CN109254266A - Sound localization method, device and storage medium based on microphone array - Google Patents
Sound localization method, device and storage medium based on microphone array Download PDFInfo
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- CN109254266A CN109254266A CN201811320969.1A CN201811320969A CN109254266A CN 109254266 A CN109254266 A CN 109254266A CN 201811320969 A CN201811320969 A CN 201811320969A CN 109254266 A CN109254266 A CN 109254266A
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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 present invention relates to a kind of sound localization method based on microphone array, device and storage mediums, belong to auditory localization technical field, establish the corresponding subarray coordinate system of each subarray in microphone array, the microphone array includes n subarray, the n subarray at least two subarrays different there are subarray coordinate system, the n are the integer greater than 1；For each subarray, subarray coordinate position of the sound source in corresponding subarray coordinate system is calculated using Time Delay Estimation Algorithms；Sound source is converted in the corresponding subarray coordinate position of each subarray to common coordinate system；The coordinate position obtained after being converted in the common coordinate system according to the sound source determines sound source position；It can solve the not high problem of the sound source position reliability determined using single microphone array；It can guarantee the reliability that the sound source position determined is improved under the premise of not increasing the complexity of microphone array array structure.
Description
Technical field
The present invention relates to a kind of sound localization method based on microphone array, device and storage mediums, and it is fixed to belong to sound source
Position technical field.
Background technique
Auditory localization technology is one of important technology of array signal processing.At present sonar contact, video conference call,
Artificial intelligence, voice tracking have a wide range of applications with multiple fields such as identification, monitoring systems.Sound localization method includes being based on
Microphone array calculates sound bearing.
The method calculated based on microphone array sound bearing includes: by multiple microphone sensors by certain side
Formula, which is arranged on the different location of space, forms microphone array, and each microphone sensor is a Mike in microphone array
Wind array element；Sound-source signal is received using microphone array；Array received signal is handled, signal characteristic is extracted；It uses
The azimuth information of the method estimation sound source of time delay estimation.Wherein, the arrangement of multiple microphone sensors include equilateral triangle,
Positive tetrahedron, opposed rectangular pyramid etc..Delay time estimation method refers to: estimation sound-source signal reach between different microphone array elements when
Between poor, the method that sound source position is determined in conjunction with the time difference by the geometrical relationship of microphone array.
However, the microphone array array structure based on single fixation, uses the azimuth information of time-delay estimation method estimation sound source
When the reliability of sound source position that estimates it is poor.
Summary of the invention
The present invention provides a kind of sound localization method based on microphone array, device and storage medium, and can solve makes
The not high technical problem of the sound source position reliability determined with single microphone array.The present invention provides following technical side
Case:
In a first aspect, providing a kind of sound localization method based on microphone array, which comprises
The corresponding subarray coordinate system of each subarray in microphone array is established, the microphone array includes n son
Array, the n subarray at least two subarrays different there are subarray coordinate system, the n are the integer greater than 1；
For each subarray, subarray of the sound source in corresponding subarray coordinate system is calculated using Time Delay Estimation Algorithms
Coordinate position；
The sound source is converted in the corresponding subarray coordinate position of each subarray to common coordinate system；
The coordinate position obtained after being converted in the common coordinate system according to the sound source determines sound source position.
Optionally, the n subarray includes at least one of following types of subarray:
Size includes the subarray at least two apertures, the aperture refer in each subarray neighboring microphones array element it
Between distance；
At least two non-coplanar subarrays；
At least two different subarrays of the center of circle of circumscribed circle.
Optionally, the n subarray includes triangle subarray.
Optionally, the triangle subarray includes right angled triangle subarray and/or equilateral triangle subarray.
Optionally, described to calculate subarray coordinate of the sound source in corresponding subarray coordinate system using Time Delay Estimation Algorithms
Position, comprising:
Submatrix of the sound source in corresponding subarray coordinate system is calculated using broad sense cross-correlation GCC algorithm and prefilter
Column coordinate position；
Wherein, the prefilter is included in attached on the basis of phse conversion PHAT weighting function or Roth weighting function
The weight filtering added；The upper limit frequency value and lower limit frequency value of weight filtering according to microphone array element in the subarray it
Between aperture determine that and the waveform of weight filtering is single zigzag.
Optionally, described to calculate son of the sound source in corresponding subarray coordinate system using GCC algorithm and prefilter
Array co-ordinates position, comprising:
For two microphone array elements adjacent in the subarray, according to the aperture between described two microphone array elements
Determine corresponding weight filtering；
The weight is filtered and is multiplied with PHAT weighting function or Roth weighting function, described two microphone array are obtained
First prefilter, the absolute value of crosspower spectrum function of the PHAT weighting function between described two microphone array elements
It is reciprocal；The Roth weighting function is the inverse of the auto-power spectrum function for the acoustical signal that the sound source issues；
Using the prefilter as the weighting function in the GCC algorithm, calculate described two microphone array elements it
Between minimum delay inequality；Institute is determined according to the minimum delay inequality between two adjacent microphone array elements each pair of in the subarray
State the subarray coordinate position of sound source.
