CN110068797A - A kind of method, sound localization method and relevant device for calibrating microphone array - Google Patents
A kind of method, sound localization method and relevant device for calibrating microphone array Download PDFInfo
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- CN110068797A CN110068797A CN201910328573.XA CN201910328573A CN110068797A CN 110068797 A CN110068797 A CN 110068797A CN 201910328573 A CN201910328573 A CN 201910328573A CN 110068797 A CN110068797 A CN 110068797A
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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
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Abstract
The application provides a kind of method, sound localization method and relevant device for calibrating microphone array, the accuracy of the calibration value for improving the microphone obtained.This method comprises: passing through voice data of N number of microphone acquisition from setting point source of sound in microphone array；Wherein, the distance of N number of microphone to setting point source of sound is all the same；According to the voice data of N number of microphone, the related coefficient of every two microphone in N number of microphone is obtained using the preset correlation coefficient method of figuring；According to the part related coefficient for being less than preset correlation coefficient threshold in related coefficient, associated corresponding M microphone is determined；Based on the voice data of every two microphone in remaining microphone in N number of microphone other than M microphone, the delay inequality for the voice data that every two microphone acquires in remaining microphone is obtained；Based on delay inequality, the corresponding time-delay calibration value of each microphone calibrated in remaining microphone is determined.
Description
Technical field
This application involves auditory localization technical field more particularly to a kind of methods for calibrating microphone array, auditory localization
Method and relevant device.
Background technique
In the relevant occasion of numerous interactive voices, such as voice assistant and the consumer electricity of mobile phone for completing voice communication
In sub- product, it is common to use microphone array determines the position of user according to the sound of user, carries out to sound in this position
Speech enhan-cement.Before equipment factory, it usually needs calibrated to microphone array.
In the prior art, the method calibrated to microphone array is general are as follows: the calibration parameter of single microphone is tested,
Calibration result of the sum of the parameter using single microphone as microphone array.The auditory localization calibrating mode obtains calibration result
Mode have ignored each microphone performance parameter variations influence, and have ignored the correlation between each microphone, because
This, the accuracy for the calibration result which obtains is poor.
Summary of the invention
The embodiment of the present application provides a kind of microphone array calibration method, sound localization method and relevant device, for mentioning
The accuracy of the calibration value for the microphone that height obtains.
In a first aspect, providing a kind of method for calibrating microphone array, comprising:
Pass through voice data of N number of microphone acquisition from setting point source of sound in microphone array；Wherein, described N number of
The distance of microphone to the setting point source of sound is all the same, and N is the integer more than or equal to 3；
According to the voice data of N number of microphone, method is figured using preset correlation coefficient and is obtained in N number of microphone often
The related coefficient of two microphones；
According to the part related coefficient for being less than preset correlation coefficient threshold in the related coefficient, determine to be associated
M microphone of correspondence；Wherein, M is the integer less than N；
Based on every two microphone in remaining microphone in N number of microphone other than the M microphone
Voice data obtains the delay inequality of the voice data of every two microphone acquisition in remaining described microphone；
Based on the delay inequality, when determining that each microphone calibrated in remaining described microphone is corresponding
Prolong calibration value.
In the above scheme, according to the related coefficient of every two microphone in microphone array, abnormal microphone is determined,
Carry out calculation delay difference calibration value further according to the microphone in microphone array other than abnormal microphone, avoids abnormal
Mike's wind effect calibration result, improves the accuracy of calibration result.And it is ingenious using in related coefficient exclusion microphone array
Abnormal microphone can detect the quality of product.
In a kind of possible design, according to the voice data of N number of microphone, method is figured using preset correlation coefficient and is obtained
The related coefficient of every two microphone in N number of microphone, comprising:
Each microphone voice data in every two microphone, are cut in N number of microphone of interception preset length
The voice data of every two microphone in N number of microphone after taking；
The voice data of every two microphone in N number of microphone after interception is normalized, institute is obtained
State the related coefficient of every two microphone in N number of microphone.
