CN110045333A - A kind of sound source three-dimensional positioning method based on Kalman filtering - Google Patents
A kind of sound source three-dimensional positioning method based on Kalman filtering Download PDFInfo
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Classifications
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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
- G01S5/24—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
Abstract
The present invention relates to a kind of sound source three-dimensional positioning method based on Kalman filtering, steps are as follows: 1) utilizes the sound pressure signal in microphone array acquisition sound field；2) Fourier transform is carried out to signal, chooses the frequency for needing to analyze；3) two-dimensional coordinate on microphone array face is mapped in using statistically optimal near-field acoustical holography used calculating sound source；4) microphone array is rotated into an angle along the longitudinal axis, and utilizes the two-dimensional coordinate in the mapping of step 3) method calculating sound source after rotation array surface；5) first two steps are repeated, two-dimensional coordinate data and pivoting angle data are obtained and constitute three-dimensional coordinate data；6) three-dimensional coordinate data is converted to holographic facet coordinate system, obtains fantasy sport track；7) virtual track is estimated using Kalman filtering, realizes the three-dimensional localization of sound source.Compared with prior art, the present invention has many advantages, such as to inhibit the influence to positioning result, improves positioning result precision.
Description
Technical field
The present invention relates to a kind of sound localization methods, position more particularly, to a kind of sound source three-dimensional based on Kalman filtering
Method.
Background technique
In recent years, have benefited from the development of the present computer technology, modern signal processing, auditory localization technology has
Significant progress.The characteristics of this technology is: system itself only relies upon the voice signal of target sound source, by array
The detection and positioning of sound source position are realized in the processing of signal.Microphone array increases space on the basis of being listed in time domain and frequency domain
Domain enhances the processing capacity of acoustic information.Always very active research is studied in auditory localization based on microphone array
Project.Many countries such as U.S., France, Italy, Israel and Canada has carried out the research work of this respect simultaneously in succession
It is fruitful.The many microphone array sound source localization systems developed have been widely used for the various occasions of social life, hair
Wave extremely important effect.
Mainly include three classes currently based on the auditory localization algorithm of microphone array: the positioning based on signal step-out time is calculated
Method (TDOA), the location algorithm (BF) based on Wave beam forming and the location algorithm based on Power estimation.These three types of algorithms are only able to achieve
The orientation angular estimation of sound source, cannot achieve the three-dimensional localization of sound source.There is research to calculate the positioning based on Power estimation in recent years
Method is extended to three-dimensional localization field, but interference of the locating effect by error in measurement process, precision need to be further increased.
TDOA and BF algorithm can not be applied to the positioning of polynary sound source.Three classes algorithm is established on the basis of the model of sound source far field,
Therefore it is even more helpless for the positioning of near-field sound source.Single cosine law algorithm, due to the presence of error in application process,
Locating effect is difficult to ensure.So the anti-noise ability of related algorithm must be improved, the positioning accuracy of boosting algorithm.Firstly, analysis
Influence the influence factor of positioning accuracy.By calculating process it is found that major influence factors include 3: 1) projection on holographic facet misses
Difference.Since reconstruction, projection net lattice point and real sources can not be completely coincident, this results in calculating sound source, real sources complete
There are errors for projector distance on breath face.The error can not be eliminated by encryption renewal grid；2) microphone pick error.The mistake
Difference is present in all acquisition systems, and above-mentioned projector distance will be made deviation further occur；3) rotational angle error.The error
It is also generally existing in collection process, and changes with the difference of rotational angle.Rotational angle hour, the error shadow
Sound is larger, and when rotational angle is big, which influences smaller.The 3-D positioning method of sound source is at present also in exploration on the whole
In.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be filtered based on Kalman
The sound source three-dimensional positioning method of wave.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of sound source three-dimensional positioning method based on Kalman filtering, including the following steps:
Step 1: utilizing the sound pressure signal in microphone array acquisition sound field.
The microphone array of signal is classified as random face array in acquisition sound field.Array number is 36, array diameter 0.5m, Ke Yiman
The location requirement of sufficient near-field sound source.Data after acquisition are handled by rectangular window, are equivalent to and have been carried out part two to three-dimensional sound field
Dimensional plane acquisition.