Optionally, described to convert the sound source to public coordinate in the corresponding subarray coordinate position of each subarray
System, comprising:
Using sound source any point in space establish the common coordinate system as coordinate origin；
For each subarray in the n subarray, transformation matrix and the submatrix are pivoted by preset
Column coordinate position determines azimuth and pitch angle of the sound source in the common coordinate system；
According to subarray coordinate position and the subarray coordinate of the sound source in corresponding subarray coordinate system
Offset vector between the origin of system and the origin of the common coordinate system determines the original of the sound source Yu the common coordinate system
The distance between point.
Optionally, described to convert the sound source to public coordinate in the corresponding subarray coordinate position of each subarray
System, comprising:
Using sound source any point in space establish the common coordinate system as coordinate origin；
Obtain origin position of the origin of each subarray coordinate system in the common coordinate system；
Determine that the sound source exists according to the origin position and the subarray coordinate position based on least square method
The desired value of the first latitude coordinates position in the common coordinate system and the desired value of the second latitude coordinates position；
According to the desired value of first latitude coordinates position, the desired value of second latitude coordinates position, every height
The origin position of array co-ordinates system and the subarray coordinate position determine the sound source in the common coordinate system
The desired value of third dimension coordinate position；
According to the desired value of first latitude coordinates position, the desired value of second latitude coordinates position and described
The desired value of three dimensionality coordinate position determines azimuth, pitch angle and the sound source of the sound source in the common coordinate system
The distance between origin of the common coordinate system.
Second aspect, provides a kind of sound source locating device based on microphone array, and described device includes:
Subcoordinate system establishes module, for establishing the corresponding subarray coordinate system of each subarray in microphone array, institute
Stating microphone array includes n subarray, the n subarray at least two subarrays different there are subarray coordinate system,
The n is the integer greater than 1；
First position determining module, for calculating sound source corresponding using Time Delay Estimation Algorithms for each subarray
Subarray coordinate position in subarray coordinate system；
Coordinate system conversion module, for converting the sound source in the corresponding subarray coordinate position of each subarray to public affairs
Coordinate system altogether；
Second position determining module, the coordinate bit for being obtained after being converted in the common coordinate system according to the sound source
Set determining sound source position.
The third aspect, provides a kind of sound source locating device based on microphone array, and the sound source locating device device includes
Processor and memory are stored with program in the memory, and described program is loaded by the processor and executed to realize
On the one hand the sound localization method based on microphone array provided.
Fourth aspect provides a kind of computer readable storage medium, is stored with journey in the computer readable storage medium
Sequence, described program are loaded by processor and are executed the auditory localization side based on microphone array to realize first aspect offer
Method.
The beneficial effects of the present invention are: by building the microphone array including n subarray；It is established with preset coordinate
Mode establishes the subarray coordinate system of each subarray；Sound source is calculated in each subarray coordinate system using Time Delay Estimation Algorithms
Subarray coordinate position；Then, the corresponding subarray coordinate position of each subarray is converted to common coordinate system；According to sound
The coordinate position that source obtains after converting in the common coordinate system determines sound source position；It can solve and use single microphone
The not high problem of the sound source position reliability that array is determined；Since the subarray for using multiple subarrays to calculate separately sound source is sat
Cursor position；Then the unified conversion of each subarray coordinate position is equivalent to common coordinate system and uses multiple and different Mikes
Wind array determines multi-acoustical position；It can guarantee under the premise of not increasing the complexity of microphone array array structure, improve true
The reliability for the sound source position made.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the sonic location system based on microphone array that the application one embodiment provides；
Fig. 2 is the flow chart for the sound localization method based on microphone array that the application one embodiment provides；
The schematic diagram of auditory localization in the subarray that Fig. 3 provides for the application one embodiment；
Fig. 4 is that the subarray coordinate system that the application one embodiment provides is converted to the schematic diagram of common coordinate system；
Fig. 5 is the block diagram for the sound source locating device based on microphone array that the application one embodiment provides；
Fig. 6 is the block diagram for the sound source locating device based on microphone array that the application one embodiment provides.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Fig. 1 is the structural representation for the sonic location system based on microphone array that one embodiment of the application provides
Figure, as shown in Figure 1, the system includes at least: microphone array 110 and sound source 120.
Microphone array 110 includes n subarray, and n is the integer greater than 1.It is every being established in such a way that preset coordinate is established
When the subarray coordinate system of a subarray, there are at least two subarrays that subarray coordinate system is different in the n subarray.
Optionally, preset coordinate is established mode and be can be using the center of circle of subarray circumscribed circle as the original of subarray coordinate system
Point, the x-axis that first direction (such as horizontal direction) is subarray coordinate system, with the perpendicular second direction of the x-axis (such as in water
The direction vertical with horizontal direction in plane) be y-axis, the third direction vertical with x-axis and y-axis (such as on the vertical plane with
First direction and the vertical direction of second direction) it is z-axis；Alternatively, being also possible to using the central point of subarray as subarray coordinate
Origin, the first direction of system are the x-axis of subarray coordinate system, are y-axis and x-axis and y-axis with the perpendicular second direction of the x-axis
Vertical third direction is z-axis, it is of course also possible to be that other types of preset coordinate establishes mode, the present embodiment to this not
It limits.
