of of microphone in microphone array in specific time frame is digitized;Buffer digital signal;Multiple subbands are extracted from each buffering signals, which covers pre-set bandwidths;Calculate the phase offset of each subband of the pair of microphone;Linear regression is executed according to the phase offset of each subband and frequency, the estimation coefficient of relationship between phase offset and frequency to estimate subband corresponding with the pair of microphone;And arrival direction is calculated by the estimation coefficient of relationship of the pair of microphone.
Description
Technical field
The present invention relates to the technical fields of microphone, and relate more particularly to method for estimating arrival direction, are used for
Estimate the device and electronic equipment of arrival direction.
Background technology
The estimation of arrival direction is widely used in microphone techniques.For example, the estimation of arrival direction can be used for uplink
Noise is eliminated.
The purpose of estimation arrival direction is to determine which angle single audio point source is located in relative to microphone array
Direction.Generally, arrival direction is represented by angle of arrival, and angle of arrival is the normal direction of incident direction and microphone plane
Between angle.
In the prior art, this task is executed by means of beam forming and statistical analysis.
This in the prior art, calculation amount is relatively high and efficiency is relatively low.
Invention content
One purpose of embodiment is to provide the new technical solution for estimating arrival direction.
According in a first aspect, provide it is a kind of for estimating the method for arrival direction, including:By coming in specific time frame
It is digitized from the input audio signal of a pair of of microphone in microphone array;Buffer digital signal;From each buffering signals
The middle multiple subbands of extraction, the subband cover pre-set bandwidths;Calculate the phase offset of each subband of the pair of microphone;According to
The phase offset and frequency of each subband execute linear regression, to estimate the phase offset of subband corresponding with the pair of microphone
Estimation coefficient of relationship between frequency;And arrival direction is calculated by the estimation coefficient of relationship of the pair of microphone.
According to second aspect, a kind of device for estimating arrival direction is provided, including:A/D converter, will be when specific
Between the input audio signal of a pair of of microphone in microphone array in frame be converted into digitized signal;Buffer delays
Rush digitized signal;And processing unit, execute following procedure:Multiple subbands are extracted from each buffering signals, which covers
Lid pre-set bandwidths;Calculate the phase offset of each subband of the pair of microphone;According to the phase offset and frequency of each subband
Linear regression is executed, the estimation relationship system between phase offset and frequency to estimate subband corresponding with the pair of microphone
Number;And arrival direction is calculated by the estimation coefficient of relationship of the pair of microphone.
According to the third aspect, provide a kind of electronic equipment, including according to a kind of embodiment for estimating arrival direction
Device.
According to an embodiment, it is possible to reduce the computing resource for estimating arrival direction.
Pass through the detailed description below with reference to attached drawing to exemplary embodiment according to the present invention, other feature of the invention
And its advantage will be apparent.
Description of the drawings
It is combined in the description and the attached drawing of a part for constitution instruction shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is the schematic diagram for showing the reaching time-difference from sound source to microphone array.
Fig. 2 is the schematic diagram for showing the relationship between frequency component and phase difference.
Fig. 3 is the schematic flow chart of the method for estimating arrival direction according to an embodiment.
Fig. 4 is the schematic diagram for showing the coefficient of relationship between frequency component and phase difference.
Fig. 5 is the schematic diagram for the exemplary process for showing estimation arrival direction.
Fig. 6 is the schematic block diagram according to the device for estimating arrival direction of another embodiment.
Fig. 7 is can be by the schematic diagram of the electronic equipment of the solution in a manner of application implementation.
Specific implementation mode
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that:Unless in addition having
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the present invention
And its application or any restrictions that use.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that:Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
Generally, (usual D > > d, such as typically D ratios d long 10 for the single-point sound source being positioned remotely enough
Times), wherein D is the distance between sound source and microphone array, and d be microphone array microphone between element spacing
From the wave for being incident on microphone array is considered parallel.It is (wide from covering that the frequency composition of incoming signal is assumed to be broadband
For in the sense that the superposition of several frequencies of spectral range).Here, microphone array can be linear microphone array.