In the above scheme, intercepting process is carried out to the voice data of every two microphone, on the one hand can ensure that phase
The length for closing the voice data calculated is identical, so that calculated related coefficient has more reference value, possible sets a kind of
In meter, the sound based on every two microphone in remaining microphone in N number of microphone other than the M microphone
Data obtain the delay inequality of the voice data of every two microphone acquisition in remaining described microphone, comprising:
Construct the cost function in remaining described microphone between the voice data of every two microphone；
Based on default delay inequality value range, the cost function of every two microphone in remaining described microphone is obtained most
Big value；
Determine the sound with the corresponding delay inequality of the maximum value for every two microphone acquisition in remaining described microphone
The delay inequality of data.
In the above scheme, by traversing cost function, the cost function of every two microphone is obtained to obtain every two
The delay inequality of the voice data of microphone can make the voice data of more frames participate in calculating, avoid a certain frame voice data
Extremely result is impacted, so that the delay inequality of the voice data of the every two microphone obtained is more acurrate.
In a kind of possible design, it is based on the delay inequality, determines to be calibrated in remaining described microphone
The corresponding time-delay calibration value of each microphone, comprising:
Determine that the difference in the delay inequality between the average value of the delay inequality is greater than at least two of preset difference value
Delay inequality；
According to the average value and at least two delay inequality, determine to be associated with at least two delay inequality
The corresponding calibration value of at least one microphone, to obtain each wheat calibrated in remaining described microphone
Gram corresponding time-delay calibration value of wind.
In the above scheme, according to the difference between the average value of multiple delay inequalitys and each delay inequality come when determining some
Prolonging difference, whether deviation is larger, the calibration value of corresponding microphone is determined according to average value and delay inequality, that is to say, that according to multiple
The principle of the time delay consistency of microphone can relatively accurately obtain time-delay calibration value.
Second aspect provides a kind of sound localization method, comprising:
Need in remaining microphone obtained according to the method by any one in first aspect and a kind of possible design
The corresponding time-delay calibration value of each microphone calibrated acquires the mesh from point source of sound to be measured to remaining described microphone
Mark voice data compensates；
Based on the target voice data of the microphone in remaining described microphone other than compensated microphone, and
The target voice data of compensated microphone obtains the position of the point source of sound to be measured.
In above scheme, on the basis of being positioned to sound source to be measured, according to the corresponding accurate time delay school of microphone
Quasi- value, compensates the voice data of the microphone, and then obtains the position of point source of sound to be measured, when corresponding due to microphone
Prolong that calibration value is accurate, so that the position of the point source of sound to be measured obtained is relatively also more acurrate.
The third aspect provides a kind of equipment for calibrating microphone array, comprising:
Detection module, for passing through voice data of N number of microphone acquisition from setting point source of sound in microphone array；
Wherein, the distance of N number of microphone to the setting point source of sound is all the same, and N is the integer more than or equal to 3；
Processing module is figured described in method acquisition for the voice data according to N number of microphone using preset correlation coefficient
The related coefficient of every two microphone in N number of microphone；
The processing module is also used to according to the part phase for being less than preset correlation coefficient threshold in the related coefficient
Relationship number determines associated corresponding M microphone；Wherein, M is the integer less than N；
The processing module is also used to based on remaining Mike in N number of microphone other than the M microphone
The voice data of every two microphone in wind, obtain the voice data of every two microphone acquisition in remaining described microphone when
Prolong difference；
The processing module is also used to determine to be calibrated in remaining described microphone based on the delay inequality
The corresponding time-delay calibration value of each microphone.
In a kind of possible design, processing module is specifically used for:
Each microphone voice data in every two microphone, are cut in N number of microphone of interception preset length
The voice data of every two microphone in N number of microphone after taking；
The voice data of every two microphone in N number of microphone after interception is normalized, institute is obtained
State the related coefficient of every two microphone in N number of microphone.