Alternatively, corresponding to different preset coordinates for the subarray of different structure establishes mode, and mutually isostructural submatrix
The corresponding identical preset coordinate of column establishes mode.Such as: for triangle subarray using the center of circle of circumscribed circle as subarray coordinate
The origin of system；For linear subarray using central point as origin of subarray coordinate system etc..
Optionally, n subarray includes at least one of two-dimensional sub-arrays and three-dimensional subarray.N subarray can be with
Including triangle subarray, such as: right angled triangle subarray and/or equilateral triangle subarray, the present embodiment is not to submatrix
The structure of column limits.
Optionally, in order to guarantee n subarray at least two subarrays different there are subarray coordinate system, this n sub
Array includes at least one of following types of subarray:
1, size includes the subarray at least two apertures, and aperture refers in each subarray between neighboring microphones array element
Distance.Certainly, the aperture in subarray between neighboring microphones array element can be all different.
2, at least two non-coplanar subarrays.Certainly, n subarray can be non-coplanar.
3, at least two different subarrays of the center of circle of circumscribed circle.Certainly, the center of circle of n subarray circumscribed circle can not
It is identical.
In microphone array 110 provided in this embodiment, since n subarray includes that subarray coordinate system is different extremely
Few two subarrays, in this manner it is achieved that based on different subarray Structure Calculation sound sources 120 in each subarray coordinate system
Subarray coordinate position；Rather than sound source 120 is calculated in entire 110 institute of microphone array based on the array structure of single fixation
Coordinate position in the coordinate system at place, it is thus possible to improve the position reliability of calculated sound source 120.
Such as: microphone array 110 shown in FIG. 1 is referred to, which includes arranging in the direction of the x axis
11 microphone array elements and 5 microphone array arranged with origin at a distance of the position direction YanzZhou of D in the negative direction of y-axis
Member.The microphone array 110 includes at least following several subarrays:
The triangle subarray being made of (0,0,0), (0,1,0), (0 ,-D, 1)；
The triangle subarray being made of (0,0,0), (0,1,0), (0 ,-D, 2)；
The triangle subarray being made of (0,0,0), (0,1,0), (0 ,-D, 3)；
The triangle subarray being made of (0,0,0), (0,1,0), (0 ,-D, 4)；
The triangle subarray being made of (0,0,0), (0,2,0), (0 ,-D, 5)；
The triangle subarray being made of (0,0,0), (0,2,0), (0 ,-D, 1)；
The triangle subarray being made of (0,0,0), (0,2,0), (0 ,-D, 2)；
The triangle subarray being made of (0,0,0), (0,2,0), (0 ,-D, 3)；
The triangle subarray being made of (0,0,0), (0,2,0), (0 ,-D, 4)；
The triangle subarray etc. being made of (0,0,0), (0,2,0), (0 ,-D, 5).
Certainly, microphone array 110 further includes other subarrays, and the present embodiment will not enumerate herein.
It is according to above-mentioned triangle subarray it is found that non-coplanar between each triangle subarray, with preset coordinate foundation side
The subarray coordinate system that formula is established is different.It is may be implemented in this way based on different subarray Structure Calculation sound sources corresponding
Subarray coordinate position in subarray coordinate system determines sound source position according to each subarray coordinate position, to improve true
Determine the accuracy of sound source position.
Certainly, microphone array 110 is also possible to other structures, and the present embodiment is not construed as limiting this.
In the following, the sound localization method provided by the present application based on microphone array is introduced.The application is with the sound
For the executing subject of source localization method to be illustrated for sound source locating device, the sound source locating device is available to arrive microphone
The structure of acoustical signal and microphone array that array is got, microphone array can be set in sound source locating device；Or
Person, also can be set in the mutually independent electronic equipment of sound source locating device.Optionally, sound source locating device can be hand
Machine, computer, tablet computer, wearable device etc. have the electronic equipment of processing function.
Fig. 2 is the flow chart for the sound localization method based on microphone array that the application one embodiment provides, the party
Method at least includes the following steps:
Step 201, the corresponding subarray coordinate system of each subarray in microphone array is established.
Microphone array is that sound source locating device is built in advance.Optionally, microphone array includes n subarray, and n is a
Subarray at least two subarrays different there are subarray coordinate system, n are the integer greater than 1.
Optionally, n subarray includes at least one of following types of subarray: size includes at least two apertures
Subarray, aperture refers to the distance between neighboring microphones array element in each subarray；At least two non-coplanar subarrays；
At least two different subarrays of the center of circle of circumscribed circle.Preferably, neighboring microphones array element in each subarray in n subarray
Between aperture be all different, between different subarrays between different, the three-dimensional subarray in the center of circle of circumscribed circle it is different altogether
Face.