Step 2: the sound pressure signal to acquisition carries out Fourier transform, and choose the frequency to be analyzed.
In carrying out Fourier transform, the window function of windowing process is Hanning window (hanning window), is chosen simultaneously
The frequency data for needing to analyze.The data length of acquisition be 1s, then frequency resolution be 1Hz, meet most analysis need
It asks.
Step 3: being mapped in the two-dimensional coordinate on microphone array face using statistically optimal near-field acoustical holography used calculating sound source.
The case where statistically optimal near-field acoustical holography used is a kind of local acoustical Holographic Algorithm, array small suitable for big sound source.Algorithm
It is not strictly required that array must be regular array (such as grid array), and algorithm is insensitive to the sound source other than measuring surface.It calculates
In method implementation process, sound field is assumed the superposition of unit wave, and the amplitude of unit wave is assumed to be equal to 1, and the number of unit wave is answered
Array number should be greater than.
Step 4: microphone array is rotated a low-angle along the longitudinal axis, and utilize statistically optimal near-field acoustical holography used calculating
Sound source maps the two-dimensional coordinate in array surface after rotation.Specific method is as described in step 3.Significantly, since two
The sound source coordinate of secondary calculating is likely located in the same side or two sides of rotary shaft, and the calculation formula of both of these case is slightly not
Together.
Measuring surface b will be originated and terminates angle (α) the progress n equal part of measuring surface a, equal part angle [alpha]1=α/n, by b holography
Face rotates angle [alpha] along y-axis1, it is defined as 1 holographic facet of α (that is: the starting holographic facet of rotation next time).Utilize statistics optimal near-field sound
Holography determines that sound source geometric center is mapped in b holographic facet, the 2D coordinate on α 1.
Preferably, α is set as 60 degree, and n is set to 60.
Step 5: repeating step 3 and step 4, two groups of two-dimensional coordinate datas and one group of pivoting angle data are obtained, is utilized
Two groups of two-dimensional coordinate datas and corresponding angle-data calculate one group of three-dimensional coordinate data, i.e. void of the sound source with respect to b holographic facet
Quasi- motion profile, using this three-dimensional coordinate data as sound source position data.In the process, it needs this group of data being transformed into initial survey
Under coordinate system corresponding to amount face, by motion composition principle it is found that measuring surface around vertical axis axis rotation be equivalent to sound source around
Same axis rotation, and total rotation angle is equal.Thus form the fantasy sport track that a sound source is pivoted.Preferably,
Total rotation angle can be set to 60 degree according to the actual situation.
Sound source to holographic facet distance calculation formula in two kinds of situation: 1) projection mapping point is calculated in the two sides of shaft
Formula such as formula (1)~formula (5)；2) projection mapping point is in the ipsilateral of shaft, calculation formula such as formula (4)~formula (9).
γ=180- alpha-beta (3)
β=90- α-θ (8)
γ=90+ θ (9)
In formula, Xab is the mapping point of b holographic facet to the distance between the mapping point of a holographic facet, and Xa is reflecting for a holographic facet
For exit point to the distance between the crosspoint of a holographic facet and b holographic facet, Xb is that the mapping point of b holographic facet is holographic to b holographic facet and a
The distance between the crosspoint in face.Da is the distance of sound source S to a holographic facet, and Db is the distance of sound source S to b holographic facet, β Da
Angle between Xab, angle of the γ between Db and Xab, angle of the α between Da and Db.
It is under b holographic facet coordinate system by all 3D coordinate transformations, transfer principle is as follows: sound source holographic facet x-axis after rotation
Upper projection number of coordinates group is (Xa1, Xa2, Xa3..., Xan), rotation angle number group be (α1, α2, α3..., αn), sound source b holography
Projection coordinate Xb in the x-axis of face is constant, the projection coordinate Ya of sound source y-axis on all holographic facets1=Ya2=Ya3=...=Yan=
Yb.It can be calculated based on the formula provided in above-mentioned data and claim 4: the vertical range of holographic facet after the rotation that sound source arrives
(Da1, Da2, Da3..., Dan).Under the coordinate system of b holographic facet, coordinate points (Xb, Yb, Db), (Xa1, Y a1, Da1), (Xa2,
Ya2, Da2) ..., (Xan, Yan, Dan) constitute fantasy sport trajectory line of the sound source relative to b holographic facet coordinate system.
