CN108872939A - Interior space geometric profile reconstructing method based on acoustics mirror image model - Google Patents
Interior space geometric profile reconstructing method based on acoustics mirror image model Download PDFInfo
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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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Abstract
The invention discloses a kind of interior space geometric profile reconstructing method based on acoustics mirror image model, including sound reception device, phse conversion broad sense cross-correlation analysis module, auditory localization module, plane parameter analysis module and acoustics mirror image model etc., using voice signal as sound-source signal, using moveable M array element star array as sound reception device；Firstly, carrying out auditory localization based on controllable responding power phse conversion and region contraction method；Secondly, being based on acoustics mirror image model, by the cross-correlation analysis of acoustic transceiver signal, it is apart from indoor each reflecting surface apart from valuation before and after acquisition speaker's single step is mobile；Finally, converting auditory localization problem for space geometry profile reconstruction in conjunction with the shape prior of the interior space, by the solution to mirror image sound source position, the reconstruct of interior space geometric profile is realized.The accuracy of interior space geometric profile reconstruct can be improved in this method, meanwhile, sound source versatility is taken into account, the profile quality reconstruction of robust can be obtained.
Description
Technical field
The invention belongs to the research fields of sound field environment identification, are related to the reconstruct of interior space geometric profile, specifically one
Kind is based on acoustics mirror image model, using controllable responding power phse conversion bond area shrinkage method (SRP-PHAT-SRC) carry out sound
The interior space geometric profile reconstructing method of source positioning, there is weight in the scenes such as composite pulse response, auditory analysis, Reconstruction of Sound Field
The application value wanted.
Background technique
Sound wave (20Hz-20KHz) is indoors in environment, and the spread speed of (150C) is 340m/s usually at room temperature, has
The opposite lower spread speed of electromagnetic wave, so that it can be entrainment of room layout information in communication process.Believed by acoustic transceiver
Cross-correlation analysis between number restores to receive the layout information carried in acoustical signal, is to realize having for interior space geometric profile reconstruct
Efficacious prescriptions method.
Have some methods for realizing the reconstruct of interior space geometric profile by using sound multipath transmisstion inverse mapping, including adopts
With simple sund source and microphone array, virtual more sound sources and microphone array, simple sund source are combined with acoustic transceivers devices such as single microphones,
Carry out the scheme that reconstruct is realized in direct sound wave identification.But such cross-correlation analysis mode, the precision in the environment for having reverberation and noise
It cannot be guaranteed, and the refutation process for reflecting metope parameter is by complex, affect the accuracy and in real time of profile reconstruct
Property.It is analyzed by room impulse response, extracts low order reflected sound time delay, restore range information, and realize interior space geometry
The effective ways of profile reconstruct.
Have the method that the reconstruct of interior space geometric profile is realized using pulse response analysis in single chamber, but needs room
Interior each reflecting surface is to the first order reflection of acoustic propagation and the time delay priori of second-order reflection, and these priori, in true sound field environment
In, due to being very difficult to acquisition by reverberation and influence of noise.
In addition, needed in the retrievable situation of line-of-sight signal in the analysis and research using multiple room impulse responses,
The relationship of the Euclidean rank of matrix between each array element of microphone array and mirror image sound source is analyzed, and identifies that each reflecting surface passes sound with this
The time delay of the first order reflection and second-order reflection broadcast.However, the judgment method of Euclidean rank of matrix, can lose in the case where non line of sight
Effect.The optimal selection of such issues that solution is the complex search algorithm based on subspace, and cost is the real-time of reconfiguration scheme.
Summary of the invention
The present invention is directed in indoor complex sound field environment, and noise jamming is big, reverberation influences seriously, to lead to interior space geometry
The problem of profile reconstructing method quality reconstruction difference in the presence of a harsh environment proposes a kind of based on acoustics mirror image model realization Interior Space
Between geometric profile reconstruct method.It better solves in indoor complex sound field environment, when strong reverberation docks second signal with noise
Prolong the influence of estimated accuracy, improves the accuracy of interior space geometric profile reconstruct, combine sound source versatility, can obtain
The profile quality reconstruction of robust.
It, should in plane a little and in the outer known situation of direction normal vector of the plane according to plane geometry principle
Plane uniquely determines.Therefore, the moveable star-like array of M array element is placed in the center that can reflect metope indoors
As sound reception device, the voice signal of indoor single speaker is sound-source signal.