Optionally, n subarray includes triangle subarray.Triangle subarray include right angled triangle subarray and/
Or equilateral triangle subarray.
Schematically, when microphone array is classified as two-dimensional array, circumscribed circle between n subarray in the microphone array
The center of circle is different；When microphone array is classified as cubical array, the center of circle of circumscribed circle is not between n subarray in the microphone array
Together, different sides and between n subarray.
Optionally, sound source locating device establishes the submatrix of each subarray in n subarray in such a way that preset coordinate is established
Column coordinate system.
N subarray at least two subarrays different there are subarray coordinate system.
Optionally, preset coordinate is established mode and be can be using the center of circle of subarray circumscribed circle as the original of subarray coordinate system
Point, the x-axis that first direction (such as horizontal direction) is subarray coordinate system, with the perpendicular second direction of the x-axis (such as in water
The direction vertical with horizontal direction in plane) be y-axis, the third direction vertical with x-axis and y-axis (such as on the vertical plane with
First direction and the vertical direction of second direction) it is z-axis；Alternatively, being also possible to using the central point of subarray as subarray coordinate
Origin, the first direction of system are the x-axis of subarray coordinate system, are y-axis and x-axis and y-axis with the perpendicular second direction of the x-axis
Vertical third direction is z-axis, it is of course also possible to be that other types of preset coordinate establishes mode, the present embodiment to this not
It limits.
Alternatively, corresponding to different preset coordinates for the subarray of different structure establishes mode, and mutually isostructural submatrix
The corresponding identical preset coordinate of column establishes mode.Such as: for triangle subarray using the center of circle of circumscribed circle as subarray coordinate
The origin of system；For linear subarray using central point as origin of subarray coordinate system etc..
Step 202, for each subarray, sound source is calculated in corresponding subarray coordinate system using Time Delay Estimation Algorithms
Subarray coordinate position.
Optionally, sound source locating device uses broad sense cross-correlation (Generalized Cross Correlation, GCC)
Algorithm and prefilter calculate subarray coordinate position of the sound source in corresponding subarray coordinate system.
Wherein, prefilter be included in phse conversion (PHAse Transformation, PHAT) weighting function or
Additional weight filtering on the basis of Roth weighting function；The upper limit frequency value and lower limit frequency value of weight filtering are according to submatrix
Aperture in column between microphone array element determines, and the waveform of weight filtering is single zigzag.
Wherein, PHAT weighting function or Roth weighting function for reducing the noise in actual environment locating for sound source and mix
It rings；Single zig-zag can filter out the signal component of aliasing frequency or more and the signal component of low frequency, therefore, can reduce
It is negatively affected caused by accuracy of the signal component Delay Estima-tion result more than aliasing frequency, and reduces the signal of low frequency
It is negatively affected caused by accuracy of the component delay estimation result.
Schematically, the upper limit frequency value of weight filtering is expressed as c/2D, wherein c is the light velocity, and D is aperture.Lower frequency limit
For the lower m octave point of upper limiting frequency, lower frequency limit is expressed as c/2m* 2D, wherein m be cross over octave number, m times
Sound interval refers to that the frequency band between upper frequency limit and lower limit is m times of lower limit frequency value.M can be 3 or other positive integers, this reality
Example is applied not limit the value of m.
Optionally, weight is filtered into the oblique line filter of weight from 0 to 1, and weight filtering can pass through following formula table
Show:
Wherein, HwijIndicate the weight filtering corresponding with jth microphone array element of the i-th microphone array element.RijIndicate the i-th Mike
Aperture between wind array element and jth microphone array element.I is unequal with j, and i and j are respectively less than n.
Certainly, weight filtering is also possible to other curves with roll-off characteristic, such as: exponential type curve etc., this reality
Example is applied not limit the waveform of weight filtering.
Optionally, subarray of the sound source in corresponding subarray coordinate system is calculated using GCC algorithm and prefilter
Coordinate position, comprising: true according to the aperture between two microphone array elements for two microphone array elements adjacent in subarray
Fixed corresponding weight filtering；Weight is filtered and is multiplied with PHAT weighting function or Roth weighting function, two microphones are obtained
Array element prefilter；Using prefilter as the weight in GCC algorithm, the minimum calculated between two microphone array element is prolonged
The time difference；The subarray coordinate of sound source is determined according to the minimum delay inequality between two adjacent microphone array elements each pair of in subarray
Position.
Wherein, PHAT weighting function is the inverse of the absolute value of the crosspower spectrum function between two microphone array elements；
Roth weighting function is the inverse of the auto-power spectrum function for the acoustical signal that sound source issues.
Such as: the signal that two adjacent microphone array elements A and B are received can indicate are as follows:
xA(n)=hA(n)s(n)+vA(n)
xB(n)=hB(n)s(n-τAB)+vB(n)
τABFor the time delay between microphone array element A and B.
