CN109375223A - Interior space perception and moving sound method for self-locating based on sound duality principle - Google Patents

Interior space perception and moving sound method for self-locating based on sound duality principle Download PDF

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CN109375223A
CN109375223A CN201810988974.3A CN201810988974A CN109375223A CN 109375223 A CN109375223 A CN 109375223A CN 201810988974 A CN201810988974 A CN 201810988974A CN 109375223 A CN109375223 A CN 109375223A
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sound
self
interior space
moving
indicate
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CN109375223B (en
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宋浠瑜
王玫
仇洪冰
罗丽燕
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Guilin University of Electronic Technology
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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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target

Abstract

The invention discloses the interior spaces based on sound duality principle to perceive and moving sound method for self-locating, it is using smart phone as acoustic transceiver integrated equipment, using non tie up system, signal is tested by design and optimization ping, analyze sound field resonance characteristics, perceive room sound field environment space size, establish the spatial model of moving sound and its mirror image, construct the Euclidean distance battle array between space point source and receiving point, and the flight time of the attribute accurate judgement single order sound echo using EDM order, again by the location information of multi-dimentional scale algorithm Real-time solution moving sound, realize the self-positioning method of moving sound.The method of the present invention is independent of the auxiliary equipment of application places and the cooperation of equipment room, get rid of dependence of the conventional geometric acoustic space cognitive method to line-of-sight signal signal, improve the universality of spatial perception Yu the self-positioning scheme of moving sound, it is applicable not only to the reconstruct of interior space geometric profile, is also applied for the moving sound tracking and positioning of indoor environment.

Description

Interior space perception and moving sound method for self-locating based on sound duality principle
Technical field
It is specifically a kind of based on sound duality principle (fluctuation and corpuscular property) point the present invention relates to indoor positioning field Analysis realizes spatial perception and the continuous self-positioning method of moving sound in indoor complex environment, in location aware and location-based service There is important application value in scene.
Background technique
According to the relevent statistics, the time in 80% or more all one's life of people, mobile communication service 80% occurred indoors indoors, 80% information is related with time and position, either the void under the navigation of pedestrian's autonomous positioning, path planning or mobile context Quasi- reality, augmented reality, autonomous robot (including unmanned vehicle, unmanned plane etc.) all believe interior space Map Services and its position Breath produces urgent need.In fact, lot of documents research shows that: spatial perception helps to improve the positioning accurate in indoor moving source Degree.
Currently, common spatial perception technology mainly has a vision, and laser/millimetre-wave radar ranging, sound ranging etc., mainly It solves the problems, such as from reconstruct environmental map in measurement data is marked in large quantities, to realize that indoor high accuracy positioning provides possibility. However, the spatial perception mode of view-based access control model produces great threat to indoor secret protection；Space based on laser radar Perception is confined to special applications scene and special equipment；Spatial perception technology based on sound ranging, is mostly focused on geometry sound Scope is learned, the wave characteristic of sound is had ignored, therefore is limited to the acquisition degree of indoor environment LOS signal.Morning to twentieth century initial stage, Foreign scholar begins to more equipment using simple sund source+microphone array perhaps simple sund source+single microphone or transceiver Cooperation mode is based on ray acoustics correlation theory, carries out the research of interior space perception and auditory localization.Such as: being estimated using sonar Count interior space occupancy；Using echo and multipath signal, geometry in structure studio, bulk in analysis room；Based on room Interior bulk and room reverberation priori realize blind source separating, improve the TDOA recognition accuracy of target source, improve target source Track positioning accuracy；Using room reverberation, array can be improved to the robustness etc. of target source positioning performance.But height is accurately Spatial perception result is often relied on special equipment using high computation complexity as cost.Therefore, it fully considers based on sound wave grain two As the spatial perception technology that property is analyzed becomes the breach for solving the problems, such as that indoor moving sound source is self-positioning.
Newest research results show: by the cooperation between more smart phones, can preferably realize interior space sense Know self-positioning with sound source.Therefore, by means of the equipment advantage of smart phone acoustic transceiver one, the wave theory of sound field is furtherd investigate It is theoretical with indoor ray acoustics, the duality principle with reasoning sound is inquired into, room sound field resonance characteristics is analyzed, establishes moving sound And its spatial model of mirror image, it is to realize interior space perception and the self-positioning effective ways of sound source.
