CN109188363A - A kind of fixed area sound positioning system and its localization method - Google Patents
A kind of fixed area sound positioning system and its localization method Download PDFInfo
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- CN109188363A CN109188363A CN201811210273.3A CN201811210273A CN109188363A CN 109188363 A CN109188363 A CN 109188363A CN 201811210273 A CN201811210273 A CN 201811210273A CN 109188363 A CN109188363 A CN 109188363A
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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
Abstract
The invention discloses a kind of fixed area sound positioning system and its localization methods, including fixed area structure, sound source mechanical structure, microphone, sound source amplifying circuit, power module, filter circuit, signal amplification circuit, clamp circuit, detecting circuit, STM32, display circuit；The fixed area structure includes template and coaming plate, the template and coaming plate form a uncovered cuboid, one corner of the uncovered cuboid is equipped with pillar, and pcb board is equipped on pillar, and the coaming plate is equipped with the band for being used to fix each microphone connecting line；The sound source mechanical structure, including box body and box cover are equipped with multiple loud-speaker openings on each side plate of the box body, tray interior are provided with the deck for fixing loudspeaker, the box cover covers on box body；The sound source mechanical structure is located on template.The application can preferably inhibit the noise jamming of signal, and possess higher positioning accuracy.
Description
Technical field
The present invention relates to a kind of fixed area sound positioning system and its localization methods.
Background technique
Sound location technology has the characteristics that anti-electronic jamming capability is strong, it monitors at the scene, robot field, man-machine friendship
It is all widely used in the ranges such as mutual, in terms of Military Application, sound location technology is mainly used in the accurate of military surveillance
Positioning, also has outstanding behaviours using upper in global position system.It provides important means for human security.Sound positioning is also
It is widely used in intelligent control, such as video conference and robot control and guidance.Sound location technology, which can also be realized, believes voice
Number identification, improve the quality of voice signal, find voice signal in relatively noisy environment, improve speech recognition
Efficiency.
Currently, noise testing, automobile engine industrial machinery in the application of domestic sound location technology mainly environment
Etc. noise test, Performance Evaluation and fault detection etc..The algorithm of existing auditory localization is not also very perfect, Er Qieshi
The disadvantages of sound that single microphone receives sometimes in the application of border has poor anti jamming capability, error is larger, the distance of sound source
Also it will affect the voice signal that receiver receives.
And the prior art is less to mechanical structure research used in sound positioning, and there is also loudspeakers to fix not
Firm, the disadvantages of structure is relative complex, higher cost.
Summary of the invention
In view of the above-mentioned problems existing in the prior art, this application provides a kind of fixed area sound positioning system and its calmly
Position method, can inhibit well the noise jamming of signal, and possess very high positioning accuracy.
The application provides a kind of fixed area sound positioning system, including fixed area structure, sound source mechanical structure, Mike
Wind, sound source amplifying circuit, power module, filter circuit, signal amplification circuit, clamp circuit, detecting circuit, STM32, display
Circuit；The fixed area structure includes template and coaming plate, and the template and coaming plate form a uncovered cuboid, described
One corner of uncovered cuboid is equipped with pillar, and pcb board is equipped on pillar, and the coaming plate is equipped with each for fixing
The band of microphone connecting line；The sound source mechanical structure, including box body and box cover are equipped on each side plate of the box body
Multiple loud-speaker openings are provided with the deck for fixing loudspeaker in tray interior, and the box cover covers on box body；The sound source machine
Tool structure is located on template；The pcb board be equipped with the connected filter circuit of sequence, signal amplification circuit, clamp circuit,
Detecting circuit, STM32, display circuit；The microphone, sound source amplifying circuit, power module are located in box body；It is set on box cover
There is sailing boat switch.
Further, lateral draw of template has a plurality of abscissa line being parallel to each other, and longitudinal draw of template has
The a plurality of ordinate line being parallel to each other, abscissa line and ordinate line are mutually perpendicular to be formed multiple rectangles, the length of each rectangle and
Width is equal；Sound source mechanical structure is equipped in the point of intersection of abscissa line and ordinate line.
Further, the four corners inside uncovered cuboid are equipped with the bracket for installing microphone.
