CN108802689B - Space microphone positioning method based on sound source array - Google Patents
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Abstract
The invention discloses a space microphone positioning method based on a sound source array, which relates to a method for determining the position of a signal source by matching a plurality of position lines determined by path difference measurement by using sound waves, and realizing the online positioning of microphones in a three-dimensional space by using sound signals of four sound sources, a reference microphone and fixed distances among the sound sources, and comprises the following steps: quaternary three-dimensional array distribution of sound sources; setting a reference microphone; marking a microphone to be positioned; and positioning the position of the microphone to be positioned in the space by using the microphone positioning unit. The invention overcomes the defects that the signal acquisition operation is more complicated, the efficiency is lower, only offline calculation can be performed, the on-line estimation of the microphone position cannot be realized, the position estimation is performed only on a planar microphone array, and the position estimation of a spatial distribution microphone cannot be realized in the prior art.
Description
Technical Field
The technical scheme of the invention relates to a method for determining the position of a signal source by matching a plurality of position lines determined by path difference measurement by using sound waves, in particular to a method for positioning a space microphone based on a sound source array.
Background
With the development of scientific technology, the application field of sensor technology is gradually expanded, and the working environment faced by the sensor technology is more and more complex. Accurate positioning of microphone positions can aid in distributed microphone array signal processing, and microphone arrays play an important role in speech enhancement, sound source localization, and sound source separation applications. At the same time, microphone positioning can help solve many problems in the current field of robotics. For example, when a robot is in an unknown environment and the pose of the robot is unknown, how to perform self-positioning and environment recognition, namely, the self-positioning and the map construction are always hot and difficult points of the research of the intelligent robot technology, in order to solve the problem, the position coordinates of a microphone to be positioned are determined from the perspective of the auditory system of the robot, the robot technology is organically combined with the distributed microphone positions in the environment where the robot is located, the problem that the robot performs self-positioning and environment map construction at the same time is solved, and the robot is helped to move fully autonomously. Therefore, determining the position of the microphones in the microphone array is a technical problem that must be solved in the technical field today.
In the research on a correction method of a microphone array published by showa of Chengdu electronics science and technology university in 2008, the positions of microphones in the microphone array are corrected by adopting three correction sound sources at different positions, in the method, one sound source is sequentially placed at three positions, signal acquisition and calculation are carried out in three times, and finally the calculation results of the three times are fused to obtain the positions of the microphones. CN103439689B discloses a system for estimating the position of a microphone in a distributed microphone array, which selects sound signals of three different frequency bands as sounding signals of three sound sources, collects and separates the three sound sources at one time in the process of estimating the position of the microphone, realizes online estimation of the position of the microphone, combines a distance measurement method based on energy and time delay, performs rough and fine estimation of distance in sequence, acquires the position of each microphone in the array by using a triangle centroid algorithm, and performs corresponding processing on various conditions without solution.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for positioning the space microphone based on the sound source array is provided, the on-line positioning of the microphone in the three-dimensional space is realized by utilizing the fixed distances among the sound signals of the four sound sources, the reference microphone and the sound sources, and the defects that in the prior art, the signal acquisition operation is more complicated, the efficiency is lower, only offline calculation can be performed, the position of the microphone cannot be estimated on line, the position estimation is performed only on a planar microphone array, and the position estimation of the space distribution microphone cannot be realized are overcome.