Summary of the invention
For in indoor complex environment, the decaying and loss of acoustic signal propagation cause existing indoor moving sound source self-positioning The still insufficient problem of ability, the interior space based on sound duality principle that the invention proposes a kind of are perceived with moving sound certainly Localization method is realized self-positioning without equipment dependence, the moving sound of non tie up system.This method is using smart phone as acoustic transceiver one Body equipment, duality principle progress spatial perception, spatial modeling and the sound source for taking full advantage of sound are self-positioning, and it is several to get rid of tradition What dependence of the acoustic space cognitive method to LOS signal, improves the universality of moving sound method for self-locating, has lower Complexity and higher pervasive degree.
The present invention is based on the perception of the interior space of sound duality principle and moving sound method for self-locating, are with smart phone Acoustic transceiver integrated equipment, method are broadly divided into three steps:
(1) to the spatial perception of room sound field environment: being first with the distance between smart phone loudspeaker and main microphon It tests, the wave theory based on room sound field, design and optimization ping tests signal, analyzes sound field resonance characteristics (the i.e. wave of sound Dynamic property analysis), perceive the bulk of room sound field environment；
(2) spatial modeling: it is in conjunction with spatial perception as a result, theoretical based on indoor ray acoustics, establish moving sound and its mirror The spatial model (i.e. the corpuscular property analysis of sound) of picture；
(3) sound source is self-positioning: in conjunction with spatial model, constructing the Euclidean distance battle array between space point source and receiving point (Euclidean Distance Matrices, EDM), and when the flight of the attribute accurate judgement single order sound echo of utilization EDM order Between (Time of Flight, TOF), then by multi-dimentional scale algorithm (Multidimensional scaling, MDS) Real-time solution The location information of moving sound, reaching a step, to complete moving sound in room sound field environment self-positioning and build figure.
To the research of wave in physics circle, all its corresponding wave equation can be turned to Helmholtz equation is having boundary condition Under solved.
Input and output relation in the propagation of wow flutter described in Helmholtz equation are as follows: from the angle of signal and system The wave propagation of sound is analyzed, room sound field can regard as to a sound system, is situated between as caused by the vibration of sound source in air The vibration of plasmid can regard system input as, and the sound pressure level at sound reception end can regard system output as.According to this input and output Relationship can describe Helmholtz equation with acoustically-driven function and Green's function.
The Green's function expression formula of Helmholtz are as follows:
Wherein, G (x | ξ, k) indicates that Green's function, x indicate that microphone position, ξ indicate sound source position,
LxIt is the distance between the two parallel metopes of indoor x-axis direction to be asked, k indicates wave number, k=ω/c, wherein ω It is sound wave angular frequency, c is acoustic propagation velocity.
The Helmholtz equation standard solution form is as follows:
LxIt is the distance between the two parallel metopes of indoor x-axis direction to be asked, xrIndicate that the position for receiving microphone is sat Mark, is a unknown quantity, but the position coordinates ξ of it and sound source, the distance between d be it is known, therefore, acquire ξ, then xrI.e. It can solve.
Therefore, measurement is with acquisition real world, and sound source is located at ξ, and microphone is located at xrBetween transfer function Gm(ω), So that Gm(ω)≈G(xr| ξ, k), in conjunction with known apart from priori d (directly measurement handset size obtain), then can acquire space away from From.
To sum up, step (1) is divided into two steps to the spatial perception process of room sound field environment:
(1.1) transfer function GmThe measurement of (ω)；
In order to measure and obtain in room sound field environment, sound source is located at ξ, and microphone is located at xrBetween transfer function Gm (ω) needs to carry out acoustic emission signal appropriate Waveform Design.Since chirp linear FM signal has preferable auto-correlation Therefore, can be preferably compatible with smart phone using chirp acoustical signal as ping transmitted waveform with cross correlation, G can be simplifiedmThe survey calculation process of (ω).If the chirp acoustical signal that mobile phone speaker (sound source) S is issued is s (t), s's (t) Auto-correlation function is Rss(τ), then have:
Rss(τ)=δ (τ) (2)
Wherein, f0It is upper limiting frequency, f1It is lower frequency limit, T is the duration of chirp acoustical signal.δ (τ) is Dirac function, Show that chirp signal has preferable autocorrelation performance；With R (τ)S, rIndicate the cross-correlation function of s (t) and r (t), h (t, S, M) It indicates room impulse response, then has:
R(τ)S, r=Rss(τ) * h (t, S, M)=h (t, S, M) (3)
Therefore, when using chirp acoustical signal as sound-source signal, the cross-correlation letter calculated between acoustic transceiver signal can be passed through Number, obtains h (t, S, M), and then obtain:
(1.2) interior space resonance analyzing:
The interior space is usually seen as resonant cavity, indicates resonance form with n, N indicates positive integer, then between reflector Distance LxWith resonant frequency ωnBetween relationship it is as follows:
Therefore, as long as obtaining the ω under n formn, so that it may obtain Lx, in conjunction with G (xr| ξ, k) ≈ Gm(ω) andAccording to Helmholtz equation standard solution, objective optimization function is constructed:
Due to | G (xr| ξ, k) ksin (kLx) | < 1, i.e. integrand bounded, therefore f (λ) must have minimum value:
The direction for adjusting smart phone loudspeaker (sound source) S, can similarly obtain Ly, then space length [Lx, Ly] can ask.