Further, the top of four side plates of box body is equipped with connecting hole a, and nut is equipped with below connecting hole a and is installed
Hole is equipped with connecting hole b corresponding with connecting hole a on box cover, and bolt passes through connecting hole b, connecting hole a and nut cooperates, by box
Body is fixed with box cover.
A kind of fixed area sound localization method, specifically comprises the following steps:
Step 1: fixed area structure is lain in into ground grading, and sound source mechanical structure is placed on template at random
Coordinate system in；
Step 2: being switched by the sailing boat on lower casing, and sound source amplifying circuit is supplied by 4 section dry cells in the box body
Electricity provides power supply for master control, and then drives sound source amplifying circuit, makes a sound loudspeaker；
Step 3: sounding is carried out by sound source mechanical structure, three microphones on template carry out sampled voice: believing first
Number the noise filtering of interference is fallen by filter circuit, obtains pre-set waveform；Then the waveform stayed will lead to
It crosses signal amplification circuit and carries out signal amplification, the signal of amplification will be consolidated by clamp circuit progress specific amplitude, frequency waveform
It is fixed, finally by detecting circuit detection waveform range, shown after being input to STM32 processing by display circuit.
Further, the signal for inputting STM32 specifically does following processing: S represents sound source, and sets its coordinate as (x, y),
M0, M1, M2 represent microphone, and coordinate is respectively (0,0), (0, h), (l, 0), if it is possible to obtain S and reach M0, M1, M2
Time difference can find out the coordinate of S, if the time that sound source S reaches M0, M1, M2 is respectively t0、t1、t2If sound passes in air
The speed broadcast is C (unit m/s), and for microphone M0 and M1, the position of sound source is C Δ t in its range difference for arriving the two o'clock1
Curve on, utilize sound source reach M0, M1 time difference Δ t1=t1-t0With the time difference Δ t of M0, M22=t2-t0Obtain two
Hyperbola, the two hyp intersection points are exactly sound source position；If the distance of sound source to origin is r, sound source S coordinate transformation is arrived
Polar coordinates obtain following relationship by relation above if the polar coordinates of S are (r, H):
x2+y2=r2 (1)
x2+(y-h)2=(r+ Δ t1)2 (2)
(x-l)2+y2=(r+ Δ t2)2 (3)
Wushu (1) substitutes into formula (2) and (3) and is unfolded:
2yh+2rcΔt1=h2-c2Δt1 2 (4)
2xl+2rcΔt2=l2-c2Δt2 2 (5)
(x, y) is transformed into polar coordinate system and carries it into equation (4) and (5), c1=c Δ t1, c2=c Δ t2 is enabled to obtain
2rhsinH+2rc1=h2-c1 2 (6)
2rlcosH+2rc2=l2-c2 2 (7)
Eliminating r can obtain:
(h2-c1 2)(lcosH+c2)=(l2-c2 2)(hsinH+c1) (8)
It enables
A=l (h2–c1 2) (9)
B=-h (l2-c2 2) (10)
D=c1(l2-c2 2)–c2(h2–c1 2) (11)
Then formula (8) can abbreviation are as follows:
AcosH+BsinH=D (12)
It enablesThen formula (12) can turn to:
I.e.
Calculate parameter c1, c2 used in A, B, D, θ be sound source reach three microphones relative distance it is poor, by formula (14) and
θ can obtain the calculation formula of H:
After calculating the value of H, by formula (6) can find out sound source to origin distance r:
The coordinate of sound source S0 are as follows:
X=rcosH, y=rsinH (17)
Further, whether the effect of microphone M3 is correct in order to verify positioning, if the coordinate of M3 is (l, h), is utilized
The sound source coordinate (x, y) acquired calculates sound source S and M0 and M3 distance MM0, MM3；Calculate sound source reach microphone M0 and
The time difference of M3If Δ t3It is correct that ≈ Δ t then illustrates that coordinate (x, y) is calculated, and otherwise this coordinate is mistake
Value, need to detect again.
Due to using the technology described above, can obtain following technical effect: the application can preferably press down the present invention
The noise jamming of signal processed, and possess that higher positioning accuracy, real-time be good, strong antijamming capability, there is actual use valence
Value.Also has many advantages, such as structure novel, easy to operate, easy to maintain, low in cost；Two groups of decks can fix four loudspeakings simultaneously
Device, and structure is firm, is not likely to produce play.