Fourth aspect provides a kind of sound source localization equipment, comprising:
Each of compensating module, calibrated in remaining microphone for being obtained by the method in first aspect
The corresponding time-delay calibration value of microphone mends target voice data of remaining described microphone acquisition from point source of sound to be measured
It repays；
Processing module, for the target based on the microphone in remaining described microphone other than compensated microphone
The target voice data of voice data and compensated microphone obtains the position of the point source of sound to be measured.
5th aspect, provides a kind of smart machine, comprising:
At least one processor, and
The memory being connect at least one described processor communication；
Wherein, the memory is stored with the instruction that can be executed by least one described processor, described at least one
It manages device and realizes the method as described in first aspect or second aspect by executing the instruction of the memory storage.
6th aspect, provides a kind of computer readable storage medium, the computer-readable recording medium storage has calculating
Machine instruction, when the computer instruction is run on computers, so that computer is executed as in first aspect or second aspect
The method.
Detailed description of the invention
Fig. 1 is a kind of arrangement schematic diagram of microphone array provided by the embodiments of the present application；
Fig. 2 is a kind of flow diagram of method for calibrating microphone array provided by the embodiments of the present application；
Fig. 3 is a kind of schematic diagram of voice data provided by the embodiments of the present application；
Fig. 4 is a kind of flow chart of sound localization method provided by the embodiments of the present application；
Fig. 5 is a kind of structural schematic diagram of equipment for calibrating microphone array provided by the embodiments of the present application；
Fig. 6 is a kind of structural schematic diagram of sound source locating device provided by the embodiments of the present application；
Fig. 7 is a kind of structural schematic diagram of smart machine provided by the embodiments of the present application.
Specific embodiment
In order to better understand technical solution provided by the embodiments of the present application, below in conjunction with Figure of description and specifically
Embodiment be described in detail.
In order to improve acquisition quasi- microphone array calibration value accuracy, the application implementation be related to a kind of calibration Mike
The method of wind array, the microphone array being related to below to the method in the embodiment of the present application are introduced.
Fig. 1 is please referred to, includes N number of microphone 120 Fig. 1 shows a kind of microphone array, in the microphone array 110 and sets
Determine sound source position point 130.The performance parameter of multiple microphones 120 is consistent, performance parameter such as sample rate, sampling precision, channel
Several and bit rate etc..The distance of N number of microphone 120 to setting sound source position point 130 is equal.Set sound source position point 130
Point source of sound is set for placing.Wherein, microphone array does not generally include setting point source of sound.In the process actually calibrated
In, user can place setting point source of sound on setting sound source position point 130, multiple microphones 120 to the setting point source of sound
Distance is equal.
It wherein, is but the actually microphone array 110 by taking the shape of microphone array 110 is round as an example in Fig. 1
Shape can be positive multiform, be also possible to regular cube shape, be also possible to spherical shape, not to microphone array in the embodiment of the present application
110 shape carries out concrete restriction.It is for including 6 microphones 120 in microphone array 110, but actually in Fig. 1
The quantity of microphone 120 in microphone array 110 is not limited.
In addition, in the embodiment of the present application calibration microphone array method be suitable for far field calibration scene, below it is right
Far field calibration is briefly introduced.
Please continue to refer to Fig. 1, sets point source of sound 130 and issued to the distance between microphone array 110 L much larger than point source of sound
Signal wavelength X, the physical relationship between specific L and λ is expressed as follows:
Wherein, D indicates the distance between every two point source of sound.
Below with reference to the microphone array of Fig. 1, to two kinds of the method for the calibration microphone array in the embodiment of the present application
Usage scenario is illustrated.
Scene one, microphone array is listed in front of factory, and manufacturer can calibrate microphone array with this method；
Scene two, user can be calibrated according to this method with microphone array after microphone array below.