Step (2) spatial modeling, specific method is:
Based on geometric acoustics principle, from the particle properties of sound, known to acoustics mirror image model sound source S corresponding thereto in The single order mirror image sound source of the i-th face wall of the interior spaceBetween should meet following relationship:
Wherein, piIndicate any point on the i-th face wall of the interior space, it can be from space length [Lx, Ly] in obtain, K indicate room Interior space reflection metope quantity, therefore, S withBetween point between distanceAnd M withBetween point between distanceRespectively It indicates are as follows:
Wherein, function norm () indicates that Euclidean distance solves, tofiIndicate acoustical signal fromThe TOF value of through M.
Step (3) sound source is self-positioning, and specific method is:
(3.1) it utilizesWithConstruct Euclidean matrix Eaug:
Wherein, subscript ()TIndicate transposition operation；When considering the interior space is three-dimensional situation, there are EaugOrder about Beam: rank (EaugIt)≤5 therefore can be from R (τ)S, rMiddle each tof of accurate judgementiValue, makes EaugMeet the order constraint of EDM, at this point, EaugIt is the real symmetric matrix of a m*m.
The principle of MDS is suitable lower dimensional space to be constructed, so that sample is in this space using the similitude between paired samples Distance and sample in higher dimensional space between similitude be consistent as far as possible.Phase between known many sample points Mutual edge distance, but when not knowing the specific coordinate of each sample point, MDS analysis seeks to solve the original seat of each sample point Mark, then guarantees that the original coordinates of these sample points meet this distance matrix relationship as far as possible.
(3.2) by the location information of multi-dimentional scale algorithm (MDS) Real-time solution moving sound:
Firstly, enablingEven if EaugIn each array element carry out square, D(2)Each array element indicate The square value of distance between point；
Then, in D(2)Both sides simultaneously multiplied by center matrix J, i.e., to D(2)Dual centralization is carried out, its double center is obtained Formal matrices B:
Wherein, E is m rank unit matrix,I is complete 1 gust of m rank；To B carry out singular value decomposition, obtain its maximum three A characteristic value, component unit battle array Λ, corresponding three feature vectors, constitutive characteristic vector matrix V can then obtain the position of sound source S Coordinate:
The position coordinates of S are obtained, that is, realize the self-positioning of sound source.
It is assisted independent of application places infrastructure and the invention proposes a kind of without the interior under equipment cooperation mode Environment moving sound method for self-locating.This method is using smart phone as acoustic transceiver integrated device, the fluctuation based on room sound field Theoretical and indoor ray acoustics, the duality principle of effective use sound are real by pervasive effective spatial perception and spatial modeling Now indoor moving sound source is quick self-positioning, reaches indoor environment moving sound tracking and positioning effect.Get rid of conventional geometric sound Dependence of the spatial perception method to LOS signal is learned, the universality of moving sound method for self-locating is improved, solves existing interior Moving sound makes the still insufficient problem of capability by oneself.
Detailed description of the invention
Fig. 1 is interior space perception and moving source method for self-locating block diagram based on sound duality principle；
Fig. 2 is the location diagram between sound source in indoor environment, microphone and reflection wall；
Fig. 3 is input and output relation figure during the wow flutter based on Helmholtz equation is propagated.
Specific embodiment
The content of present invention is further described below with reference to embodiment and attached drawing, but is not limitation of the invention.
Embodiment
Referring to Fig.1, the present invention is based on the perception of the interior space of sound duality principle and moving sound method for self-locating, mainly It is divided into three steps: (1) to the spatial perception of room sound field environment；(2) spatial modeling；(3) sound source is self-positioning.
Referring to Fig. 2, loudspeaker (sound source) S is located at ξ, microphone M and is located at x in indoor environmentr, LxIt is indoor X-axis side to be asked To the distance between two parallel metopes, LYIt is the distance between the two parallel metopes of indoor Y direction to be asked, xrExpression connects The position coordinates for receiving microphone, are a unknown quantitys, but the position coordinates ξ of it and sound source S, the distance between d be it is known, Therefore, ξ is acquired, then xrIt can solve.