Detailed description of the invention
Fig. 1 is fixed area structural schematic diagram；
Fig. 2 is box body structure schematic diagram；
Fig. 3 is box cover schematic diagram；
Fig. 4 is box body use state cross-sectional view；
Fig. 5 is the coordinate diagram of microphone；
Number explanation in figure: 1, template；2, pcb board；3, bracket；4, coaming plate；5, deck；6, connecting hole a；7, nut is pacified
Fill hole；8, box body；9, loud-speaker opening；10, connecting hole b；11, box cover；12, loudspeaker；13, card slot a；14, card slot b.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments: doing as example to the application
Further description explanation.
Embodiment 1
As shown in Figs 1-4, the present embodiment provides include fixed area structure, sound source mechanical structure, microphone, sound source amplification
Circuit, power module, filter circuit, signal amplification circuit, clamp circuit, detecting circuit, STM32, display circuit；It is described solid
Determining regional structure includes template and coaming plate, and the template and coaming plate form a uncovered cuboid, the uncovered cuboid
A corner be equipped with pillar, pcb board is installed on pillar, the coaming plate, which is equipped with, is used to fix each microphone connection
The band of line；The sound source mechanical structure, including box body and box cover are equipped with multiple loudspeakings on each side plate of the box body
Hole is provided with the deck for fixing loudspeaker in tray interior, and the box cover covers on box body；Sound source mechanical structure position
In on template；The pcb board is equipped with the connected filter circuit of sequence, signal amplification circuit, clamp circuit, detection electricity
Road, STM32, display circuit；The microphone, sound source amplifying circuit, power module are located in box body；Sailing boat is equipped on box cover
Switch.
Microphone for collecting voice signal is specially electret mike wind sensor, is used to collected sound signal, this
Microphone output noise is low, small in size, high sensitivity, and fixed gain supports two kinds of power supply modes of 3.3V and 5V in 20db.It is described
Sound source amplifying circuit is specially the D class audio frequency power amplifier chip that a output power is 3W, i.e. PAW8403 chip, harmonic wave
It is distorted the available preferable sound quality of feature low, that noise crosstalk interference is small, and loudspeaker can be directly driven, uses novel no coupling
Output, encapsulation use SOP-16, reduce the occupancy of PCB space.The power module is linear voltage stabilization LM1117, it is ensured that
The powered stable of STM32 and OLED.The filter circuit is second order active bandpass filter, in order to filter off the noise in air
And higher hamonic wave, it is the good voice signal that subsequent circuit provides, and then the essence of sound positioning system can be improved
Degree.The signal amplification circuit is proportional amplifier circuit in the same direction, with input resistance is high, output resistance is low, phase is not overturn
The characteristics of, error caused by the impedance matching in the load effect and signals transmission of signal source can be mitigated, and it is believed
It makes an uproar higher than very, is very suitable to amplification small-signal.The clamp circuit is the circuit of diode and capacitance resistance combination and realization,
The peak value of input signal is clamped down on the output voltage on a certain specific level, without changing signal.The detecting circuit
For mean value detecting circuit, that is, utilize the unilateral conduction of diode, when voice signal passes through detecting circuit, available stabilization
Signal amplitude.The STM32 is single-chip microcontroller, i.e. control core MCU, power circuit, oscillating circuit and reset circuit etc. forms.
The display circuit is OLED display screen, have self-luminous, high contrast, thickness is thin, reaction speed is fast, simple structure and price just
The features such as suitable.The fixed area structure can be designed as the fixed area of a 80x80 (unit cm), template and 5 centimetres
High coaming plate forms a frame, and the sound source Design of Mechanical Structure consists of two parts, respectively lid and receiving battery, circuit
Box, battery is placed on the lowermost end of box.