Below with reference to microphone array described in Fig. 1, below to the invention relates to calibration microphone array
Method is introduced, and referring to figure 2., this method specifically includes:
Step 201, pass through voice data of N number of microphone acquisition from setting point source of sound in microphone array；Wherein,
The distance of N number of microphone to setting point source of sound is all the same, and N is the integer more than or equal to 3；
Step 202, according to the voice data of N number of microphone, method is figured using preset correlation coefficient and is obtained in N number of microphone often
The related coefficient of two microphones；
Step 203, according to the part related coefficient for being less than preset correlation coefficient threshold in related coefficient, phase is determined
Associated corresponding M microphone, wherein M is the integer less than N；
Step 204, based on every two microphone in remaining microphone in N number of microphone other than M microphone
Voice data obtains the delay inequality for the voice data that every two microphone acquires in remaining microphone；
Step 205, it is based on delay inequality, when determining that each microphone calibrated in remaining microphone is corresponding
Prolong calibration value.
The invention relates to calibration microphone array 110 method can by the equipment of calibration microphone array Lai
It executes.The equipment of calibration microphone array can be realized by microphone array and processing unit.During processing unit can be
Central processor (Central Processing Unit, CPU), is also possible to specific integrated circuit (Application
Specific Integrated Circuit, ASIC), it is also possible to one that is configured to implement the embodiment of the present application or more
A integrated circuit, such as: one or more microprocessors (digital signal processor, DSP), or, one or
Multiple field programmable gate arrays (Field Programmable Gate Array, FPGA).
The process for executing above-mentioned steps to the equipment of calibration microphone array below is introduced.
User prepares to calibrate microphone array 110, and the equipment that user opens calibration microphone array calibrates Mike
The equipment of wind array executes step 201, i.e., by the acquisition of N number of microphone 120 in microphone array 110 from setting point source of sound
Voice data.
Specifically, each microphone 120 is opened in the equipment of calibration microphone array, user's control sets point source of sound and issues
Sound, N number of microphone 120 can accordingly collect the voice data that setting point source of sound issues.The sound that N number of microphone 120 acquires
Data are usually time domain data.
Voice data can be as unit of frame, and each microphone acquisition at least frame comes from setting sound in N number of microphone 120
The voice data of source point.The equipment of microphone array is calibrated from N number of microphone 120, obtains each Mike in N number of microphone 120
The corresponding voice data of wind 120.
While obtaining voice data, the equipment for calibrating microphone array establishes each microphone in N number of microphone 120
Corresponding relationship between 120 and corresponding voice data.
Specifically, can be obtained N number of while the equipment of calibration microphone array obtains voice data from N number of microphone 120
The mark of microphone 120, to establish the sound number corresponding with the microphone 120 of each microphone 120 in N number of microphone 120
Relationship between.
Alternatively, prestoring the mark of each microphone 120 in the equipment of calibration microphone array in advance, microphone array is calibrated
The equipment of column is established between the microphone 120 and corresponding voice data after the voice data for obtaining each microphone 120
Relationship.
After the equipment of calibration microphone array executes step 201, the equipment for calibrating microphone array executes step
202, according to the voice data of N number of microphone 120, method is figured using preset correlation coefficient and obtains every two Mike in N number of microphone
The related coefficient of wind.
In a kind of possible embodiment, the equipment for calibrating microphone array may obtain each Mike in N number of microphone
The corresponding multiframe voice data of wind, in order to which the length for guaranteeing to participate in the corresponding voice data of each microphone is identical, calibration
The equipment of microphone array can intercept the voice data of corresponding preset length in the voice data of each microphone, can also
To be interpreted as the voice data progress shifting processing to a microphone in every two microphone.
Wherein, every two can be understood as any one microphone in N number of microphone can be with each wheat in other microphones
Gram wind is combined.Preset length is measured with time span, or is measured with frame number, such as preset length is 3s, or
Preset length is 20 frames.
Further, when intercepting the voice data of every two microphone, the sound number of two microphones can accordingly be covered
According to overlay region, to increase the accuracy of calculated related coefficient.