The then cross-correlation function between two signals are as follows:
Due to that can have certain noise and reverberation in actual environment, direct wave and back wave are contained in cross-correlation function
Wave crest, these peak values are known as pseudo- peak.It is difficult to detect since the presence at pseudo- peak will cause Delay Estima-tion, it is therefore proposed that
By the relationship of cross-correlation function and crosspower spectrum, can obtain:
Wherein, XA(ω)、XB(ω) is respectively xA(n) and xB(n) Fourier transformation；GAB(ω) is the mutual of two signals
Power spectrum.
In order to overcome reverberation and the noise in environment locating for sound source, weighting function is introduced in broad sense cross-correlation function.Add
There are many kinds of weight functions, such as: PHAT weighting function or Roth weighting function etc..At this point, broad sense cross-correlation function is defined as:
Wherein, ΨAB(ω) is the weighting function in frequency domain.In the present embodiment, ΨAB(ω) be PHAT weighting function or
The product of Roth weighting function and weight filtering.Since weight is filtered into single zig-zag, it can overcome locating for sound source
Environment in reverberation and noise on the basis of, the signal component of aliasing frequency or more can also be reduced to Delay Estima-tion result
It is negatively affected caused by accuracy, and negative shadow caused by reducing accuracy of the signal component delay estimation result of low frequency
It rings.
Schematically, determine sound source in corresponding subarray coordinate system according to a subarray with reference to shown in Fig. 3
The schematic diagram of subarray coordinate position.The structure of the subarray is right angled triangle, and three vertex of the right angled triangle
Coordinate is respectively (Ri, 0,0), (0, Rj, 0), (0 ,-Rk, 0), the center of circle of the circumscribed circle of the right angled triangle is subarray coordinate system
Origin.wnIndicate origin the distance between to each microphone array element.Sound source S can be determined in son according to the geometry
Subarray coordinate position in array co-ordinates systemIt is indicated by following formula:
Wherein, τijIndicate sound source S to microphone array element RiAnd RjBetween time delay, τkjIndicate sound source S to microphone array element
RkAnd RjBetween time delay, τkiIndicate sound source S to microphone array element RkAnd RiBetween time delay, τij、τkj、τkiIt is auditory localization dress
It sets and is calculated using Time Delay Estimation Algorithms (such as: GCC algorithm combination prefilter).C indicates that the velocity of sound, θ indicate that sound source exists
Azimuth, φ in subarray coordinate system indicate that pitch angle, r of the sound source in subarray coordinate system indicate that sound source is sat to subarray
Mark the distance of the origin of system.
Step 203, sound source is converted in the corresponding subarray coordinate position of each subarray to common coordinate system.
Step 204, the coordinate position obtained after being converted in common coordinate system according to sound source determines sound source position.
The mode that sound source locating device converts subarray coordinate position to common coordinate system includes but is not limited to following several
Kind:
The first: using sound source any point in space establish common coordinate system as coordinate origin；For n submatrix
Each subarray in column is pivoted transformation matrix and subarray coordinate position determines sound source in public coordinate by preset
Azimuth and pitch angle in system；According to azimuth of the sound source in subarray coordinate system and pitch angle, subarray coordinate system
Offset vector between origin and the origin of common coordinate system determines the distance between the origin of sound source and common coordinate system.
The first conversion regime can be applied under the sound source scene of far field.Being pivoted transformation matrix can be by following public
Formula indicates:
Wherein, HTExpression is pivoted transformation matrix,Indicate the conjugation of the normal vector of subarray,The method of subarray
The pitch angle of vector.
Optionally, with reference to Fig. 4, sound source locating device converts the subarray coordinate position in subarray by following formula
To common coordinate system:
Above-mentioned formula is converted to obtain following formula:
Wherein, x ' is coordinate of the sound source S in the x ' axis direction of subarray coordinate system, and y ' is sound source S in subarray coordinate
Coordinate, z ' in the y ' axis direction of system are coordinate of the sound source S in the z ' axis direction of subarray coordinate system.Sound source S is in subarray
Subarray coordinate position (x ', y ', z ') in coordinate system is subarray coordinate position of the sound source S in subarray coordinate systemAnother coordinate representation mode.In above-mentioned formula, θ be azimuth of the sound source S in common coordinate system,For pitch angle of the sound source S in common coordinate system.
Later, sound source locating device obtains sound source in the origin of corresponding subarray coordinate system and the origin of common coordinate system
Between offset vector；According to subarray coordinate position, the subarray coordinate system of sound source in corresponding subarray coordinate system
Origin and common coordinate system origin between offset vector determine the distance between the origin of sound source and common coordinate system.
Wherein, the offset vector between the origin of subarray coordinate system and the origin of common coordinate system is by subarray coordinate system
Origin and the distance between the origin of common coordinate system, subarray coordinate system pitch angle of the origin in common coordinate system and
Azimuth is constituted.After sound source locating device establishes subarray coordinate system and common coordinate system, can according to subarray coordinate system and
Positional relationship between common coordinate system gets the offset between the origin of subarray coordinate system and the origin of common coordinate system
Vector.