The technical scheme adopted by the invention for solving the technical problem is as follows: a space microphone positioning method based on a sound source array comprises the following specific steps:
step one, four-element three-dimensional array distribution of sound sources:
four sound sources are arranged in the form of regular tetrahedronsSpatial distribution, defining the spatial coordinates of the sound source 1 as S1 (x)1,y1,z1) The spatial coordinate of the sound source 2 is S2 (x)2,y2,z2) The sound source 3 has spatial coordinates S3 (x)3,y3,z3) The sound source 4 has spatial coordinates S4 (x)4,y4,z4) Constructed as a three-dimensional spatial coordinate system, whereby a quaternary three-dimensional array distribution of sound sources is accomplished, and a representation of the microphone positions defining the spatial distribution will be based on this coordinate system, the four sound sources being sounded sequentially, yielding a total of four sound signals, each si(t), wherein i ═ 1,2,3, 4;
and step two, setting a reference microphone:
setting a reference microphone at a distance L from the jth sound source of the four sound sources in the first stepjWhere j is 1,2,3,4, i.e. the distances from the reference microphone to the four sound sources in the first step are L respectively1、L2、L3And L4The values of these four distances are determined to be known and fixed, while the position of the reference microphone is within 10 meters from the respective sound source, i.e. 10 meters ≧ LjThe sound intensity of each sound source received by the reference microphone is ensured to be strong signals when the sound intensity is more than 0;
thirdly, marking a microphone to be positioned:
in the regular tetrahedron form space of the first step, in a cuboid space range with the length of 60 meters, the width of 60 meters and the height of 20 meters, randomly distributing M200 microphones, wherein the four sound sources of the first step sequentially generate sound signals, the four randomly distributed microphones can receive the four sound signals and are marked as microphones to be positioned, the number of the microphones to be positioned is marked as N, and M is more than or equal to N and more than or equal to 1;
fourthly, positioning the position of the microphone to be positioned in the space by using a microphone positioning unit:
the operating procedure of the microphone positioning unit is as follows:
(4.1) sequentially generating sound signals by four sound sources, and receiving the four sound signals by the reference microphone and the microphone to be positioned:
the four sound sources in the first step sequentially generate sound signals, and the reference microphone set in the second step and the microphone to be positioned in the third step both receive the four sound signals; the sound signal model received by all the microphones is set to be an ideal model, namely, the environmental noise is approximately replaced by white Gaussian noise, and the sound signals generated by four sound sources in sequence are set to be si(t), where t represents the time for each sound source to emit sound, i is 1,2,3,4, and represents four sound sources, and one sound signal x (t) of the four sound signals received by one microphone to be positioned is expressed by the following formula (1):
x(t)＝αs(t-τ)+n(t) (1)，
in formula (1), x (t) represents the functional relationship between the sound signal x and time t, t is the time corresponding to the sound signal received by the microphone to be positioned, α represents the amplitude attenuation coefficient from the sound signal to the microphone, τ represents the time delay from the sound signal to the microphone, n (t) represents the ambient noise signal, s (t- τ) represents the sound signal generated by the sound source with time delay τ, s (t) and n (t) are not related to each other,
(4.2) estimating the time difference of arrival by using a generalized cross-correlation function method in a classical time delay estimation method:
defining a time difference between a reference microphone set in the second step and a microphone to be positioned in the third step when one of sound signals sequentially generated by the four sound sources in the first step reaches the reference microphone, and estimating the time difference of arrival by using a generalized cross-correlation function method in a classical time delay estimation method, wherein the time difference of arrival is respectively TDOA1, TDOA2, TDOA3 and TDOA 4;
(4.3) calculating the difference between the distance between a certain sound source and the reference microphone and the distance between the sound source and the microphone to be positioned:
definition of Δ TijReceiving a time difference between a reference microphone set in the second step and an ith microphone to be positioned in the microphones to be positioned in the third step and a jth sound signal emitted by a jth sound source in the four sound sources in the first step, wherein i is 1,2Difference between delta TijMeasured, the propagation speed of sound in the air is defined as C, and the time difference is measuredijMultiplying the sound velocity C to obtain the difference value delta L between the distance between the jth sound source in the four sound sources in the first step and the reference microphone set in the second step and the distance between the jth sound source in the microphones to be positioned in the third step and the microphone to be positionedijAs shown in the following formula (2),
ΔLij＝ΔTij·C (2)，
(4.4) calculating the distance between the microphone to be positioned and the sound source:
according to the distance L from the reference microphone set in the second step to the jth sound source in the four sound sources in the first stepjWhere j is 1,2,3,4, and the distance difference Δ L from the jth sound source to the reference microphone and the ith microphone to be positioned among the microphones to be positioned at the third step, which is calculated by the formula (2)ijCalculating the distance d from the ith microphone to be positioned in the microphones to be positioned in the third step to the jth sound source in the four sound sources in the first step according to the formula (3)ijThe following were used:
dij＝Lj+ΔLij＝Lj+ΔTij·C (3)，
according to the geometric relationship, by solving, the four sound source positions in the first step are taken as the sphere centers respectively, and the distance from the microphone to be positioned in the third step to each corresponding sound source in the first step is taken as the intersection points of the four spheres respectively drawn by taking the radius, the position of the ith microphone to be positioned in the third step in the space environment is determined as the following equation:
in equation (4), xi,yi,ziRepresents the position, x, of the ith microphone to be positioned in the spatial environment of the microphone to be positioned in the third step1、y1、z1；x2、y2、z2；x3、y3、z3；x4、y4、z4Sequentially indicating the positions of the four sound sources in the first step, di1、di2、di3、di4Respectively representing the distance from the ith microphone to be positioned in the third step to each of the four sound sources in the first step, wherein the four sound source positions in the first step are distributed in a regular tetrahedron form in space, so that vectors formed by the four sound sources in pairs are not linearly related to each other, and the solution is only a solution of the equation (4), wherein the solution is the intersection point of four spheres respectively drawn by taking the distance from the microphone to be positioned in the third step to each corresponding sound source in the first step as a radius, and the intersection point coordinate is the position coordinate of the space where the ith microphone to be positioned in the third step is located, and therefore, the spatial microphone positioning based on the sound source array is completed.
The invention has the beneficial effects that: compared with the prior art, the invention has the prominent substantive characteristics and remarkable progress as follows:
(1) the invention realizes the on-line positioning of the microphones in the three-dimensional space by utilizing the sound signals of the four sound sources, the fixed distance between the reference microphone and each sound source. The four sound sources are arranged and distributed according to a quaternary three-dimensional array, particularly a regular tetrahedron mode, and the positioning omni-direction is ensured by utilizing the symmetry of the four sound sources, and signals are uniformly received by the microphone, so that the positioning precision is met, and the continuity and the stability of the positioning precision are ensured.
(2) The system for estimating the position of the microphone in the distributed microphone array disclosed by CN103439689B is characterized in that the method only performs position estimation on a planar microphone array, and cannot realize position estimation of the spatial distributed microphone.
(3) The spatial microphone positioning method based on the sound source array realizes the on-line positioning of the microphones in the three-dimensional space by utilizing the sound signals of the four sound sources, the reference microphones and the fixed distances among the sound sources, and overcomes the defects that the signal acquisition operation is more complicated, the efficiency is lower, only offline calculation can be performed, the on-line estimation of the microphone position cannot be realized, the position estimation is performed only on a planar microphone array, and the position estimation of the spatial distribution microphones cannot be realized in the prior art.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic flow chart of a sound source array-based spatial microphone positioning method according to the present invention.
FIG. 2 is a schematic diagram of a regular tetrahedron arrangement distribution of four sound sources in the present invention.
Fig. 3 is a schematic diagram of four balls intersecting at a point in the present invention.
Fig. 4 is a schematic diagram of the spatial microphone localization based on the sound source array in the simulation test of the present invention.
Detailed Description
The embodiment shown in fig. 1 shows the symbol → indicates the flow process direction of the spatial microphone localization method based on the sound source array; s1, S2, S3 and S4 are four sound sources generating sound signals respectively, the generated sound signals are received by a reference microphone, a microphone 1 to be positioned and a microphone 2 … to be positioned, and the sound signals S sequentially generated by the four sound sources are estimated by utilizing a generalized cross-correlation function method in a classical time delay estimation methodi(t) (i ═ 1,2,3,4) time difference between arrival at the reference microphone and the microphone to be positioned, i.e. sound arrival time difference, i.e. TDOA1, TDOA2, TDOA3 and TDOA4 in the figure, wherein t represents time corresponding to sound production of each sound source, i ═ 1,2,3 and 4 represent four sound sources, operation of "microphone positioning unit" is performed, TDOA1, TDOA2, TDOA3 and TDOA4 are used as input signals, and coordinates of the microphone to be positioned in three-dimensional space, including the coordinates of microphone 1 to be positioned and the coordinates of microphone 2 to be positioned …, and the coordinates of microphone N to be positioned, are output, thereby completing positioning of the microphone NSpatial microphone localization based on an array of sound sources.