Specifically, the maximum that the overlay region of the voice data of every two microphone can be understood as every two microphone is similar
Voice data, since the overlay region of the voice data of every two microphone may be not fully identical, different two
Voice data after interception corresponding to microphone may be not fully identical.
For example, referring to figure 3., the voice data of the first microphone in N number of microphone is as shown in the a1 in Fig. 3, N number of wheat
The voice data of second microphone in gram wind intercepts the voice data of the preset length L in a1, is as shown in the a2 in Fig. 3
The voice data similarity of the voice data and a2 that make a1 is higher, can intercept the preset length L postponed after t2 sections in a2
Voice data.
After the voice data for intercepting each microphone preset length, the equipment of microphone array is calibrated by each Mike
The voice data of wind preset length is transformed by Fourier Tranform (FFT) as frequency domain data.
It, can be according to every in N number of microphone after interception after the voice data for intercepting each microphone preset length
The corresponding voice data of a microphone carries out normalizing to the corresponding voice data of microphone each in N number of microphone after interception
Change processing, obtains the related coefficient of every two microphone in N number of microphone.Related coefficient can be understood as corresponding two microphones
Voice data similarity degree.
The corresponding voice data of microphone each in N number of microphone after interception is normalized and obtains N number of wheat
There are many kinds of calculations for the related coefficient of every two microphone in gram wind, are illustrated below.
Mode one:
It is normalized according to the following formula:
Wherein, M indicates the length of the voice data after interception, Xi(k) i-th of microphone acquisition in N number of microphone is indicated
Kth frame voice data, Xh(k) the kth frame voice data of j-th of microphone acquisition in N number of microphone, X are indicatedh(k)*Indicate N
The conjugate number for the voice data that j-th of microphone acquires in a microphone.
Mode two:
It is normalized according to the following formula:
Wherein, XiIndicate the multiframe voice data of i-th of microphone acquisition in N number of microphone according to chronological order group
At vector, XhIndicate what the multiframe voice data of h-th of microphone acquisition in N number of microphone was formed according to chronological order
Vector.
If should be noted that voice data before is sound time domain data, in the phase for calculating every two microphone
When relationship number, sound time domain data should be converted to sound frequency domain data and calculated.
After performing step 202, the equipment for calibrating microphone array executes step 203, i.e., according to small in related coefficient
In the part related coefficient of preset correlation coefficient threshold, determine that associated corresponding M microphone, M are whole less than N
Number.
Specifically, share N number of microphone due to one, each microphone and each microphone corresponding one in other microphones
A related coefficient, therefore, each associated related coefficient of microphone are corresponding with the equipment that (N-1) is a, calibrates microphone array
It, can be by multiple related coefficients and preset phase relation in obtaining N number of microphone after the related coefficient of every two microphone
Number threshold value is compared.
If an associated related coefficient of microphone is all larger than or is equal to correlation coefficient threshold or a microphone
Only one related coefficient of associated related coefficient is less than correlation coefficient threshold, then the equipment for calibrating microphone array determines should
Microphone is normal.If at least two related coefficients are respectively less than phase relation in the related coefficient of a microphone and other microphones
Number threshold value, the then equipment for calibrating microphone array determine microphone exception.
Wherein, preset correlation coefficient threshold, which can be, is set by the user, or by the equipment of calibration microphone array
Default setting.
The equipment of calibration microphone array may determine the microphone of one or more exceptions from N number of microphone,
May not determine abnormal microphone in N number of microphone, that is to say, that the value of M can be 0, be also possible to be greater than or
Integer equal to 1.
For example, the correlation coefficient threshold stored in the equipment of calibration microphone array is 0.7, setting for microphone array is calibrated
It include 3 microphones (A, B, C) in standby, shown in the corresponding related coefficient of 3 microphones table 1 specific as follows.
| Microphone | Related coefficient |
| A-B | 0.65 |
| B-C | 0.6 |
| A-C | 0.8 |
For example, the equipment of calibration microphone array determines that microphone B related coefficient corresponding with other microphones is respectively less than
Correlation coefficient threshold, the equipment for calibrating microphone array determine that microphone B is abnormal.