The phase of each frequency component of reaching time-difference and incoming signal between two microphones of microphone array
It deviates directly related.This is shown in FIG. 1.As shown in Figure 1, sound source S sends out the sound wave for being incident on microphone array.Microphone array
Row include microphone mic1, mic2 ..., micN.Frequency component ω of the input audio signal from microphone in time t
Phase is respectivelyI=1...N.It is θ (t) in the angle of arrival of time t.D is sound source S and microphone array
The distance between, and d is the distance between two continuous microphones of microphone array.
Reaching time-difference τ between two continuous microphones can be indicated as follows:
Wherein, θ is angle of arrival, and C is the aerial speed of sound.Here, because of D > > d, incidence wave is considered
It is parallel.
For each frequency component of source signal, reaching time-difference τ can be expressed as phase shift difference.If
Be from the phase of the frequency component ω in time t of the voice signal of k-th of microphone input, andIt is from kth+1
The phase of the frequency component ω in time t of the voice signal of a microphone input.Single order phase difference can be then expressed as:
The expression formula reaching time-difference can be then re-written as:
For given angle of arrival θ, there are frequency component ω and single order phase differenceBetween proportional relation:
This relationship can be expressed as:
Wherein
This proportional relation is shown in FIG. 2.As shown in Fig. 2, slope (θ) is proportional to θ.So θ can be from this pass
System's export.
Fig. 3 is showing for the method for estimating the arrival direction between sound source and microphone array according to an embodiment
Meaning property flow chart.
Step S1100 believes the input audio of a pair of of microphone in microphone array in specific time frame
Number digitlization;
Step S1200, buffer digital signal;
Step S1300 extracts multiple subbands from each buffering signals, which covers pre-set bandwidths;
Step S1400 calculates the phase offset of each subband of the pair of microphone;
Step S1500 executes linear regression, with estimation and the pair of Mike according to the phase offset of each subband and frequency
Estimation coefficient of relationship between the phase offset and frequency of the corresponding subband of wind;
Step S1600 calculates arrival direction by the estimation coefficient of relationship of the pair of microphone in microphone array.
As above, the solution in this embodiment provides the new solution for calculating angle of arrival.At this
In a solution, the signal of a pair of of microphone in microphone array is divided into multiple subbands.It is obtained from respective sub-bands
By linear fit, to obtain fit correlation coefficient.It can be directly from single secondary arcsine transformation for the angle of arrival of microphone
Export does not have to execute arcsine transformation to each subband and without reaching the average of the angle obtained from them as best
Angle.This method is computationally relatively easy and is related to the data processing of relatively small amount.The efficiency of this method is relatively high
's.
Hereinafter, method and step will be described in further detail.As shown in figure 3, at step S1100, in specific time
The input audio signal of a pair of of microphone in microphone array in frame is digitized.For example, the pair of microphone
Described two microphones be continuous.Generally, specific time frame can be in the range of 10~20ms.
At step S1200, buffer digital signal.
At step S1300, multiple subbands are extracted from each buffering signals, which covers pre-set bandwidths.
In general, filtering unit (filter bank) can be used for extracting N number of subband.Filtering unit is well-known base
In the method for overlap-add FFT, such as with 40%, 50% or 60% overlapping.Filtering unit be input signal is divided into it is multiple
The array of the bandpass filter of component, each component carry the single-frequency subband of original signal.
For example, N is 2 power.N may be selected the 2 of 10-20 milliseconds of time frames of covering closest to power value (such as 2,
4,8,16,32...).Here, if N is 2 power, fft algorithm will be more effective.
For example, phase can be exportedWherein, k ∈ [0, M-1], M is the microphone in microphone array
Quantity, ω ∈ [ω0, ωN-1]Pre-set bandwidths are covered, and N is the quantity of subband.It will be appreciated by those skilled in the art that sub
With sufficiently narrow, so that frequencies omega may be respectively used for representing subband in practice.
The selection of pre-set bandwidths can be according to solution application and microphone array topology, the number of such as microphone
Amount, inter-element spacing etc..