Referring to Fig.1, step (1) is divided into two steps to the spatial perception process of room sound field environment:
(1.1) transfer function GmThe measurement of (ω)；
It measures in indoor environment, sound source S is located at ξ, and microphone M is located at xrBetween transfer function Gm(ω) as shown in figure 3, It needs to carry out acoustic emission signal appropriate Waveform Design.Due to chirp linear FM signal with preferable auto-correlation and mutually Correlation properties therefore, can be preferably compatible with smart phone using chirp acoustical signal as ping transmitted waveform, also can letter Change GmThe survey calculation process of (ω).If the chirp acoustical signal that mobile phone speaker (sound source) S is issued is s (t), s (t) from phase Pass function is Rss(τ), then have:
Rss(τ)=δ (τ) (2)
Wherein, f0It is upper limiting frequency, f1It is lower frequency limit, T is the duration of chirp acoustical signal, and δ (τ) is Dirac function, Show that chirp signal has preferable autocorrelation performance；With R (τ)S, rIndicate the cross-correlation function of s (t) and r (t), h (t, S, M) It indicates room impulse response, then has:
R(τ)S, r=Rss(τ) * h (t, S, M)=h (t, S, M) (3)
Therefore, when using chirp acoustical signal as sound-source signal, the cross-correlation letter calculated between acoustic transceiver signal can be passed through Number, obtains h (t, S, M), and then obtain:
(1.2) interior space resonance analyzing
The interior space is usually seen as resonant cavity, indicates resonance form with n, N indicates positive integer, then between reflector Distance LxWith resonant frequency ωnBetween relationship it is as follows:
Therefore, as long as obtaining the ω under n formn, so that it may obtain Lx.In conjunction with G (xr| ξ, k) ≈ Gm(ω) andObjective optimization function is constructed according to formula (2):
Due to | G (xr| ξ, k) ksin (kLx) | < 1, i.e. integrand bounded, therefore f (λ) must have minimum value:
The direction for adjusting smart phone loudspeaker, can similarly obtain Ly, then space length [Lx, Ly] can ask.
(2) spatial modeling
Based on geometric acoustics principle, from the particle properties of sound, known to acoustics mirror image model sound source S corresponding thereto in The single order mirror image sound source of the i-th face wall of the interior spaceBetween should meet following relationship:
Wherein, piIndicate any point on the i-th face wall of the interior space, it can be from space length [Lx, Ly] in obtain, K indicate room Interior space reflection metope quantity.Therefore, S withBetween point between distanceAnd M withBetween point between distanceRespectively It indicates are as follows:
Wherein, function norm () indicates that Euclidean distance solves, tofiIndicate acoustical signal fromThe TOF value of through M.
(3) sound source is self-positioning
It utilizesWithConstruct Euclidean matrix Eaug:
Wherein, subscriptIndicate transposition operation.When considering the interior space is three-dimensional situation, there are EaugOrder constraint: rank(EaugIt)≤5 therefore can be from R (τ)S, rMiddle each tof of accurate judgementiValue, makes EaugMeet the order constraint of EDM.At this point, Eaug It is the real symmetric matrix of a m*m.
The principle of MDS is suitable lower dimensional space to be constructed, so that sample is in this space using the similitude between paired samples Distance and sample in higher dimensional space between similitude be consistent as far as possible.Phase between known many sample points Mutual edge distance, but when not knowing the specific coordinate of each sample point, MDS analysis seeks to solve the original seat of each sample point Mark, then guarantees that the original coordinates of these sample points meet this distance matrix relationship as far as possible.
Firstly, enablingEven if EaugIn each array element carry out square, D(2)Each array element indicate The square value of distance between point.
Then, in D(2)Both sides simultaneously multiplied by center matrix J, i.e., to D(2)Dual centralization is carried out, its double center is obtained Formal matrices B:
Wherein, E is m rank unit matrix,I is complete 1 gust of m rank.To B carry out singular value decomposition, obtain its maximum three A characteristic value, component unit battle array Λ, corresponding three feature vectors, constitutive characteristic vector matrix V can then obtain the position coordinates of S:
The position coordinates of S are obtained, that is, realize the self-positioning of sound source.