Sound source amplifying circuit: common voice signal cannot be directly as the driving signal of loudspeaker, it is therefore desirable to its into
Loudspeaker can be just driven after the amplification of row sound.PAW8403 is the D class audio frequency power amplifier chip that a output power is 3W,
The available preferable sound quality of the feature that harmonic distortion is low, noise crosstalk interference is small, and loudspeaker can be directly driven.It uses novel nothing
Coupling output, encapsulation use SOP-16, reduce the occupancy of PCB space.Working power 5V, 8 Ω load are lower to provide the output of 3W
Power, total harmonic distortion and noise (THD+N) are 3%, are mainly used in LCD TV, monitor, laptop and portable
Loudspeaker.The generation of sound-source signal is generated by STM32, directly can export stable 1KHz sine wave using its DAC.It is set for sound source
Shell is counted to facilitate its use, it is not only beautiful and generous in this way, error when calculating can also be reduced.
Power module: good power supply power supply scheme is the basis of system stable operation, in the present invention, due to each portion
The supply voltage divided is different, so needing maximum compatible power supply plan.Since the supply voltage of amplifying circuit is ± 5V, so
General supply is powered whole system using the small ± 5V Switching Power Supply of ripple.Whole system needs 3 power supplys.
(1) supply voltage of bandpass filter and microphone is 5V, the power supply directly provided using Switching Power Supply.
(2) amplifying circuit needs to power using ± 5V, therefore can directly utilize Switching Power Supply.
(3) STM32 and OLED circuit needs the supply voltage of 3.3V.
In order to guarantee the powered stable of STM32 and OLED, linear voltage stabilization LM1117 is selected.
Filter circuit: the present invention in order to filter off the noise and higher hamonic wave in air, provided for subsequent circuit one
A good voice signal, and then the precision of sound positioning system can be improved.Since microphone sensor can receive letter
Number frequency range in 20Hz~20KHz, and the frequency range for the voice signal that the design needs is 300Hz~3400Hz, therefore
Design a free transmission range be 300Hz~3400Hz bandpass filter, bandwidth 3100Hz, centre frequency 1850Hz,
Quality factor Q is greater than 1/2, therefore uses the unit gain Sallen-Key high-pass filter and one with the Butterwoth responds
A unit gain Sallen-Key low-pass filter with the Butterwoth responds.High-pass filter before low-pass filter,
Because its bring noise can be filtered out by subsequent low-pass filter.Joined according to passband, bandwidth, centre frequency, quality factor etc.
It counts, the resistance capacitance value in bandpass filter is obtained by following rule.
(1) high pass filter section:
Select C3=C4
Calculate R5:C13=C1X2
Calculate R12+R16:
In design, R5 needs the voltage of VCC/2 bigoted, therefore it is bigoted to select bleeder circuit to carry out it.
(2) low-pass filter part:
Select C1
Calculate C13=C1X2
Calculate R7 and R8:
Select C11 for 100~1000 times of C1.
Because operational amplifier can be related to when designing bandpass filter, needed for frequency limitation should being selected to be higher than in design
The amplifier of bandwidth, therefore suitable operational amplifier is also vital.It is involved in the present invention to bandpass filter in fortune
It calculates amplifier and uses single supply rail-to-rail amplifier OPA2340, with following working characteristics:
Type: rail-to-rail single supply op
Operating voltage: 2.7-5V
Bandwidth: 5.5MHz
Conversion rate 6u/V
Open loop difference film gain amplifier: 120
The working characteristics of this amplifier fully meets the needs of the design.Therefore select this operational amplifier.
Signal amplification circuit: it since the collected sound signal intensity of microphone is very faint, directly participates in operation and holds very much
Vulnerable to the interference of noise, and computational accuracy can have a greatly reduced quality.The present invention uses the form of ratio enlargement in the same direction, and ratio in the same direction is put
Big device has the characteristics that input resistance is high, output resistance is low, phase is not overturn, and can mitigate the load effect and signal of signal source
Error caused by impedance matching in transmission process, and its signal-to-noise ratio is very high, is very suitable to amplification small-signal.Meanwhile being
Interference of the amplifier chip to circuit itself is reduced, when selecting amplifier chip, it should be noted that the noise that it is generated wants low, small as far as possible
Input bias current and voltage, lesser drift, biggish common mode inhibition, higher input impedance and lower output impedance,
Should also have biggish bandwidth.The present invention selects TLC2272 dual power supply amplifier, and working characteristics is as follows:
Type: rail-to-rail dual power supply amplifier
Operating voltage: VDD+:5~8V, VDD-:-8~-5V
Bandwidth: 2.18MHz
Conversion rate: 1.5u/V
Open loop difference film gain amplifier: 140
The proportional amplifier amplification factor in the same direction involved in the present invention arrived is 100 times, with bandwidth divided by open-loop gain
Obtain maximum operation frequency.