In one embodiment, the application of solution is voice.In general, for fine definition, voice is comprised in
In bandwidth from 150Hz to 7000Hz.Most of speech energies are in the low frequency part of this bandwidth.However, low frequency compares high frequency
Directionality is weaker.In other words, compared to high frequency, it more difficult in find low frequency come from which direction.
On the other hand, the plane wave for traveling to neighbouring microphone generates delay in microphone channel.These delays turn
It is melted into the phase offset of each frequency of interested signal.
Therefore, the distance between two microphones determine the low-limit frequency that phase offset can be measured.Closer, the phase of distance
Position offset is smaller.
On the other hand, closely contribute to detect high frequency.Here, in order to avoid " time aliasing " phenomenon, select to preset band
Width, so that the distance between described two microphones of the pair of microphone d is less than the wave of the highest frequency in N number of subband
Long half, that is, d < 0.5*The wavelength of the highest frequency of measurement.
In summary, microphone is closer, can detect high frequency goodly and can detect low frequency fewlyer.Described two
The distance between a microphone after but tradeoff between the signal of interest low-limit frequency for including and highest frequency.
In addition, in order to measure the phase offset for introducing arrival direction, sample rate is considered.Sample rate is higher, can be more accurate
Ground measures small phase offset, especially when phase offset corresponds to the part individually sampled, that is, phase offset < 1
A sampling time Ts=1/Fs, wherein Fs is sample rate.
In this respect, the selection of pre-set bandwidths should be the tradeoff between microphone distance and sample rate.
So in one example, pre-set bandwidths are the relatively high parts of effective bandwidth of input audio signal.Here, defeated
The effective bandwidth for entering audio signal includes effective signal energy, and relatively high part is for so that the detection of arrival direction is more accurate
Really.Here, effective bandwidth is in the range of from 150Hz to 7000Hz.
At step S1400, the phase offset of each subband of the pair of microphone is calculated.
Here, two neighbouring microphones (or continuous microphone) can be selected to export in each of N number of subbandFor example,Wherein ω ∈ [ω0, ωN-1].This phase offset
It is referred to as single order phase difference.As shown in figure 4, the phase offset of N number of subband existsIt is generated in the plane (coordinate system) of ω
Scatterplot.Generally, it is believed thatIt is linear relationship with ω.The tropic between axis and ω axis is the ideal point of phase offset
Cloth, and it is derivedNear the tropic.
At step S1500, linear regression is executed according to the phase offset of each subband and frequency, with estimation with it is the pair of
Estimation coefficient of relationship between the phase offset and frequency of the corresponding subband of microphone.
For example, being based on lowest mean square LMS or normalization minimum mean-square NLMS execution according to the phase offset of subband and frequency
Linear regression, to estimate the estimation coefficient of relationship.
In one example, linear regression is executed to estimate the estimation coefficient of relationship based on following relationship:
Wherein, phase offset in each of N number of subband isI=1...N, frequency in each of N number of subband are
ωi, i=1...N, and the coefficient of relationship estimated is
As shown in figure 4, ambient noise, electronic noise and/or reverberation in real acoustic enviroment naturally occurring so that
A little phase offset points are diffused inWith the outside of the theoretical proportions sexual intercourse line in the plane of ω.In order to overcome this problem, exist
This estimates coefficient of relationship using the linear regression algorithm regulated and controled based on LMS or NLMSSo that the estimated value can be most
Variation of the smallization scatterplot along the tropic (line surrounded in Fig. 4 by point).As shown in figure 4, frequency component and phase can be obtained
Estimation coefficient of relationship between offsetEstimate coefficient of relationshipIt is considered the slope of the tropic.
At step S1600, arrival direction is calculated by the estimation coefficient of relationship of the pair of microphone.
For example, based on the speed of sound in air, the pair of microphone the distance between described two microphones and
The coefficient of relationship of estimation calculates arrival direction.
In one example, arrival direction is estimation angle of arrivalEstimate that angle of arrival is incident direction and the pair of wheat
Angle between the normal direction of the plane of gram wind.
Arrival direction can be calculated by following relationship:
Wherein
Wherein, C is the speed of sound in air, and d is the distance between described two microphones of the pair of microphone,
AndIt is estimation coefficient of relationship.Symbol will determineWhether it is positive-angle or negative angle.