Claims (4)

1. interior space perception and moving sound method for self-locating based on sound duality principle, using smart phone as acoustic transceiver one Body equipment, which is characterized in that localization method is broadly divided into three steps:
(1) to the spatial perception of room sound field environment: with the distance between smart phone loudspeaker and main microphon for priori, base In the wave theory of room sound field, design and optimization ping tests signal, analyzes sound field resonance characteristics, the i.e. fluctuation of sound point Analysis perceives the bulk of room sound field environment；
(2) spatial modeling: it is in conjunction with spatial perception as a result, theoretical based on indoor ray acoustics, establish moving sound and its mirror image Spatial model, i.e. the corpuscular property analysis of sound；
(3) sound source is self-positioning: in conjunction with spatial model, constructing the Euclidean distance battle array EDM between space point source and receiving point, and utilizes The flight time of the attribute accurate judgement single order sound echo of EDM order, then the position by multi-dimentional scale algorithm Real-time solution moving sound Confidence breath, reaching a step, to complete moving sound in room sound field environment self-positioning and build figure.
2. the interior space perception and moving sound method for self-locating according to claim 1 based on sound duality principle, It is characterized by: step (1) is divided into two steps to the spatial perception process of room sound field environment:
(1.1) in measuring chamber in sound field environment, sound source is located at ξ, and microphone is located at xrBetween transfer function Gm(ω)；
If the chirp acoustical signal that mobile phone sound source S is issued is s (t), the auto-correlation function of s (t) is Rss(τ), then have:
Rss(τ)=δ (τ) (2)
Wherein, f0It is upper limiting frequency, f1It is lower frequency limit, T is the duration of chirp acoustical signal, and δ (τ) is Dirac function, is shown Chirp signal has preferable autocorrelation performance；With R (τ)S, rIndicate that the cross-correlation function of s (t) and r (t), h (t, S, M) indicate Room impulse response then has:
R(τ)S, r=Rss(τ) * h (t, S, M)=h (t, S, M) (3)
Therefore, when using chirp acoustical signal as sound-source signal, can by calculating the cross-correlation function between acoustic transceiver signal, H (t, S, M) is obtained, and then is obtained:
(1.2) interior space resonance analyzing:
The interior space is usually seen as resonant cavity, indicates that resonance form, N indicate positive integer with n, then between reflector away from From LxWith resonant frequency ωnBetween relationship it is as follows:
Therefore, as long as obtaining the ω under n formn, so that it may obtain Lx, in conjunction with G (xr| ξ, k) ≈ Gm(ω) andAccording to Helmholtz equation standard solution, objective optimization function is built:
Due to | G (xr| ξ, k) ksin (kLx) | < 1, i.e. integrand bounded, therefore f (λ) must have minimum value:
The direction for adjusting smart phone sound source S, can similarly obtain Ly, then space length [Lx, Ly] can ask.
3. the interior space perception and moving sound method for self-locating according to claim 1 based on sound duality principle, It is characterized by: step (2) spatial modeling, specific method is:
Based on geometric acoustics principle, from the particle properties of sound, sound source S is corresponding thereto in interior known to acoustics mirror image model The single order mirror image sound source of the i-th face wall of spaceBetween should meet following relationship:
Wherein, piIndicate any point on the i-th face wall of the interior space, it can be from space length [Lx, Ly] in obtain, K indicate Interior Space Between reflect metope quantity, therefore, S withBetween point between distanceAnd M withBetween point between distanceIt respectively indicates Are as follows:
Wherein, function norm () indicates that Euclidean distance solves, tofiIndicate acoustical signal fromThe TOF value of through M.
4. the interior space perception and moving sound method for self-locating according to claim 1 based on sound duality principle, It is characterized by: step (3) sound source is self-positioning, specific method is:
(3.1) it utilizesWithConstruct Euclidean matrix Eaug:
Wherein, subscriptIndicate transposition operation；When considering the interior space is three-dimensional situation, there are EaugOrder constraint: rank (EaugIt)≤5 therefore can be from R (τ)S, rMiddle each tof of accurate judgementiValue, makes EaugMeet the order constraint of EDM, at this point, EaugIt is one The real symmetric matrix of a m*m；
(3.2) by the location information of multi-dimentional scale algorithm Real-time solution moving sound:
Firstly, enabling D (2)=Eaug ·^2Even if EaugIn each array element carry out square, D(2)Each array element indicate a little between The square value of distance；
Then, in D(2)Both sides simultaneously multiplied by center matrix J, i.e., to D(2)Dual centralization is carried out, its double nuclear forms is obtained Matrix B:
J=E-m-1gI (12)
Wherein, E is m rank unit matrix, g=IT, I is complete 1 gust of m rank；Singular value decomposition is carried out to B, obtains its maximum three feature Value, component unit battle array Λ, corresponding three feature vectors, constitutive characteristic vector matrix V can then obtain the position coordinates of sound source S:
The position coordinates of S are obtained, that is, realize the self-positioning of sound source.
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