Since the offset vector between the origin of subarray coordinate system and the origin of common coordinate system can reflect subarray
The transformational relation between point in point in coordinate system and common coordinate system, therefore, after getting the offset vector, sound source is fixed
Position device can be determined between the sound source and the origin of common coordinate system at a distance from subarray coordinate origin according to sound source
Distance；It is of course also possible to determine sound source and public seat according to azimuth of the sound source in subarray coordinate system and pitch angle
Mark the distance between the origin of system.
If being converted subarray coordinate position to common coordinate system by above-mentioned first way, sound source locating device can
By to the sub- array co-ordinates positions n in common coordinate system by clustering in a manner of carry out statistical disposition, obtain sound source position.
It is of course also possible to statistical disposition is carried out to n sub- array co-ordinates positions in common coordinate system by other means, and such as: add
Weight average method, mean value method etc., the present embodiment do not limit the mode of the statistical disposition.
Second: using sound source any point in space establish common coordinate system as coordinate origin；Obtain every height
Origin position of the origin of array co-ordinates system in common coordinate system；Based on least square method according to origin position and
Subarray coordinate position determines the desired value and the second latitude coordinates of first latitude coordinates position of the sound source in common coordinate system
The desired value of position；According to the desired value of the first latitude coordinates position, the desired value of the second latitude coordinates position, each subarray
The origin position of coordinate system and subarray coordinate position determine third dimension coordinate position of the sound source in common coordinate system
Desired value；According to the desired value of the first latitude coordinates position, the desired value of the second latitude coordinates position and third dimension coordinate
The desired value of position determines sound source between azimuth, pitch angle and sound source in common coordinate system and the origin of common coordinate system
Distance.
Second of conversion regime can be applied under near-field sound source scene.Assuming that coordinate of the sound source in common coordinate system is
(x, y, z), coordinate of the origin of each subarray coordinate system in common coordinate system are (xs, ys, zs), sound source is in subarray coordinate
Subarray coordinate position in system isWherein, 1≤s≤n converts subarray coordinate position to public
Coordinate system can be indicated by following formula:
Least square solution is calculated to above-mentioned formula, obtains sound source in the x-axis (the first latitude coordinates position) of common coordinate system
On desired valueAnd desired value of the sound source in the y-axis (the second latitude coordinates position) of common coordinate system
Later, sound source locating device obtains sound source in common coordinate system z-axis (third dimension coordinate bit by following formula
Set) on desired value
If being converted subarray coordinate position to common coordinate system by the above-mentioned second way, sound source locating device can
To determine sound source position by following formula, in following formula,For the distance between sound source and the origin of common coordinate system；The azimuth for being sound source in common coordinate system；The pitch angle for being sound source in common coordinate system；It is sound source public
The desired value of first latitude coordinates position of coordinate system；Expectation for sound source in the second latitude coordinates position of common coordinate system
Value；For sound source the third dimension coordinate position of common coordinate system desired value:
Certainly, sound source locating device can not also be by coordinateBe converted to coordinateBut it is straight
Connecing willAs sound source position, the present embodiment is not construed as limiting this.
In conclusion the sound localization method provided in this embodiment based on microphone array, by building including n son
The microphone array of array；The subarray coordinate system of each subarray is established in such a way that preset coordinate is established；Estimated using time delay
Algorithm calculates subarray coordinate position of the sound source in each subarray coordinate system；Then, by the corresponding submatrix of each subarray
Column coordinate position is converted to common coordinate system；The coordinate position obtained after being converted in common coordinate system according to sound source determines sound source
Position；It can solve the not high problem of the sound source position reliability determined using single microphone array；It is more due to using
A subarray calculates separately the subarray coordinate position of sound source；Then by the unified conversion of each subarray coordinate position to public seat
Mark system, is equivalent to and determines multi-acoustical position using multiple and different microphone arrays；It can guarantee do not increasing microphone array
Under the premise of the complexity of array structure, the reliability for the sound source position determined is improved.
It, can be in addition, corresponding weight filter is arranged by the different subarray in setting aperture, and for different apertures
Improving positioning has the robustness of sound source of different frequency feature.
Following is the application Installation practice, can be used for executing the application embodiment of the method.It is real for the application device
Undisclosed details in example is applied, the application embodiment of the method is please referred to.
Referring to FIG. 5, it illustrates the sound source locating devices based on microphone array that the application one embodiment provides
Block diagram.The sound source locating device based on microphone array includes: that subcoordinate system establishes module 510, first position determines mould
Block 520, coordinate system conversion module 530 and second position determining module 540.
Subcoordinate system establishes module 510, for establishing the corresponding subarray coordinate system of each subarray in microphone array,
The microphone array includes n subarray, the n subarray at least two submatrixs different there are subarray coordinate system
Column, the n are the integer greater than 1；
First position determining module 520, for calculating sound source in correspondence using Time Delay Estimation Algorithms for each subarray
Subarray coordinate system in subarray coordinate position；
Coordinate system conversion module 530, for converting the sound source in the corresponding subarray coordinate position of each subarray
To common coordinate system；
Second position determining module 540, the seat for being obtained after being converted in the common coordinate system according to the sound source
Cursor position determines sound source position.