It will be appreciated by those skilled in the art that since estimation coefficient of relationship includes intrinsic angle information, it is based on relationship system
Number, many other modes in addition to angle of arrival can be used for representing arrival direction.
In said embodiment, the linear relationship between phase offset and frequency is made full use of using linear regression.
Here, proportionality coefficientIt is estimated and optimizes first, then only carry out single arcsine transformation to obtain estimation angle of arrival
As explained above, compared with prior art, this embodiment is more optimized in terms of calculating, and is made an uproar with regard to disperse
Robustness is more preferable for sound.
Optionally, microphone array includes at least two pairs of microphones.The angle of arrival of at least two pairs microphones can be with
As above estimate and beJ=1,2....Estimate angle of arrivalHistogram is placed into obtain the estimation angle of arrival of optimization.
Histogram can be used for statistical analysis, to ensure that the solution of angular regions is determined by application and microphone array feature
's.Here, from microphone to the estimation angle of arrival of acquisition by statistical disposition, to select the arrival of most probable (such as quantity is most)
Angle or angle of arrival range, as the arrival direction relative to microphone array.
Fig. 5 is the schematic diagram for the exemplary process for showing estimation arrival direction.In Figure 5, microphone array includes three
Microphone mic1, mic2 and mic3.Incidence wave is received by three microphones, then as input signal pass to processing unit A1,
A2 and A3, in processing unit, incidence wave is digitized and is buffered.Then, it is extracted from input signal in A1, A2 and A3 N number of
Subband.Then, the phase of N number of subband is calculatedBased on N number of subband
Phase, obtain for mic1 and mic2 described two corresponding subbands phase offsetWith for mic2
With the phase offset of described two corresponding subbands of mic3Although here, obtaining the phase of continuous microphone
Offset, it will be understood by those skilled in the art that the phase offset of other microphones can also be obtained, such as the first Mike
Phase offset between wind mic1 and third microphone mic3.
By using the phase offset of N number of subbandIt is obtained by the linear regression based on LMS or NLMS
Take estimation coefficient of relationshipEqually, estimation coefficient of relationship is also obtained
It can be from coefficientExport estimation angle of arrivalI=1,2
Finally, estimate angle of arrivalHistogram is placed into obtain the estimation angle of arrival of optimization
Fig. 6 is the schematic block diagram according to the device for estimating arrival direction of another embodiment.As shown in fig. 6,
For estimate the device 20 of arrival direction be connected to microphone array 10 and from microphone array 10 receive input audio signal.
For estimating that the device 20 of arrival direction includes:A/D converter 21, buffer 22 and processing unit 23.
A/D converter 21 receives the input audio of a pair of of microphone in microphone array in specific time frame
Signal and it is converted into digitized signal.22 buffer digital signal of buffer.For example, the pair of microphone includes Mike
Two neighbouring microphones in wind array.Specific time frame can be in the range of 10~20ms.
Processing unit 23 extracts multiple subbands from each buffering signals, which covers pre-set bandwidths.For example, default band
Width is the relatively high part of the effective bandwidth of input audio signal and effective bandwidth in the range of from 150Hz to 7000Hz.
For example, pre-set bandwidths are chosen to the distance between described two microphones of the pair of microphone d less than in N number of subband
Highest frequency wavelength half.Pre-set bandwidths can be the relatively high part of the effective bandwidth of input audio signal.N can
With 2 power.
Processing unit 23 calculates the phase offset of each subband of the pair of microphone.
Processing unit 23 executes linear regression according to the phase offset and frequency of subband, with estimation and the pair of microphone
Estimation coefficient of relationship between the phase offset and frequency of corresponding subband.For example, according to the phase offset and frequency of subband, base
Linear regression is executed in lowest mean square LMS or normalization minimum mean-square NLMS, to estimate the estimation coefficient of relationship.