The embodiment shown in fig. 2 shows that in the sound source distribution unit, the sound source array is a regular tetrahedron, and is located in the same three-dimensional space coordinate system. In a three-dimensional space coordinate system (x, y, z) with o as an origin, S1, S2, S3 and S4 are four sound sources respectively, C0 is a reference microphone, which is located less than 10 meters from each sound source, M1 is set to be the first microphone to be located, namely, one of the microphones to be positioned, L1 is the distance from the reference microphone C0 to the first sound source S1, which is known and fixed, similarly, the distances from the reference microphone C0 to the other sound sources (S2, S3, S4) are also known and fixed, L2, L3, and L4, respectively, d11 is the distance from the first microphone M1 to the first sound source S1, which is the distance difference calculated by multiplying the time difference from S1 to C0 and M1 by the sound velocity, then, the distance between M1 and other sound sources can be calculated according to the known distance L1, and the like, which is a necessary condition for determining the spatial position of M1.
The embodiment shown in fig. 3 shows that S1, S2, S3 and S4 are four sound sources respectively, M1 is the first microphone to be positioned, and d11, d12, d13 and d14 are distances from M1 to the four sound sources S1, S2, S3 and S4 respectively. The four sound source positions are taken as the spherical centers respectively, the distances from the corresponding microphone M1 to the four sound sources are taken as the radiuses to form four spheres, the sound sources are distributed in the space in a regular tetrahedron mode, so that vectors formed by every two sound sources are not linearly related to each other, the four spheres only have one intersection point in the space, and the intersection point is the coordinate of the microphone M1 to be positioned, and the coordinate is shown by a black triangle in the figure. The position of the microphone M1 in the spatial environment is thus determined by the intersection of four spheres respectively plotted with the distance of the microphone M1 to each sound source as a radius.
The embodiment shown in fig. 4 shows that, in order to verify the advantages of the present invention, a simulation test was performed by setting a spatial region having a length, width and height of 60m, 60m and 20m, respectively, as indicated by coordinate axes in the drawing, in which four open circles ○ are shown as coordinates of four sound sources, positions of (6, 0, 0) m, (-3,
0)m、(-3，
0) m is a function of the sum of (0,
) The reference microphone ★ is (0, 0, 0) m in coordinates, i.e. the origin of the coordinates is selected to be the position of the reference microphone ★, which is shown as 200 randomly distributed microphones +, and it is verified that there are two microphones receiving four sound signals, i.e. two microphones ● to be positioned, which are two of the 200 randomly distributed microphones +, so that the pattern "●" showing the two microphones ● to be positioned in the figure is definitely overlapped with the pattern of two "+" of the 200 microphones + representing the random distribution, and the overlapped pattern is shown in the figure 4. the positions of the two microphones to be positioned in the 200 randomly distributed microphones are estimated according to the method of the present invention, and the estimated result is shown as "□" in the figure 4, and the position where "□" is the position estimated by the method of the present invention, in other words, the position where "●" is needed to be positioned, i.e. the position of the microphones to be positioned is estimated by the method of the present invention, and the spatial distribution of the microphones is shown as the position of the microphone array to be positioned, and the microphone array, and the sound source of the microphones are estimated by the present invention, and the method of the present invention, and the two microphones are also the two microphones to be estimated.