Because the distance of N number of microphone distance setting point source of sound is all the same, theoretically every two wheat in N number of microphone
The related coefficient of gram received voice data of wind should be biggish.If the corresponding related coefficient of some microphone occurs different
Often, then microphone exception can be determined.In the embodiment of the present application, it is compared using related coefficient with correlation coefficient threshold
Mode can exclude that those signal amplitude values are relatively low or complete idle microphone.Abnormal microphone is excluded, to avoid
The subsequent accuracy for obtaining calibration value of abnormal Mike's wind effect, even if occurring several abnormal Mikes in microphone array
Wind, microphone array still can relatively accurately work.And abnormal microphone is excluded, opposite it can reduce subsequent mistake
Treating capacity in journey.And it can be used in the underproof microphone array product of screening.
After executing step 203, the equipment for calibrating microphone array executes step 204, that is, is based on removing in N number of microphone
The voice data of every two microphone, obtains every two wheat in remaining microphone in remaining microphone except M microphone
The delay inequality of the voice data of gram elegance collection.
Specifically, calibrating the equipment of microphone array no longer to M abnormal wheat after determining M microphone exception
The voice data of gram wind is handled, but according to remaining Mike in N number of microphone other than in M abnormal microphone
The voice data of every two microphone in wind, to calculate the delay inequality in remaining microphone between every two microphone.Delay inequality
It can be understood as the existing delay inequality that two microphones receive the same frame voice data of setting point source of sound.
Wherein, if M value is 0, remaining microphone or N number of microphone, if M value is not 0, remaining wheat
Gram wind is the microphone other than M abnormal microphone.
There are many kinds of the modes for obtaining the delay inequality for the voice data that every two microphone acquires in remaining microphone, below
It is illustrated.
A method of obtaining delay inequality are as follows:
Construct the cost function in remaining microphone between the voice data of every two microphone；
Based on default delay inequality value range, the maximum of the cost function of every two microphone in remaining microphone is obtained
Value；
Determine with the corresponding delay inequality of maximum value be remaining microphone in every two microphone acquisition voice data when
Prolong difference.
Specifically, the equipment of calibration microphone array can first construct the cost letter between the voice data of two microphones
Number, according to preset delay inequality range, traverses the cost function, obtains the maximum value of the cost function, the maximum value
Corresponding delay inequality is then the delay inequality of every two microphone.
A kind of cost function expression is as follows:
Wherein, k indicates the kth frame in voice data, and w indicates that weighting coefficient, j indicate imaginary part, and τ indicates delay inequality, and s is indicated
The length of the voice data of interception, s and M value hereinbefore can be identical, can not also be identical, Xi(k) N number of microphone is indicated
In i-th of microphone acquisition kth frame voice data, Xh(k) the kth frame sound of j-th of microphone acquisition in N number of microphone is indicated
Sound data, Xh(k)*Indicate the conjugate number for the voice data that j-th of microphone acquires in N number of microphone.
Specifically, preset delay inequality range is [- x, x], preset traversal step-length is z, then calibrates microphone array
It is-x that equipment, which successively takes τ, and it is corresponding successively to calculate different τ by (- x+z) ... (- x+2z) ... xValue, acquisitionThe corresponding τ of maximum value be then delay inequality between i-th of microphone and j-th of microphone.
It is inclined in the position for excluding microphone array 110 since remaining microphone is equal with the distance between setting point source of sound
The differences bring such as difference, microphone installation deviation, microphone amplitude error influences, in remaining microphone every two microphone when
It should be equal or similar for prolonging difference.But may certain microphones due to physical property degradation etc., some or it is certain
Microphone is likely to occur relatively large deviation, and therefore, it is necessary to calibrate to the microphone.