In one example, linear regression is executed to estimate the estimation coefficient of relationship based on following relationship:
Wherein, phase offset in each of N number of subband is Δ φi, i=1...N, frequency in each of N number of subband
It is ωi, i=1...N, and estimate that coefficient of relationship is
Processing unit 23 calculates arrival direction by the estimation coefficient of relationship of the pair of microphone.For example, processing unit
23 also execute following procedure:Based on the speed of sound in air, the pair of microphone described two microphones between away from
Arrival direction is calculated from estimation coefficient of relationship.
For example, arrival direction is estimation angle of arrivalEstimate that angle of arrival is incident direction and the pair of microphone
Plane normal direction between angle, wherein processing unit 23 be based on following relationship calculate arrival direction:
Wherein
Wherein, C is the speed of sound in air, and d is the distance between described two microphones of the pair of microphone,
AndIt is estimation coefficient of relationship.
Optionally, microphone array includes at least two pairs of microphones.In this case, processing unit 23 generates institute respectively
State the estimation angle of arrival of at least two pairs microphonesJ=1,2....For estimating that the device 20 of arrival direction further includes straight
Square figure unit, histogram unit receiveJ=1,2..., and it is put into histogram to obtain the estimation angle of arrival of optimization.
Component 21-23 can together or individually be implemented by software, hardware or combinations thereof.For example, the component can pass through
The combination of the memory of instruction of the computing unit and storage of such as CPU or MPU for controlling computing unit is implemented, with described
Component implements corresponding function during running.Alternately, the component may be embodied to programmable logic circuit, field-programmable
Gate array (FPGA), programmable logic array (PLA) or application-specific integrated circuit (ASIC).Under the introduction of the disclosure, it is all this
A little embodiments can be carried out.It will be appreciated by those skilled in the art that in addition to some are as the Machinery Ministry of loud speaker, microphone etc.
Except part, software is equivalent to hardware.In this respect, those skilled in the art are it is contemplated that under the introduction of the disclosure, firmly
The embodiment of part form, software form and/or a combination thereof is of equal value.In this respect, the disclosure will not limit component 21-23
Form of implementation.Those skilled in the art can consider the selections such as cost, market availability reality under the introduction of the disclosure
Apply form.
Fig. 7 is the schematic diagram of the adaptable electronic equipment of solution of embodiment.
In the figure 7, electronic equipment 30 includes the device for as above being used to estimate arrival direction.Earphone 30 is shown in FIG. 7, and
The earphone includes control box 31.For estimating that the device of arrival direction can be placed in control box 31.Those skilled in the art
It will be appreciated that electronic equipment can be any kind of electronic equipment, such as PlayGear Stealth, headphone, intelligence electricity
Words, tablet computer, laptop etc..
Although elaborating some specific embodiments of the present invention by example, those skilled in the art will manage
It solves above-mentioned example and is only intended to be the range being schematically not intended to limit the present invention.
Claims (19)
1. a kind of method for estimating arrival direction, including:
The input audio signal of a pair of of microphone in microphone array in specific time frame is digitized;
Buffer digital signal;
Multiple subbands are extracted from each buffering signals, which covers pre-set bandwidths;
Calculate the phase offset of each subband of the pair of microphone;
Linear regression is executed according to the phase offset of each subband and frequency, to estimate subband corresponding with the pair of microphone
Estimation coefficient of relationship between phase offset and frequency;And
Arrival direction is calculated by the estimation coefficient of relationship of the pair of microphone.
2. according to the method described in claim 1, wherein, executing linear regression further includes:
According to the phase offset and frequency of subband, linear regression is executed based on lowest mean square LMS or normalization minimum mean-square NLMS,
To estimate the estimation coefficient of relationship.
3. method according to claim 1 or 2, wherein executing linear regression further includes:
Linear regression is executed to estimate the estimation coefficient of relationship based on following relationship:
I=1 ... N,
Wherein, phase offset in each of N number of subband isI=1 ... N, frequency in each of N number of subband is ωi, i
=1 ... N, and estimate that coefficient of relationship is
4. method according to claim 1 or 2, wherein calculating arrival direction further includes:
Based on the speed of sound in air, the distance between described two microphones of the pair of microphone and estimation relationship system
Number calculates arrival direction.