Correlative detail refers to above method embodiment.
Optionally, the n subarray includes at least one of following types of subarray:
Size includes the subarray at least two apertures, the aperture refer in each subarray neighboring microphones array element it
Between distance；
At least two non-coplanar subarrays；
At least two different subarrays of the center of circle of circumscribed circle.
Optionally, the n subarray includes triangle subarray.
Optionally, the triangle subarray includes right angled triangle subarray and/or equilateral triangle subarray.
Optionally, the first position determining module 530, is used for:
Submatrix of the sound source in corresponding subarray coordinate system is calculated using broad sense cross-correlation GCC algorithm and prefilter
Column coordinate position；
Wherein, the prefilter is included in attached on the basis of phse conversion PHAT weighting function or Roth weighting function
The weight filtering added；The upper limit frequency value and lower limit frequency value of weight filtering according to microphone array element in the subarray it
Between aperture determine that and the waveform of weight filtering is single zigzag.
Optionally, the first position determining module 530, is used for:
For two microphone array elements adjacent in the subarray, according to the aperture between described two microphone array elements
Determine corresponding weight filtering；
The weight is filtered and is multiplied with PHAT weighting function or Roth weighting function, described two microphone array are obtained
First prefilter, the absolute value of crosspower spectrum function of the PHAT weighting function between described two microphone array elements
It is reciprocal；The Roth weighting function is the inverse of the auto-power spectrum function for the acoustical signal that the sound source issues；
Using the prefilter as the weighting function in the GCC algorithm, calculate described two microphone array elements it
Between minimum delay inequality；Institute is determined according to the minimum delay inequality between two adjacent microphone array elements each pair of in the subarray
State the subarray coordinate position of sound source.
Optionally, the coordinate system conversion module 540, is used for:
Using sound source any point in space establish the common coordinate system as coordinate origin；
For each subarray in the n subarray, transformation matrix and the submatrix are pivoted by preset
Column coordinate position determines azimuth and pitch angle of the sound source in the common coordinate system；
According to subarray coordinate position and the subarray coordinate of the sound source in corresponding subarray coordinate system
Offset vector between the origin of system and the origin of the common coordinate system determines the original of the sound source Yu the common coordinate system
The distance between point.
Optionally, the coordinate system conversion module 540, is used for:
Using sound source any point in space establish the common coordinate system as coordinate origin；
Obtain origin position of the origin of each subarray coordinate system in the common coordinate system；
Determine that the sound source exists according to the origin position and the subarray coordinate position based on least square method
The desired value of the first latitude coordinates position in the common coordinate system and the desired value of the second latitude coordinates position；
According to the desired value of first latitude coordinates position, the desired value of second latitude coordinates position, every height
The origin position of array co-ordinates system and the subarray coordinate position determine the sound source in the common coordinate system
The desired value of third dimension coordinate position；
According to the desired value of first latitude coordinates position, the desired value of second latitude coordinates position and described
The desired value of three dimensionality coordinate position determines azimuth, pitch angle and the sound source of the sound source in the common coordinate system
The distance between origin of the common coordinate system.
It should be noted that device provided by the above embodiment, when realizing its function, only with above-mentioned each functional module
It divides and carries out for example, can according to need in practical application and be completed by different functional modules above-mentioned function distribution,
The internal structure of equipment is divided into different functional modules, to complete all or part of the functions described above.In addition,
Apparatus and method embodiment provided by the above embodiment belongs to same design, and specific implementation process is detailed in embodiment of the method, this
In repeat no more.
This application provides a kind of computer readable storage medium, at least one instruction is stored in the storage medium,
At least one instruction is loaded by the processor and is executed to realize that above-mentioned each embodiment of the method provides based on Mike
The sound localization method of wind array.
Present invention also provides a kind of computer program products to make when computer program product is run on computers
It obtains computer and executes the sound localization method based on microphone array that above-mentioned each embodiment of the method provides.
Fig. 6 shows the frame of the sound source locating device based on microphone array of an illustrative embodiment of the invention offer
Figure.The sound source locating device includes: processor 601 and memory 602.
Processor 601 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
Reason device 601 can use DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-
Programmable Gate Array, field programmable gate array) at least one of example, in hardware realize.Processor 601
It also may include primary processor and coprocessor, primary processor is the processing for being handled data in the awake state
Device, also referred to as CPU (Central Processing Unit, central processing unit)；Coprocessor is for in the standby state
The low power processor that data are handled.
Memory 602 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 602 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 602 can
Storage medium is read for storing at least one instruction, at least one instruction performed by processor 601 for realizing this Shen
Please in embodiment of the method provide the sound localization method based on microphone array.
It will be understood by those skilled in the art that structure shown in Fig. 6 does not constitute the limit to Reverse Proxy 600
It is fixed, it may include perhaps combining certain components than illustrating more or fewer components or being arranged using different components.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of sound localization method based on microphone array, which is characterized in that the described method includes:
The corresponding subarray coordinate system of each subarray in microphone array is established, the microphone array includes n subarray,
The n subarray at least two subarrays different there are subarray coordinate system, the n are the integer greater than 1；
For each subarray, subarray coordinate of the sound source in corresponding subarray coordinate system is calculated using Time Delay Estimation Algorithms
Position；
The sound source is converted in the corresponding subarray coordinate position of each subarray to common coordinate system；
The coordinate position obtained after being converted in the common coordinate system according to the sound source determines sound source position.