2180000Hz ÷ 140=15571Hz
Before entering operational amplifier circuit, signal filters out DC component by a capacitor.Again by the short void of void of operational amplifier
Known to disconnected:
V-=V+=VM1
It is obtained again by bleeder circuit:
Therefore:
Clamp circuit: being exactly that the peak value of input signal is clamped down on the output voltage on a certain specific level, without changing
Varying signal.The present invention use positive clamp circuit, i.e., signal is moved into 0V or more, in order to circuit later to signal at
Reason.When Vi is in negative half period, diode is opened, capacitor charging to V, at this time Vo=0V；When Vi is in positive half cycle, diode
It disconnects, at this time Vo=Vc+Vi=2V
Detecting circuit: first make signal by a diode, utilize the unilateral conduction of diode.When input is in just half
Zhou Shi, diode D12 conducting, charge to capacitor C58, and output obtains the direct current after capacitor smothing filtering；When input is in
When negative half period, diode D12 cut-off, capacitor discharges at this time, as long as input AC current amplitude is constant, flows through the waveform of ammeter
Very close straight line filters off radio-frequency component using a low-pass filter, can thus obtain amplitude signal.
STM32 and its peripheral circuit: the STM32 single-chip microcontroller that the present invention uses is by STMicw Electronics
(STMicroelectronics) group designs.Kernel is ARM32 CortexTm-M3CPU.The 40KHz of interior band calibration
RC oscillator, 3 12 bit A/D converters, the conversion rate in 16 channels can achieve 1us.Built-in dma module 51 is quickly
The port I/O, all I/O interfaces map to 16 external interrupts.1 general timer, 3 general purpose timers, 2 height
Grade timer and 2 SPI interfaces, 2 IIC interfaces, 3 USART serial ports.Single-chip minimum system is by control core MCU, power supply
Circuit, oscillating circuit and reset circuit composition.Oscillating circuit is equivalent to the human heart in minimum system, it plays electrical combination
Come clock frequency needed for generating MCU.The clock frequency of single-chip microcontroller is higher, and the speed that single-chip microcontroller can obtain is faster, and program is held
The row time is also shorter.Integrated PLL circuit can provide required clock frequency.Reset circuit is to return the program of state not pair
Beginning is returned to re-execute.Reset circuit has two reset modes, first is that electrification reset, i.e., execute when circuit powers on and reset operation；
Second is to press the button hand-reset if necessary.The design of reset circuit is relatively easy, it is only necessary to simple capacitance resistance
Reset circuit can be constructed.
Display circuit: OLED, Chinese are known as Organic Light Emitting Diode, be provided simultaneously with self-luminous, high contrast, thickness it is thin,
Reaction speed is fast, simple structure and it is cheap the features such as, be widely used in the places such as automobile, TV, computer display screen.This
0.96 cun of OLED display screen used in inventing is available by blue white yellow three kinds of colors, resolution ratio 128x64, and has more
Kind interface mode, including 6800,8,080 two kinds of parallel schemas, serial SPI communication mode and IIC communication mode.The design uses
The features such as serial SPI communication mode is compared to LCD liquid crystal display screen, and OLED has price low, and clarity is high.
Embodiment 2
A kind of fixed area sound localization method comprising following part:
(1) sound source portion: this part includes two circuits, tests for convenience, has made a 1KHZ sine wave
Sound source circuit, including a STM32F103C8T6 minimum system and a power amplification circuit.STM32 can directly utilize it
DAC generates sine wave, why selects sine wave as acoustic signals, is there was only a kind of frequency content because of it, and square wave removes
There are also many higher hamonic waves outside fundamental wave.
(2) filter circuit: the function of this partial circuit is primarily to inhibit noise and other harmonic components to system
It influences, to improve the accuracy of positioning system.