Preferably, the number that step 3 and step 4 are repeated in step 5 is 40 times.
Step 6: containing measurement error and mesh error in sound source position data, using Kalman filtering to above-mentioned sound source
Position data is filtered estimation, to inhibit above-mentioned error, the final three-dimensional localization for realizing sound source.
Compared with prior art, the present invention considers measurement error and mesh error in practice, these errors have height
This distribution character, Kalman filtering as efficient recursion filter, can from it is a series of not exclusively and include that Gauss makes an uproar
In the measurement data of sound, signal data is predicted and estimates, the present invention obtains one group of sound source position by multiple rotary holographic facet
Data, and inhibit influence of the error to positioning result using Kalman filtering, improve the precision of positioning result.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention；
Fig. 2 is that sound source of the invention rebuilds grid schematic diagram；
Fig. 3 is projection mapping point schematic diagram, wherein Fig. 3 (a) is ipsilateral schematic diagram of the projection mapping point in shaft, Fig. 3
(b) schematic diagram for projection mapping point in the two sides of shaft；
Fig. 4 is that sound source displacement calculates schematic diagram；
Fig. 5 is the locating effect figure in the embodiment of the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Obviously, described embodiment is this
A part of the embodiment of invention, rather than whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, all should belong to the scope of protection of the invention.
As shown in Figure 1, the present invention relates to a kind of sound source three-dimensional positioning method based on Kalman filtering, including following step
It is rapid:
(1) using the sound pressure signal in microphone array acquisition sound field, measurement array is diameter 0.5m with machine side battle array
Column, array number 36, spatial window are chosen to be space rectangular window function, and acquisition instrument is that the channel LMS48 acquires front end.
(2) Fourier transform is carried out to each sound pressure signal of acquisition, the time span of every segment signal is 1s.The window of signal
Function is Hanning window function, sample frequency 4096Hz.
(3) two-dimensional coordinate on microphone array face is mapped in using statistically optimal near-field acoustical holography used calculating sound source.
Sound source rebuilds grid and is set as regular grid array, and schematic diagram is as shown in Figure 2.It can be seen that due to practical net
Lattice can not be completely coincident with sound source actual position, cause practical projection coordinate with error, and this error can not be by adding
Fine grid is eliminated.
Statistically optimal near-field acoustical holography used core concept are as follows:
Assuming that p (rhn) it is n-th of measurement point r on holographic facethn=(xn,yn,zh) at multiple acoustic pressure, p (r) be 0≤z≤zh
Multiple acoustic pressure on face at any reconstruction point r=(x, y, z), then enable:
In formula, cnIt (r) is weight coefficient, N is measurement point sum.
If above formula is set up, then the hypothesis also sets up unit plane wave, and the superposition system being about scheduled in two kinds of hypothesis
Number is constant, therefore weight coefficient cn(r) should meet:
In formula, ΦKIt (r) is the unit plane wave of space wave-number domain, KmFor wave-number vector.
The system of linear equations that M (M >=N) a linear equation determined by above formula is constituted is expressed as the form of matrix are as follows:
B=Ac (r)
In formula, c (r) is weight coefficient matrix, and b is unit plane wave matrix, and A is analytic solution matrix.
The Regularization Solution of above formula are as follows:
C (r)=(A+A+θ2I)-1A+b
Wherein: A+For the associate matrix of matrix A；θ is regularization parameter；I is unit diagonal matrix.
Formula (4), which are substituted into formula (1), to be obtained:
(4) microphone array is rotated 1 degree along vertical axis, forms new measuring surface.Utilize freshly harvested data and system
It counts optimal near-field acoustical holography and calculates two-dimensional coordinate of the sound source relative to new measuring surface, specific method is as described in step (3).