The present invention is based on the acoustics mirror image model realization interior space geometric profile reconstruct method, including sound reception device,
Phse conversion broad sense cross-correlation analysis module, auditory localization module, plane parameter analysis module, middle vertical plane constructing module and
Acoustics mirror image model, specific step is as follows：
(1) center for reflecting metope indoors, places the moveable star-like array of M array element as sound reception device,
Use the voice signal of indoor single speaker for sound-source signal,
(2) auditory localization is carried out based on controllable responding power phse conversion and region contraction method；
Specifically, by phse conversion broad sense cross-correlation analysis module, the received acoustical signal of M array element is obtained in direct path
On sodar time TOA, by the SRP-PHA-SRC algorithm of SRP-PHAT-SRC auditory localization module, and to SRP-PHA carry out
Optimization, iteration provide speaker's position coordinates s；
(3) it is based on acoustics mirror image model, plane parameter analysis module is obtained by the cross-correlation analysis of acoustic transceiver signal
It is apart from indoor each reflecting surface apart from valuation before and after speaker's single step is mobile；
Specifically, mobile M array element receiving array takes the TOA minimum value of M array element, makees to the center of different reflectings surface
Estimate for the direct range of sound source to the reflecting surface, as the input of plane parameter analysis module, to obtain the anti-of the reflecting surface
Penetrate parameter pl, l=1,2 ..., 6；By sound source position coordinate s, reflecting surface parameter plAnd reflecting surface normal vector nl, l=1,2 ...,
Each single order mirror image sound source position is estimated in 6 input as acoustics mirror image model
(4) shape prior for combining the interior space, converts auditory localization problem for space geometry profile reconstruction, leads to
The solution to mirror image sound source position is crossed, fast and effeciently realizes the reconstruct of interior space geometric profile；
Specifically, by middle vertical plane constructing module, sound source position s and each single order mirror image sound source position are constructedMiddle vertical plane, obtain indoor geometric profile reconstruction result.
Plane parameter analysis module of the present invention is the prior art, and middle vertical plane constructing module is inventor according to several between room
What what principle proposed.
The specific signal processing of each module that the method for the present invention is related to is as follows：
SRP-PHA-SRC auditory localization module described in step (2)：Controllable responding power (the SRP- of phse conversion weighting
PHAT) sound localization method, by phase in the estimation of the intrinsic robustness of controllable responding power method, short-time analysis characteristic and time delay
Transform method combines the insensitivity of sound field environment, so that auditory localization effect shows Shandong under reverberation and influence of noise
Stick.However, the accuracy and robustness of locating effect are using system real time as cost.For this problem, in order to guarantee interior
The accuracy and real-time of space geometry profile reconstruct, optimizing whole mesh searching method of the SRP-PHAT in sound source space is to have very much
It is necessary.Random areas contraction algorithm (SRC) is a kind of coarse grain parallelism processing method, finds the objective function overall situation for solving
The computational problem of optimal solution.Therefore, auditory localization model of the present invention uses SRP-PHA-SRC algorithm, which is existing algorithm,
The present invention changes its sound Acquisition channel, and SRP-PHA is optimized, and improves the matching rate of SRC, can make total
Computationally intensive amplitude reduction, to ensure that the real-time of profile reconfiguration system.
Optimization described in step (2), is divided into four steps：
(2.1) sound source spatial parameter initializes；
(2.2) sound source region of search is shunk；
(2.3) shrinkage parameters are assessed；
(2.4) decision stops or proceeds to globe optimum；
The present invention changes the decision phase, other to be consistent with traditional.
Optimization described in step (2), specific step is as follows：
(2.1) sound source spatial parameter initializes
S is sound source position,It is the possible sound source position in sound source space,It is the controllable response function of phse conversion weighting
Rate,
Therefore, sound source position
Installation space initial ranging rectangles region body V0, count in region J at random0, enable ∈0=E (J0), then have
Wherein, N0It is the number of effective points for next region of search body；
(2.2) sound source region of search is shunk
To objective function (1) in current search region body ViInterior carry out random search, obtains random sampling point Ji, and calculating has
Imitate point Ni, Ni< < Ji, by NiDistribution determines new region of search body Vi+1And its boundary
(2.3) shrinkage parameters are assessed
Threshold value is set：
1. the volume of minimum region of search：Vu；
2. current search region calculation amount (FEi) maximum value：Φi；
3. greatest iteration step number：I；
If FEi> Φ, i.e. current search region calculation amount are more than maximum value, then stop search, and save result；
If FEi< Φ, judges Vi+1< VuWhether true, i.e., current search region has to be larger than minimum field of search thresholding,
Work as Vi+1< VuOr Vu< Vi+1< TVu, T is a positive integer, then stops search, and save result；
If FEi< Φ, Vi+1> Vu, from the currently active point set NiMiddle extraction subset Gi
Gi=g | gi> E (Ni)} (5)
(2.4) decision stops or proceeds to globe optimum
If subset GiIt can effectively extract, then illustrate Vi+1Effectively, from Vi+1It is middle to calculate new random appearance Ji+1, and make
?To extract optimal Ni+1
Repeat above procedure, the series of mean ∈ of available each iteration step0≤∈1≤…≤∈i≤∈i+1≤ ...,
In monotone increasing gesture.