Examples
The method for positioning the spatial microphone based on the sound source array comprises the following specific steps:
step one, four-element three-dimensional array distribution of sound sources:
the four sound sources are spatially distributed according to the form of a regular tetrahedron, and the spatial coordinate of the sound source 1 is defined as S1 (x)1,y1,z1) The spatial coordinate of the sound source 2 is S2 (x)2,y2,z2) The spatial coordinates of the sound source 3 areS3(x3,y3,z3) The sound source 4 has spatial coordinates S4 (x)4,y4,z4) Constructed as a three-dimensional spatial coordinate system, whereby a quaternary three-dimensional array distribution of sound sources is accomplished, and a representation of the microphone positions defining the spatial distribution will be based on this coordinate system, the four sound sources being sounded sequentially, yielding a total of four sound signals, each si(t), wherein i ═ 1,2,3, 4;
and step two, setting a reference microphone:
setting a reference microphone at a distance L from the jth sound source of the four sound sources in the first stepjWhere j is 1,2,3,4, i.e. the distances from the reference microphone to the four sound sources in the first step are L respectively1、L2、L3And L4The values of these four distances are determined to be known and fixed, while the position of the reference microphone is within 10 meters from the respective sound source, i.e. 10 meters ≧ LjThe sound intensity of each sound source received by the reference microphone is ensured to be strong signals when the sound intensity is more than 0;
thirdly, marking a microphone to be positioned:
in the regular tetrahedron form space of the first step, in a cuboid space range with the length of 60 meters, the width of 60 meters and the height of 20 meters, randomly distributing M200 microphones, wherein the four sound sources of the first step sequentially generate sound signals, the four randomly distributed microphones can receive the four sound signals and are marked as microphones to be positioned, the number of the microphones to be positioned is marked as N, and M is more than or equal to N and more than or equal to 1;
fourthly, positioning the position of the microphone to be positioned in the space by using a microphone positioning unit:
the operating procedure of the microphone positioning unit is as follows:
(4.1) sequentially generating sound signals by four sound sources, and receiving the four sound signals by the reference microphone and the microphone to be positioned:
the four sound sources of the first step sequentially generate sound signals, the reference microphone set in the second step and the microphone to be positioned in the third stepFour sound signals are received; the sound signal model received by all the microphones is set to be an ideal model, namely, the environmental noise is approximately replaced by white Gaussian noise, and the sound signals generated by four sound sources in sequence are set to be si(t), where t represents the time for each sound source to emit sound, i is 1,2,3,4, and represents four sound sources, and one sound signal x (t) of the four sound signals received by one microphone to be positioned is expressed by the following formula (1):
x(t)＝αs(t-τ)+n(t) (1)，
in formula (1), x (t) represents the functional relationship between the sound signal x and time t, t is the time corresponding to the sound signal received by the microphone to be positioned, α represents the amplitude attenuation coefficient from the sound signal to the microphone, τ represents the time delay from the sound signal to the microphone, n (t) represents the ambient noise signal, s (t- τ) represents the sound signal generated by the sound source with time delay τ, s (t) and n (t) are not related to each other,
(4.2) estimating the time difference of arrival by using a generalized cross-correlation function method in a classical time delay estimation method:
defining a time difference between a reference microphone set in the second step and a microphone to be positioned in the third step when one of sound signals sequentially generated by the four sound sources in the first step reaches the reference microphone, and estimating the time difference of arrival by using a generalized cross-correlation function method in a classical time delay estimation method, wherein the time difference of arrival is respectively TDOA1, TDOA2, TDOA3 and TDOA 4;
(4.3) calculating the difference between the distance between a certain sound source and the reference microphone and the distance between the sound source and the microphone to be positioned:
definition of Δ TijReceiving a time difference between the reference microphone set in the second step and the ith microphone to be positioned in the third step and the jth sound signal emitted by the jth sound source in the four sound sources in the first step, wherein i is 1,2ijMeasured, the propagation speed of sound in the air is defined as C, and the time difference is measuredijMultiplying by sound velocity C to obtain the jth of the four sound sources in the first stepThe difference value DeltaL between the distance between the sound source and the reference microphone set in the second step and the distance between the sound source and the ith microphone to be positioned in the microphones to be positioned in the third stepijAs shown in the following formula (2),