(3) signal processing circuit: this part includes three circuits, respectively signal amplification circuit, clamp circuit and inspection
Wave circuit since the collected signal strength of microphone is faint, therefore carries out 100 times of amplifications to it, and since voice signal is positive
String wave signal, after amplification its peak-to-peak value maximum can before -5V~+5V, therefore need clamp circuit by signal move value 0~
Between 10V, detecting circuit is recycled to obtain the amplitude of signal, to facilitate the acquisition of STM32.
(4) STM32 and peripheral circuit: mainly including that OLED is shown.The part mainly calculates the data sampled
Processing, and shown on OLED.
This method is divided into two steps, be first need to obtain sound reach each microphone relative time delay it is poor, that is, when
Prolong estimation.Followed by using the obtained time difference and using microphone, different position calculates the position of sound source in space
It sets, positioning accuracy is higher and the location algorithm locating effect in the case where single sound source is relatively good, due to its calculation amount
It is small, operation difficulty is little, be suitable for this sound positioning system.
The preferable specific embodiment of the above, only the invention, but the protection scope of the invention is not
It is confined to this, anyone skilled in the art is in the technical scope that the invention discloses, according to the present invention
The technical solution of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection scope it
It is interior.
Claims (7)
1. a kind of fixed area sound positioning system, which is characterized in that including fixed area structure, sound source mechanical structure, Mike
Wind, sound source amplifying circuit, power module, filter circuit, signal amplification circuit, clamp circuit, detecting circuit, STM32, display
Circuit；The fixed area structure includes template and coaming plate, and the template and coaming plate form a uncovered cuboid, described
One corner of uncovered cuboid is equipped with pillar, and pcb board is equipped on pillar, and the coaming plate is equipped with each for fixing
The band of microphone connecting line；The sound source mechanical structure, including box body and box cover are equipped on each side plate of the box body
Multiple loud-speaker openings are provided with the deck for fixing loudspeaker in tray interior, and the box cover covers on box body；The sound source machine
Tool structure is located on template；The pcb board be equipped with the connected filter circuit of sequence, signal amplification circuit, clamp circuit,
Detecting circuit, STM32, display circuit；The microphone, sound source amplifying circuit, power module are located in box body；It is set on box cover
There is sailing boat switch.
2. a kind of fixed area sound positioning system according to claim 1, which is characterized in that lateral draw of template has
Longitudinal draw of a plurality of abscissa line being parallel to each other, template has a plurality of ordinate line being parallel to each other, abscissa line and perpendicular
Coordinate line is mutually perpendicular to form multiple rectangles, and the length and width of each rectangle are equal；In the point of intersection of abscissa line and ordinate line
Equipped with sound source mechanical structure.
3. a kind of fixed area sound positioning system according to claim 1, which is characterized in that inside uncovered cuboid
Four corners are equipped with the bracket for installing microphone.
4. a kind of fixed area sound positioning system according to claim 1, which is characterized in that four side plates of the box body
Top is equipped with connecting hole a, and nut mounting hole is equipped with below connecting hole a, and connecting hole corresponding with connecting hole a is equipped on box cover
B, bolt passes through connecting hole b, connecting hole a and nut cooperates, and box body and box cover are fixed.
5. a kind of fixed area sound localization method, specifically comprises the following steps:
Step 1: fixed area structure is lain in into ground grading, and sound source mechanical structure is placed on to the seat on template at random
In mark system；
Step 2: being switched by the sailing boat on lower casing, and sound source amplifying circuit is powered by dry cell in the box body, is master control
Power supply is provided, and then drives sound source amplifying circuit, makes a sound loudspeaker；
Step 3: sounding is carried out by sound source mechanical structure, three microphones on template carry out sampled voice: signal passes through first
Wave filter circuit falls the noise filtering of interference, obtains pre-set waveform；Then the waveform stayed will pass through letter
Number amplifying circuit carries out signal amplification, and the signal of amplification will be by the fixation of clamp circuit progress specific amplitude, frequency waveform, most
Afterwards by detecting circuit detection waveform range, shown after being input to STM32 processing by display circuit.