Wherein,Sufficient and necessary condition as most office's optimal value is the current search domain efficient point set N as i → ∞i'sValue mi+1→∈i+1
Plane parameter described in step (3) analyzes template：We define pl, l=1,2 ..., 6 is room reflections metope ginseng
Number, plIt is also sound source s and each single order mirror image sound sourceMidpoint,
Wherein,snWith sn+1It is position coordinates of the speaker in n and n+1 different moments,
dn+1=dn+dssinα,dn=c τn/ 2, c are the velocity of sound, dsIt is speaker from position snTo position sn+1Distance, α be speaker from
Position snTo position sn+1Steering.
Since speaker is from position snTo position sn+1Distance dsBeing with steering α can be preset, therefore, pL, nProblem turns
Turn to τnSolution, i.e., sound source to reflection metope direct sound wave time delay estimation problem.
Acoustics mirror image model described in step (3)：Due to being provided with the priori of room shape, we are with one in room
Corner is origin, and room geometric coordinate system is arranged, and geographic orientation is directed toward (such as：Above and below all directions) in conjunction with coordinate system, it obtains
To the outer normal vector n of each reflecting surfacel, l=1,2 ..., 6 knows value,
According to acoustics image theory, we are available sound source position s, reflecting surface parameter plAnd reflecting surface normal vector nlIt closes
It is as follows：
The present invention is based on the methods of acoustics mirror image model realization interior space geometric profile reconstruct, only with interior space shape
Under conditions of priori, by the accurate positionin to speaker position, single order mirror image sound source point is obtained based on acoustics mirror image model
Cloth converts SRP-PHAT-SRC auditory localization problem for profile reconstruction according to geometrical plane principle, effectively and reliably real
Existing interior space geometric profile reconstruct.It solves the problems, such as that operand is huge in traditional SRP-PHAT auditory localization algorithm, and borrows
Help time delay estimate in phse conversion to the insensitivity of signal ambient enviroment so that the reconfiguration scheme have certain noise immunity,
Anti- reverberation and robustness.
Detailed description of the invention
Fig. 1 interior space profile reconstructing method block diagram of the present invention.
Fig. 2 is plane parameter model in embodiment.
Fig. 3 is room geometric coordinate system schematic diagram in embodiment.
Specific embodiment
The content of present invention is described in further detail below with reference to embodiment and attached drawing, but is not with limit of the invention
It is fixed.
Referring to Fig.1, the present invention is based on the methods of acoustics mirror image model realization interior space geometric profile reconstruct, including sound to connect
Receiving apparatus, phse conversion broad sense cross-correlation analysis module, auditory localization module, plane parameter analysis module, middle vertical plane construct mould
Block and acoustics mirror image model, specific step is as follows：
(1) center for reflecting metope indoors, places the moveable star-like array of M array element as sound reception device,
The voice signal of indoor single speaker is sound-source signal.