ΔLij＝ΔTij·C (2)，
(4.4) calculating the distance between the microphone to be positioned and the sound source:
according to the distance L from the reference microphone set in the second step to the jth sound source in the four sound sources in the first stepjWhere j is 1,2,3,4, and the distance difference Δ L from the jth sound source to the reference microphone and the ith microphone to be positioned among the microphones to be positioned at the third step, which is calculated by the formula (2)ijCalculating the distance d from the ith microphone to be positioned in the microphones to be positioned in the third step to the jth sound source in the four sound sources in the first step according to the formula (3)ijThe following were used:
dij＝Lj+ΔLij＝Lj+ΔTij·C (3)，
according to the geometric relationship, by solving, the four sound source positions in the first step are taken as the sphere centers respectively, and the distance from the microphone to be positioned in the third step to each corresponding sound source in the first step is taken as the intersection points of the four spheres respectively drawn by taking the radius, the position of the ith microphone to be positioned in the third step in the space environment is determined as the following equation:
in equation (4), xi,yi,ziRepresents the position, x, of the ith microphone to be positioned in the spatial environment of the microphone to be positioned in the third step1、y1、z1；x2、y2、z2；x3、y3、z3；x4、y4、z4Sequentially showing the first stepPosition of four sound sources in di1、di2、di3、di4Respectively representing the distance from the ith microphone to be positioned in the third step to each of the four sound sources in the first step, wherein the four sound source positions in the first step are distributed in a regular tetrahedron form in space, so that vectors formed by the four sound sources in pairs are not linearly related to each other, and the solution is only a solution of the equation (4), wherein the solution is the intersection point of four spheres respectively drawn by taking the distance from the microphone to be positioned in the third step to each corresponding sound source in the first step as a radius, and the intersection point coordinate is the position coordinate of the space where the ith microphone to be positioned in the third step is located, and therefore, the spatial microphone positioning based on the sound source array is completed.
Table 1 shows the results of the sound source array-based spatial microphone localization of the present embodiment
Claims (1)
1. A space microphone positioning method based on a sound source array is characterized by comprising the following specific steps:
step one, four-element three-dimensional array distribution of sound sources:
the four sound sources are spatially distributed according to the form of a regular tetrahedron, and the spatial coordinate of the sound source 1 is defined as S1 (x)1,y1,z1) The spatial coordinate of the sound source 2 is S2 (x)2,y2,z2) The sound source 3 has spatial coordinates S3 (x)3,y3,z3) The sound source 4 has spatial coordinates S4 (x)4,y4,z4) Constructed as a three-dimensional spatial coordinate system, whereby a quaternary three-dimensional array distribution of sound sources is accomplished, and a representation of the microphone positions defining the spatial distribution will be based on this coordinate system, the four sound sources being sounded sequentially, yielding a total of four sound signals, each si(t), wherein i ═ 1,2,3, 4;
and step two, setting a reference microphone:
setting a reference microphone at a distance L from the jth sound source of the four sound sources in the first stepjWhere j is 1,2,3,4, i.e. the distances from the reference microphone to the four sound sources in the first step are L respectively1、L2、L3And L4The values of these four distances are determined to be known and fixed, while the position of the reference microphone is within 10 meters from the respective sound source, i.e. 10 meters ≧ LjThe sound intensity of each sound source received by the reference microphone is ensured to be strong signals when the sound intensity is more than 0;
thirdly, marking a microphone to be positioned:
in the regular tetrahedron form space of the first step, in a cuboid space range with the length of 60 meters, the width of 60 meters and the height of 20 meters, randomly distributing M200 microphones, wherein the four sound sources of the first step sequentially generate sound signals, the four randomly distributed microphones can receive the four sound signals and are marked as microphones to be positioned, the number of the microphones to be positioned is marked as N, and M is more than or equal to N and more than or equal to 1;
fourthly, positioning the position of the microphone to be positioned in the space by using a microphone positioning unit:
the operating procedure of the microphone positioning unit is as follows:
(4.1) sequentially generating sound signals by four sound sources, and receiving the four sound signals by the reference microphone and the microphone to be positioned:
the four sound sources in the first step sequentially generate sound signals, and the reference microphone set in the second step and the microphone to be positioned in the third step both receive the four sound signals; the sound signal model received by all the microphones is set to be an ideal model, namely, the environmental noise is approximately replaced by white Gaussian noise, and the sound signals generated by four sound sources in sequence are set to be si(t), where t represents the time for each sound source to emit sound, i is 1,2,3,4, and represents four sound sources, and one sound signal x (t) of the four sound signals received by one microphone to be positioned is expressed by the following formula (1):
x(t)＝αs(t-τ)+n(t) (1)，
in formula (1), x (t) represents the functional relationship between the sound signal x and time t, t is the time corresponding to the sound signal received by the microphone to be positioned, α represents the amplitude attenuation coefficient from the sound signal to the microphone, τ represents the time delay from the sound signal to the microphone, n (t) represents the ambient noise signal, s (t- τ) represents the sound signal generated by the sound source with time delay τ, s (t) and n (t) are not related to each other,
(4.2) estimating the time difference of arrival by using a generalized cross-correlation function method in a classical time delay estimation method:
defining a time difference between a reference microphone set in the second step and a microphone to be positioned in the third step when one of sound signals sequentially generated by the four sound sources in the first step reaches the reference microphone, and estimating the time difference of arrival by using a generalized cross-correlation function method in a classical time delay estimation method, wherein the time difference of arrival is respectively TDOA1, TDOA2, TDOA3 and TDOA 4;
(4.3) calculating the difference between the distance between a certain sound source and the reference microphone and the distance between the sound source and the microphone to be positioned:
definition of Δ TijReceiving a time difference between the reference microphone set in the second step and the ith microphone to be positioned in the third step and the jth sound signal emitted by the jth sound source in the four sound sources in the first step, wherein i is 1,2ijMeasured, the propagation speed of sound in the air is defined as C, and the time difference is measuredijMultiplying the sound velocity C to obtain the difference value delta L between the distance between the jth sound source in the four sound sources in the first step and the reference microphone set in the second step and the distance between the jth sound source in the microphones to be positioned in the third step and the microphone to be positionedijAs shown in the following formula (2),
ΔLij＝ΔTij·C (2)，
(4.4) calculating the distance between the microphone to be positioned and the sound source:
according to the reference microphone set in the second step to the fourth step in the first stepDistance L of jth sound source among sound sourcesjWhere j is 1,2,3,4, and the distance difference Δ L from the jth sound source to the reference microphone and the ith microphone to be positioned among the microphones to be positioned at the third step, which is calculated by the formula (2)ijCalculating the distance d from the ith microphone to be positioned in the microphones to be positioned in the third step to the jth sound source in the four sound sources in the first step according to the formula (3)ijThe following were used:
dij＝Lj+ΔLij＝Lj+ΔTij·C (3)，
according to the geometric relationship, by solving, the four sound source positions in the first step are taken as the sphere centers respectively, and the distance from the microphone to be positioned in the third step to each corresponding sound source in the first step is taken as the intersection points of the four spheres respectively drawn by taking the radius, the position of the ith microphone to be positioned in the third step in the space environment is determined as the following equation:
in equation (4), xi,yi,ziRepresents the position, x, of the ith microphone to be positioned in the spatial environment of the microphone to be positioned in the third step1、y1、z1；x2、y2、z2；x3、y3、z3；x4、y4、z4Sequentially indicating the positions of the four sound sources in the first step, di1、di2、di3、di4Respectively representing the distance from the ith microphone to be positioned in the third step to each of the four sound sources in the first step, wherein the four sound source positions in the first step are distributed in a regular tetrahedron form in space, so that vectors formed by the four sound sources in pairs are not linearly related to each other, thereby ensuring that the equation (4) has only one solution, namely the distance from the microphone to be positioned in the third step to each of the four sound sources in the first stepAnd correspondingly, the distance of each sound source in the first step is an intersection point of four balls respectively drawn by the radius, and the coordinate of the intersection point is the position coordinate of the ith microphone to be positioned in the space of the microphone to be positioned in the third step, so that the space microphone positioning based on the sound source array is completed.
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