Measuring surface b will be originated and terminates angle (α) the progress n equal part of measuring surface a, equal part angle [alpha]1=α/n, by b holography
Face rotates angle [alpha] along y-axis1, it is defined as 1 holographic facet of α (that is: the starting holographic facet of rotation next time).Utilize statistics optimal near-field sound
Holography determines that sound source geometric center is mapped in b holographic facet, the 2D coordinate on α 1；α is set as 60 degree in the example, and n is set to 60.
(5) step (3) and step (4) are repeated, one group of two-dimensional coordinate data and pivoting angle data are obtained, using remaining
String theorem calculates fantasy sport trajectory coordinates of the sound source relative to microphone array face, this three-dimensional coordinate data is sound source position
Data, it may be assumed that
Sound source to holographic facet distance calculation formula in two kinds of situation:
1) projection mapping point is in the two sides of shaft, and referring to Fig. 3 (a), calculation formula is as shown in following formula:
γ=180- alpha-beta
2) projection mapping point is in the ipsilateral of shaft, and referring to Fig. 3 (b), calculation formula is as shown in following formula:
β=90- α-θ
γ=90+ θ
In formula, Xab is the mapping point of b holographic facet to the distance between the mapping point of a holographic facet, and Xa is reflecting for a holographic facet
For exit point to the distance between the crosspoint of a holographic facet and b holographic facet, Xb is that the mapping point of b holographic facet is holographic to b holographic facet and a
The distance between the crosspoint in face.Da is the distance of sound source S to a holographic facet, and Db is the distance of sound source S to b holographic facet, β Da
Angle between Xab, angle of the γ between Db and Xab, angle of the α between Da and Db.
(6) virtual track is estimated using Kalman filtering, due to measurement error and mesh error, above-mentioned step
The fantasy sport track obtained in rapid is inaccurate, and error is very big.This step can be pressed down by the estimation function of Kalman filtering
Above-mentioned error is made, more accurate sound source virtual track line is obtained, the final three-dimensional localization for realizing sound source.
Based on the data of rotation holographic facet, the radius R (ginseng of fantasy sport track is gone out using data average algorithm preresearch estimates
See Fig. 4), then displacement of the sound source in xoz plane are as follows:
Wherein: when virtual track rotates counterclockwise, n=1；When virtual track rotates clockwise, n=0.
The present embodiment has carried out comparative experiments for true path, and Fig. 5 is true path, original location data and uses this
The comparison diagram of the filtered location data of inventive method, as can be seen from Figure: 1) real trace (dotted line) is a circular arc line；
2) since data are there are error, the positioning result (solid line) based on the data is caused to deviate real trace, worst error reaches
300%；3) positioning result of the invention (asterisk line) is significantly better than existing algorithm, and worst error is no more than 10%, experiment knot
The effectiveness of the invention of fruit verifying.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The staff for being familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (8)
1. a kind of sound source three-dimensional positioning method based on Kalman filtering, which is characterized in that this method includes the following steps:
1) using the local sound pressure signal in microphone array acquisition sound field, and the sound pressure signal after acquisition is carried out at rectangular window
Reason；
2) to treated, sound pressure signal carries out Fourier transform, and chooses the frequency of Analysis of The Acoustic Fields and reconstruction；
3) two-dimensional coordinate on microphone array face is mapped in using statistically optimal near-field acoustical holography used calculating sound source；
4) microphone array is rotated into an angle along the longitudinal axis, and is mapped in rotation using statistically optimal near-field acoustical holography used calculating sound source
Two-dimensional coordinate after turning in array surface；
5) step 3) and step 4) are repeated, two groups of two-dimensional coordinate datas and one group of pivoting angle data are obtained, utilizes every group of two dimension
Coordinate data and its corresponding angle-data obtain three-dimensional coordinate data of one group of sound source relative to microphone array, will be three-dimensional
Coordinate data is converted to a holographic facet coordinate system, obtains fantasy sport track of the sound source with respect to the holographic facet；
6) virtual track is estimated using Kalman filtering, realizes the three-dimensional localization of sound source.