5. according to the method described in claim 4, wherein, arrival direction is estimation angle of arrivalEstimation angle of arrival is incident
Angle between the normal direction of the plane of direction and the pair of microphone,
Wherein, calculating arrival direction further includes:
Arrival direction is calculated based on following relationship:
Wherein
Wherein, C is the speed of sound in air, and d is the distance between described two microphones of the pair of microphone, and
It is estimation coefficient of relationship.
6. according to the method described in claim 5, wherein, pre-set bandwidths are chosen to d less than the highest frequency in N number of subband
Wavelength half.
7. according to the method described in claim 5, wherein, microphone array includes at least two pairs of microphones and at least two pairs described
The estimation angle of arrival of microphone isJ=1,2 ...,
Wherein,J=1,2 ... are placed into histogram to obtain the estimation angle of arrival of optimization.
8. according to the method described in claim 1, wherein, be included in microphone array two of the pair of microphone are neighbouring
Microphone.
9. according to the method described in claim 1, wherein, pre-set bandwidths are the relatively high of the effective bandwidth of input audio signal
Partly and effective bandwidth is in the range of 150Hz to 7000Hz.
10. a kind of device for estimating arrival direction, including:
A/D converter turns the input audio signal of a pair of of microphone in microphone array in specific time frame
Change digitized signal into;
Buffer, buffer digital signal;And
Processing unit executes following procedure:
Multiple subbands are extracted from each buffering signals, which covers pre-set bandwidths;
Calculate the phase offset of each subband of the pair of microphone;
Linear regression is executed according to the phase offset of each subband and frequency, to estimate subband corresponding with the pair of microphone
Estimation coefficient of relationship between phase offset and frequency;And
Arrival direction is calculated by the estimation coefficient of relationship of the pair of microphone.
11. device according to claim 10, wherein processing unit also executes following procedure:
According to the phase offset and frequency of subband, linear regression is executed based on lowest mean square LMS or normalization minimum mean-square NLMS,
To estimate the estimation coefficient of relationship.
12. the device according to claim 10 or 11, wherein processing unit also executes following procedure:
Linear regression is executed to estimate the estimation coefficient of relationship based on following relationship:
I=1 ... N,
Wherein, phase offset in each of N number of subband isI=1 ... N, frequency in each of N number of subband is ωi, i
=1 ... N, and estimate that coefficient of relationship is
13. the device according to claim 10 or 11, wherein processing unit also executes following procedure:
Based on the speed of sound in air, the distance between described two microphones of the pair of microphone and estimation relationship system
Number calculates arrival direction.
14. the device according to claim 10 or 11, wherein arrival direction is estimation angle of arrivalEstimate angle of arrival
It is the angle between incident direction and the normal direction of the plane of the pair of microphone, and processing unit also executes following mistake
Journey:
Arrival direction is calculated based on following relationship:
Wherein
Wherein, C is the speed of sound in air, and d is the distance between described two microphones of the pair of microphone, and
It is estimation coefficient of relationship.
15. device according to claim 14, wherein pre-set bandwidths are chosen to d less than the most high frequency in N number of subband
The half of the wavelength of rate.
16. device according to claim 14 further includes histogram unit,
Wherein, microphone array includes at least two pairs of microphones, and processing unit generates respectively described at least two pairs of microphones
Estimate angle of arrivalJ=1,2 ...,
Wherein, histogram unit receivesJ=1,2 ..., and each estimation angle of arrival is put into histogram to obtain optimization
Estimate angle of arrival.
17. device according to claim 10, wherein the pair of microphone is included in two neighbours in microphone array
Nearly microphone.
18. device according to claim 10, wherein pre-set bandwidths are the relatively high of the effective bandwidth of input audio signal
Part, and effective bandwidth is in the range of 150Hz to 7000Hz.
19. a kind of electronic equipment, including any devices for estimating arrival direction of claim 10-18.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| WO2019178802A1 (en) * | 2018-03-22 | 2019-09-26 | Goertek Inc. | Method and device for estimating direction of arrival and electronics apparatus |
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| CN108702558B (en) | 2020-04-17 |
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