2. the method according to claim 1, wherein the n subarray includes in following types of subarray
At least one:
Size includes the subarray at least two apertures, and the aperture refers in each subarray between neighboring microphones array element
Distance；
At least two non-coplanar subarrays；
At least two different subarrays of the center of circle of circumscribed circle.
3. the method according to claim 1, wherein the n subarray include right angled triangle subarray and/
Or equilateral triangle subarray.
4. method according to any one of claims 1 to 3, which is characterized in that described to calculate sound source using Time Delay Estimation Algorithms
Subarray coordinate position in corresponding subarray coordinate system, comprising:
Subarray of the sound source in corresponding subarray coordinate system is calculated using broad sense cross-correlation GCC algorithm and prefilter to sit
Cursor position；
Wherein, the prefilter is included in additional on the basis of phse conversion PHAT weighting function or Roth weighting function
Weight filtering；The upper limit frequency value and lower limit frequency value of weight filtering are according in the subarray between microphone array element
Aperture determines, and the waveform of weight filtering is single zigzag.
5. according to the method described in claim 4, it is characterized in that, described calculate sound source using GCC algorithm and prefilter
Subarray coordinate position in corresponding subarray coordinate system, comprising:
For two microphone array elements adjacent in the subarray, determined according to the aperture between described two microphone array elements
Corresponding weight filtering；
The weight is filtered and is multiplied with PHAT weighting function or Roth weighting function, before obtaining described two microphone array elements
Filter is set, the absolute value of crosspower spectrum function of the PHAT weighting function between described two microphone array elements falls
Number；The Roth weighting function is the inverse of the auto-power spectrum function for the acoustical signal that the sound source issues；
Using the prefilter as the weighting function in the GCC algorithm, calculate between described two microphone array elements
Minimum delay inequality；The sound is determined according to the minimum delay inequality between two adjacent microphone array elements each pair of in the subarray
The subarray coordinate position in source.
6. method according to any one of claims 1 to 4, which is characterized in that it is described by the sound source in each subarray pair
The subarray coordinate position answered is converted to common coordinate system, comprising:
Using sound source any point in space establish the common coordinate system as coordinate origin；
For each subarray in the n subarray, transformation matrix and subarray seat are pivoted by preset
Cursor position determines azimuth and pitch angle of the sound source in the common coordinate system；
According to subarray coordinate position of the sound source in corresponding subarray coordinate system and the subarray coordinate system
Offset vector between origin and the origin of the common coordinate system determine the sound source and the common coordinate system origin it
Between distance.
7. method according to any one of claims 1 to 4, which is characterized in that it is described by the sound source in each subarray pair
The subarray coordinate position answered is converted to common coordinate system, comprising:
Using sound source any point in space establish the common coordinate system as coordinate origin；
Obtain origin position of the origin of each subarray coordinate system in the common coordinate system；
Determine the sound source described according to the origin position and the subarray coordinate position based on least square method
The desired value of the first latitude coordinates position in common coordinate system and the desired value of the second latitude coordinates position；
According to the desired value of first latitude coordinates position, the desired value of second latitude coordinates position, each subarray
The origin position of coordinate system and the subarray coordinate position determine third of the sound source in the common coordinate system
The desired value of latitude coordinates position；
According to the desired value of first latitude coordinates position, the desired value and the third dimension of second latitude coordinates position
The desired value of degree coordinate position determines azimuth, pitch angle and the sound source and institute of the sound source in the common coordinate system
State the distance between the origin of common coordinate system.
8. a kind of sound source locating device based on microphone array, which is characterized in that described device includes:
Subcoordinate system establishes module, for establishing the corresponding subarray coordinate system of each subarray in microphone array, the wheat
Gram wind array includes n subarray, the n subarray at least two subarrays different there are subarray coordinate system, the n
For the integer greater than 1；
First position determining module, for calculating sound source in corresponding submatrix using Time Delay Estimation Algorithms for each subarray
Subarray coordinate position in column coordinate system；
Coordinate system conversion module, for converting the sound source in the corresponding subarray coordinate position of each subarray to public seat
Mark system；
Second position determining module, the coordinate position for obtaining after being converted in the common coordinate system according to the sound source are true
Determine sound source position.
9. a kind of sound source locating device based on microphone array, which is characterized in that the sound source locating device includes processor
And memory, program is stored in the memory, described program is loaded by the processor and executed to realize as right is wanted
Seek 1 to 7 described in any item sound localization methods based on microphone array.
10. a kind of computer readable storage medium, which is characterized in that it is stored with program in the computer readable storage medium,
Described program is loaded by processor and is executed to realize the sound as described in any one of claim 1 to 7 based on microphone array
Source localization method.
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