(2) auditory localization is carried out based on controllable responding power phse conversion and region contraction method；
Specifically, by phse conversion broad sense cross-correlation analysis module, the received acoustical signal of M array element is obtained in direct path
On sodar time TOA, by the SRP-PHA-SRC algorithm of SRP-PHAT-SRC auditory localization module, and to SRP-PHA carry out
Optimization, iteration provide speaker's position coordinates；
The optimization, specific step is as follows：
(2.1) sound source spatial parameter initializes
It is the controllable responding power of phse conversion weighting,It is the possible sound source position in sound source space,
Therefore, sound source position
Initial ranging rectangles region body V is set0, count in region J at random0, enable ∈0=E (J0), then have
Wherein, N0It is the number of effective points for next region of search body；
(2.2) sound source region of search is shunk
To objective function (1) in current search region body ViInterior carry out random search, obtains random sampling point Ji, and calculating has
Imitate point Ni, Ni< < Ji.By NiDistribution determines new region of search body Vi+1And its boundary
(2.3) shrinkage parameters are assessed
Threshold value is set：
1. the volume of minimum region of search：Vu；
2. current search region calculation amount (FEi) maximum value：Φi；
3. greatest iteration step number：I；
If FEi> Φ, i.e. current search region calculation amount are more than maximum value, then stop search, and save result；
If FEi< Φ, judges Vi+1< VuWhether true, i.e., current search region has to be larger than minimum field of search thresholding,
Work as Vi+1< VuOr Vu< Vi+1< TVu, T is a positive integer, then stops search, and save result；
If FEi< Φ, Vi+1> Vu, from the currently active point set NiMiddle extraction subset Gi
Gi=g | gi> E (Ni)} (5)
(2.4) decision stops or proceeds to globe optimum
If subset GiIt can effectively extract, then illustrate Vi+1Effectively, from Vi+1It is middle to calculate new random appearance Ji+1, and make
?To extract optimal Ni+1
Repeat above procedure, the series of mean ∈ of available each iteration step0≤∈1≤…≤∈i≤∈i+1≤ ...,
In monotone increasing gesture.
Wherein,Sufficient and necessary condition as most office's optimal value is the current search domain efficient point set N as i → ∞i'sValue mi+1→∈i+1
(3) it is based on acoustics mirror image model, by the cross-correlation analysis of acoustic transceiver signal, obtains the mobile front and back of speaker's single step
It is apart from indoor each reflecting surface apart from valuation；
Specifically, mobile receiving array takes the TOA minimum value of M array element, as sound source to the center of different reflectings surface
Direct range to the reflecting surface is estimated, as the input of plane parameter analysis module, to obtain the reflection parameters of the reflecting surface
pl, l=1,2 ..., 6；
By sound source position coordinate s, reflecting surface parameter plAnd reflecting surface normal vector nl, l=1,2 ..., 6 is as acoustics mirror image
Each single order mirror image sound source position is estimated in the input of model
The plane parameter analyzes template, defines p firstl, l=1,2 ..., 6 is room reflections metope parameter, is such as schemed
Shown in 2, plIt is also sound source s and each single order mirror image sound sourceMidpoint,
Wherein,snWith sn+1It is that speaker sits in the position of n and n+1 different moments
Mark, dn+1=dn+dssinα,dn=c τn/ 2, c are the velocities of sound.
(4) by the solution to mirror image sound source position, the reconstruct of interior space reflecting surface is fast and effeciently realized；
Specifically, by middle vertical plane constructing module, sound source position s and each single order mirror image sound source position are constructed
Middle vertical plane, obtain indoor geometric profile reconstruction result.
(4) shape prior for combining the interior space, converts auditory localization problem for space geometry profile reconstruction, leads to
The solution to mirror image sound source position is crossed, fast and effeciently realizes the reconstruct of interior space geometric profile；
Specifically, by middle vertical plane constructing module, sound source position s and each single order mirror image sound source position are constructed
Middle vertical plane, obtain indoor geometric profile reconstruction result；
The acoustics mirror image model, due to being provided with the priori of room shape, using a corner in room as origin,
Geometric coordinate system in room is set, as shown in Figure 3.Geographic orientation is directed toward (such as：Above and below all directions) in conjunction with coordinate system, it obtains
The outer normal vector n of each reflecting surfacel, l=1,2 ..., 6 knows value；
According to acoustics image theory, we are available sound source position s, reflecting surface parameter plAnd reflecting surface normal vector nlIt closes
It is as follows：
Claims (4)
1. the method based on the reconstruct of acoustics mirror image model realization interior space geometric profile, which is characterized in that filled including sound reception
Set, phse conversion broad sense cross-correlation analysis module, auditory localization module, plane parameter analysis module, middle vertical plane constructing module, with
And acoustics mirror image model, specific step is as follows：
(1) the moveable star-like array of M array element is placed as sound reception device, interior in the center for reflecting metope indoors
The voice signal of single speaker is sound-source signal；
(2) auditory localization is carried out based on controllable responding power phse conversion and region contraction method；
Specifically, by phse conversion broad sense cross-correlation analysis module, the received acoustical signal of M array element is obtained on direct path
Sodar time TOA by the SRP-PHA-SRC algorithm of SRP-PHAT-SRC auditory localization module, and has carried out SRP-PHA excellent
Change, iteration provides speaker's position coordinates s；
(3) be based on acoustics mirror image model, by the cross-correlation analysis of acoustic transceiver signal, obtain the mobile front and back of speaker's single step its away from
The valuation with a distance from indoor each reflecting surface；
Specifically, mobile receiving array takes the TOA minimum value of M array element, arrives this as sound source to the center of different reflectings surface
The direct range of reflecting surface is estimated, as the input of plane parameter analysis module, to obtain the reflection parameters p of the reflecting surfacel, l
=1,2 ..., 6；By sound source position coordinate s, reflecting surface parameter plAnd reflecting surface normal vector nl, l=1,2 ..., 6 is as acoustics
Each single order mirror image sound source position is estimated in the input of mirror image model
(4) shape prior for combining the interior space, converts auditory localization problem for space geometry profile reconstruction, by right
The reconstruct of interior space geometric profile is fast and effeciently realized in the solution of mirror image sound source position；
Specifically, by middle vertical plane constructing module, sound source position s and each single order mirror image sound source position are constructed
Middle vertical plane, obtain indoor geometric profile reconstruction result.