Therefore, the equipment for calibrating microphone array after performing step 204, executes step 205, that is, is based on delay inequality,
Determine the corresponding time-delay calibration value of each microphone calibrated in remaining microphone.
Specifically, the delay inequality of equipment every two microphone in obtaining remaining microphone of calibration microphone array, from
And the corresponding multiple delay inequalitys of remaining microphone can be obtained.Calibrate the equipment of microphone array according to multiple delay inequality, really
Make the corresponding time-delay calibration value of microphone for needing to calibrate.Based on delay inequality, there are many kinds of the modes for determining time-delay calibration value,
The mode of determining time-delay calibration value is illustrated below.
A kind of mode of determining time-delay calibration value are as follows:
According to the average value of multiple delay inequalitys and multiple delay inequalitys, obtains and calibrated in remaining microphone
The corresponding delay inequality of microphone.
Specifically, the equipment of calibration microphone array determines that the difference in delay inequality between the average value of delay inequality is greater than
At least two delay inequalitys of preset difference value；
According to average value and at least two delay inequalitys, determine and at least one associated wheat of at least two delay inequalitys
Gram corresponding calibration value of wind, to obtain the corresponding time delay school of each microphone calibrated in remaining microphone
Quasi- value.
The equipment of calibration microphone array determines the average value of multiple delay inequalitys, determines each delay inequality and the average value
Difference, if the corresponding difference of certain delay inequalitys is greater than preset difference value, then it represents that these delay inequality possible deviations are larger, because
This, the equipment for calibrating microphone array can determine that the microphone may be partially according to the associated microphone of these delay inequalitys
Difference is larger.The equipment of calibration microphone array can subtract remaining microphone institute according to the average value of the delay inequality of remaining microphone
The average value of corresponding delay inequality obtains the time-delay calibration value of the microphone.
A kind of mode of determining time-delay calibration value are as follows:
The wheat in remaining microphone other than the microphone is subtracted according to the average value of the associated delay inequality of the microphone
The average value of delay inequality corresponding to gram wind, obtains the corresponding time-delay calibration value of the microphone.
The method of the biggish microphone of determination deviation is referred to the mode discussed above, and details are not described herein again.
After the corresponding time-delay calibration value of each microphone calibrated in obtaining remaining microphone, wheat is calibrated
When the equipment of gram wind array positions sound source, it can be based on the corresponding time-delay calibration value of each microphone, to the wheat
The voice data that gram wind obtains carries out time-delay calibration.
It, can be with after manufacturer obtains time-delay calibration value using the equipment of calibration microphone in the scene one discussed above
The time-delay calibration value is stored in the equipment of calibration microphone array, the equipment is subsequent to be handled, and can utilize at any time should
Time-delay calibration value.
In the scene two discussed above, after the equipment of the corresponding calibration microphone of user's purchase, microphone is calibrated
Equipment can be spaced preset duration and be calibrated, and in subsequent processing, adopt newest time-delay calibration value.
On the basis of a kind of method for the calibration microphone array discussed above, the embodiment of the present application also provides a kind of sound
Source calibration method, referring to figure 4., the detailed process of this method are as follows:
Step 401, each microphone calibrated in remaining microphone that the middle method discussed obtains according to fig. 2
Corresponding time-delay calibration value compensates target voice data of remaining microphone acquisition from point source of sound to be measured；
Step 402, the target voice data based on the microphone in remaining microphone other than compensated microphone,
And the target voice data of compensated microphone, obtain the position of point source of sound to be measured.
This method is executed by sound source locating device, and sound source locating device includes the equipment for calibrating microphone array, alternatively,
Sound source locating device is equal with the equipment of calibration microphone array.
The general thought of the embodiment of the present application is as follows:
Before positioning every time to sound source, sound source locating device can be by the calibration microphone array discussed above
Method obtain the corresponding time-delay calibration value of each microphone calibrated in remaining microphone, further according to acquisition when
Prolong calibration value and delay compensation is carried out to the voice data of microphone, the position of sound source is obtained according to compensated voice data.