2. a kind of sound source three-dimensional positioning method based on Kalman filtering according to claim 1, which is characterized in that step
4) in, the particular content of the two-dimensional coordinate in statistically optimal near-field acoustical holography used calculating sound source mapping after rotation array surface is utilized
Are as follows:
It enables b holographic facet as starting measuring surface, enables a holographic facet as measuring surface is terminated, by b holographic facet and terminate a holographic facet
Angle α carries out n equal part, equal part angle [alpha]1B holographic facet is rotated angle [alpha] along y-axis by=α/n1, it is defined as 1 holographic facet of α, utilizes system
Meter optimal near-field acoustical holography determines the two-dimensional coordinate that sound source geometric center is mapped on holographic facet b, α 1.
3. a kind of sound source three-dimensional positioning method based on Kalman filtering according to claim 2, which is characterized in that step
4) in, microphone array is rotated about the axis 1 degree, and map battle array after rotation using statistically optimal near-field acoustical holography used calculating sound source
Two-dimensional coordinate on column face.
4. a kind of sound source three-dimensional positioning method based on Kalman filtering according to claim 3, which is characterized in that step
5) in, three-dimensional coordinate data of the sound source relative to microphone array is calculated using the cosine law.
5. a kind of sound source three-dimensional positioning method based on Kalman filtering according to claim 4, which is characterized in that use
The cosine law calculates particular content of the sound source relative to the three-dimensional coordinate data of microphone array are as follows:
Sound source to holographic facet distance calculation formula in two kinds of situation:
1) in the two sides of shaft, calculation formula is shown below projection mapping point:
γ=180- alpha-beta
2) in the ipsilateral of shaft, calculation formula is shown below projection mapping point:
β=90- α-θ
γ=90+ θ
In formula, Xab is the mapping point of b holographic facet to the distance between the mapping point of a holographic facet, and Xa is the mapping point of a holographic facet
To the distance between the crosspoint of a holographic facet and b holographic facet, Xb is the mapping point of b holographic facet to b holographic facet and a holographic facet
The distance between crosspoint, Da are the distance of sound source S to a holographic facet, and Db is the distance of sound source S to b holographic facet, and β is Da and Xab
Between angle, angle of the γ between Db and Xab, angle of the α between Da and Db.
6. a kind of sound source three-dimensional positioning method based on Kalman filtering according to claim 5, which is characterized in that step
5) in, the transfer principle under b holographic facet coordinate system is converted by all three-dimensional coordinates are as follows:
Projection number of coordinates group is (Xa to sound source in holographic facet x-axis after rotation1, Xa2, Xa3..., Xan), rotation angle number group be
(α1, α2, α3..., αn), projection coordinate Xb of the sound source in b holographic facet x-axis it is constant, the throwing of sound source y-axis on all holographic facets
Shadow coordinate Ya1=Ya2=Ya3=...=Yan=Yb can then calculate the vertical range (Da of holographic facet after sound source to rotation1, Da2,
Da3..., Dan)；Under the coordinate system of b holographic facet, coordinate points (Xb, Yb, Db), (Xa1, Ya1, Da1), (Xa2, Ya2, Da2) ...,
(Xan, Yan, Dan) fantasy sport trajectory line of the composition sound source relative to b holographic facet coordinate system.
7. a kind of sound source three-dimensional positioning method based on Kalman filtering according to claim 2, which is characterized in that b is complete
Breath face and the angle α for terminating a holographic facet are set as 60 degree, and n is set as 60.
8. a kind of sound source three-dimensional positioning method based on Kalman filtering according to claim 1, which is characterized in that step
5) in, the number for repeating step 3) and step 4) is 40 times.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112577592A (en) * | 2020-11-27 | 2021-03-30 | 哈尔滨工程大学 | Finite space plane near-field acoustic holography measuring method based on space Fourier transform |
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| CN113639934A (en) * | 2021-08-31 | 2021-11-12 | 郑州大学 | Three-dimensional positioning method and positioning system for gas leakage position |
| CN113639934B (en) * | 2021-08-31 | 2024-03-26 | 郑州大学 | Three-dimensional positioning method and positioning system for gas leakage position |
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Application publication date: 20190723 |