2. method according to claim 1, it is characterised in that：Optimization described in step (2), specific step is as follows：
(2.1) sound source spatial parameter initializes
S is sound source position,It is the possible sound source position in sound source space,It is the controllable responding power of phse conversion weighting,
Therefore, sound source position
Installation space initial ranging rectangles region body V0, count in region J at random0, enable ∈0=E (J0), then have
Wherein, N0It is the number of effective points for next region of search body；
(2.2) sound source region of search is shunk
To objective function (1) in current search region body ViInterior carry out random search, obtains random sampling point Ji, and calculate available point
Ni, Ni< < Ji, by NiDistribution determines new region of search body Vi+1And its boundary
(2.3) shrinkage parameters are assessed
Threshold value is set：
1. the volume of minimum region of search：Vu；
2. current search region calculation amount FEiMaximum value：Φi；
3. greatest iteration step number：I；
If FEi> Φ, i.e. current search region calculation amount are more than maximum value, then stop search, and save result；
If FEi< Φ, judges Vi+1< VuWhether true, i.e., current search region has to be larger than minimum field of search thresholding, works as Vi+1
< VuOr Vu< Vi+1< TVu, T is a positive integer, then stops search, and save result；
If FEi< Φ, Vi+1> Vu, from the currently active point set NiMiddle extraction subset Gi
Gi=g | gi> E (Ni)} (5)
(2.4) decision stops or proceeds to globe optimum
If subset GiIt can effectively extract, then illustrate Vi+1Effectively, from Vi+1It is middle to calculate new random appearance Ji+1, and makeTo extract optimal Ni+1
Repeat above procedure, the series of mean ∈ of available each iteration step0≤∈1≤…≤∈i≤∈i+1≤ ..., in single
Uptrend on tune.
Wherein,Sufficient and necessary condition as most office's optimal value is the current search domain efficient point set N as i → ∞i's
Value mi+1→∈i+1
3. method according to claim 1, it is characterised in that：Plane parameter described in step (3) analyzes template, defines first
pl, l=1,2 ..., 6 is room reflections metope parameter, plIt is also sound source s and each single order mirror image sound sourceMidpoint,
Wherein,snWith sn+1It is position coordinates of the speaker in n and n+1 different moments, dn+1
=dn+dssinα,dn=c τn/ 2, c are the velocities of sound.
4. method according to claim 1, it is characterised in that：Acoustics mirror image model described in step (3), due to being provided with room
Between shape priori, using a corner in room as origin, be arranged room geometric coordinate system, by geographic orientation be directed toward and coordinate
Tying is closed, and the outer normal vector n of each reflecting surface is obtainedl, l=1,2 ..., 6 knows value；
According to acoustics image theory, available sound source position s, reflecting surface parameter plAnd reflecting surface normal vector nlRelationship is as follows：
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| CN111157952A (en) * | 2020-01-06 | 2020-05-15 | 北京大学 | Room boundary estimation method based on mobile microphone array |
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Application publication date: 20181123 Assignee: Wuhan xingeno Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2022450000387 Denomination of invention: Reconstruction method of interior space geometric contour based on acoustic mirror model Granted publication date: 20200929 License type: Common License Record date: 20221226 |