6. a kind of fixed area sound localization method according to claim 5, it is characterised in that: input the signal tool of STM32
Body does following processing: S represents sound source, and sets its coordinate as (x, y), and M0, M1, M2 represent microphone, coordinate be respectively (0,
0), (0, h), (l, 0), if it is possible to which the time difference for obtaining S arrival M0, M1, M2 can find out the coordinate of S, if sound source S is reached
The time of M0, M1, M2 are respectively t0、t1、t2If the speed that sound is propagated in air is C, for microphone M0 and M1, sound
The position in source is C Δ t in its range difference for arriving the two o'clock1Curve on, utilize sound source reach M0, M1 time difference Δ t1=t1-
t0With the time difference Δ t of M0, M22=t2-t0Two hyperbolas are obtained, the two hyp intersection points are exactly sound source position；If sound
The distance of source to origin is r, by sound source S coordinate transformation to polar coordinates, if the polar coordinates of S are (r, H), by relation above obtain with
Lower relational expression:
x2+y2=r2 (1)
x2+(y-h)2=(r+ Δ t1)2 (2)
(x-l)2+y2=(r+ Δ t2)2 (3)
Wushu (1) substitutes into formula (2) and (3) and is unfolded:
2yh+2rcΔt1=h2-c2Δt1 2 (4)
2xl+2rcΔt2=l2-c2Δt2 2 (5)
(x, y) is transformed into polar coordinate system and carries it into equation (4) and (5), c1=c Δ t1, c2=c Δ t2 is enabled to obtain
2rhsinH+2rc1=h2-c1 2 (6)
2rlcosH+2rc2=l2-c2 2 (7)
Eliminating r can obtain:
(h2-c1 2)(lcosH+c2)=(l2-c2 2)(hsinH+c1) (8)
It enables
A=l (h2–c1 2) (9)
B=-h (l2-c2 2) (10)
D=c1(l2-c2 2)–c2(h2–c1 2) (11)
Then formula (8) can abbreviation are as follows:
AcosH+BsinH=D (12)
It enablesThen formula (12) can turn to:
I.e.
It is poor to calculate the relative distance that parameter c1, c2 used in A, B, D, θ is sound source three microphones of arrival, it can by formula (14) and θ
Obtain the calculation formula of H:
After calculating the value of H, by formula (6) can find out sound source to origin distance r:
The coordinate of sound source S0 are as follows:
X=rcosH, y=rsinH (17).
7. a kind of fixed area sound localization method according to claim 5, it is characterised in that: the effect of microphone M3 be for
Whether verifying positioning correct, if the coordinate of M3 is (l, h), using the sound source coordinate (x, y) that acquires calculate sound source S and M0 and
Distance MM0, MM3 of M3；Calculate the time difference that sound source reaches microphone M0 and M3If Δ t3≈ Δ t is then
It is correct to illustrate that coordinate (x, y) is calculated, otherwise this coordinate is error value, need to be detected again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210273.3A CN109188363B (en) | 2018-10-17 | 2018-10-17 | Fixed area sound positioning system and positioning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210273.3A CN109188363B (en) | 2018-10-17 | 2018-10-17 | Fixed area sound positioning system and positioning method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN109188363A true CN109188363A (en) | 2019-01-11 |
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| CN113820659A (en) * | 2021-11-22 | 2021-12-21 | 嘉兴温芯智能科技有限公司 | Wireless positioning method, energy changing device, wireless positioning system and intelligent garment |
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| CN101763120A (en) * | 2009-12-17 | 2010-06-30 | 长安大学 | Robot locating device based on sound guidance and locating method thereof |
| CN104407328A (en) * | 2014-11-20 | 2015-03-11 | 西北工业大学 | Method and system for positioning sound source in enclosed space based on spatial pulse response matching |
| CN106842131A (en) * | 2017-03-17 | 2017-06-13 | 浙江宇视科技有限公司 | Microphone array sound localization method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101763120A (en) * | 2009-12-17 | 2010-06-30 | 长安大学 | Robot locating device based on sound guidance and locating method thereof |
| CN104407328A (en) * | 2014-11-20 | 2015-03-11 | 西北工业大学 | Method and system for positioning sound source in enclosed space based on spatial pulse response matching |
| CN106842131A (en) * | 2017-03-17 | 2017-06-13 | 浙江宇视科技有限公司 | Microphone array sound localization method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113820659A (en) * | 2021-11-22 | 2021-12-21 | 嘉兴温芯智能科技有限公司 | Wireless positioning method, energy changing device, wireless positioning system and intelligent garment |
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