Since time-delay calibration value is more acurrate, so the opposite sound source position obtained is more acurrate.
Auditory localization process is carried out to sound source locating device below to be illustrated.
Sound source locating device execute step 401, i.e., according to fig. 2 in discuss method obtain remaining microphone in need into
The corresponding time-delay calibration value of each microphone of row calibration acquires the target sound number from point source of sound to be measured to remaining microphone
According to compensating.
In order to make it easy to understand, being illustrated below to point source of sound to be measured and setting point source of sound, setting point source of sound is understood that
For point source of sound when calibrating the array of microphone, being placed on setting sound source position 130.And point source of sound to be measured refers to
The point source of sound positioned, the point source of sound are likely located at any position.
Specifically, obtaining the content of the corresponding time-delay calibration value of each microphone calibrated in remaining microphone
It is referred to the content discussed in Fig. 1 above, details are not described herein again.Sound source locating device can every time carry out localization of sound source it
Before, all obtain the corresponding time-delay calibration value of each microphone.Alternatively, sound source locating device can only obtain a time-delay calibration
Value, it is subsequent when positioned to sound source after obtaining time-delay calibration value, it is subject to the time-delay calibration value.Alternatively, sound
Source positioning device can obtain a time-delay calibration value with preset interval time, after obtaining current time-delay calibration value, next time
When positioning to sound source, it is subject to the time-delay calibration value.
Sound source locating device can acquire the voice data of point source of sound to be measured by remaining microphone, and the voice data is also
It is target voice data.Target voice data can be domain sound data or spectrum domain voice data.Sound source locating device root again
Calibration is compensated to the target voice data according to the time-delay calibration value hereinbefore obtained.
The mode for executing step 401 is illustrated below.
Execute the mode of step 401 are as follows:
Sound source locating device comes from sound to be measured according to the corresponding time-delay calibration value of each microphone, to the acquisition of remaining microphone
The target voice data of source point compensates.
Such as sound source locating device determines the corresponding time delay school of i-th of the microphone calibrated in remaining microphone
Quasi- value is τ ', and when calibrating to i-th of microphone, the delay inequality of i-th of microphone is (τ-τ ').
Sound source locating device executes step 402 after executing step 401, that is, is based in remaining microphone in addition to compensation
The target voice data of the microphone except microphone afterwards and the target voice data of compensated microphone, obtain to
Survey the position of point source of sound.Below to being illustrated.
A method of executing step 402 are as follows:
Sound source locating device constructs the cost function in remaining microphone between the voice data of every two microphone；
Based on sound source position value range, the maximum value of the cost function of every two microphone in remaining microphone is obtained；
Determine the position with the corresponding position of the corresponding delay inequality of maximum value for sound source to be measured.
Specifically, the equipment of calibration microphone array can first construct the cost letter between the voice data of two microphones
Number, according to preset sound source position range, traverses the cost function, obtains the maximum value of the cost function, the maximum
It is worth the position that corresponding position is sound source to be measured.
Wherein, sound source position includes the azimuth of sound source and the pitch angle of sound source.Azimuth can be understood as in level side
Upwards with the angle of microphone array 120, pitch angle can be understood as the angle in vertical direction with microphone array 120.Sound
Source position range refers to the azimuth of sound source and the pitch angle of sound source.
A kind of cost function expression is as follows:
Wherein, s indicates the length of i-th of microphone of interception and the voice data of h-th of microphone, and s and m can phase
Together, it can also be different.Other alphabetical meanings in formula are referred to the content discussed above, and details are not described herein again.
The corresponding relationship between different sound source positions and different delay difference, auditory localization dress are prestored in sound source locating device
It sets according to preset sound source position range, obtains corresponding delay inequality range, then by delay inequality generation corresponding within the scope of delay inequality
Enter in above-mentioned cost function, when there is a microphone to be corresponding with time-delay calibration value in every two microphone, sound source locating device
When calculating the value of the cost function, the delay inequality in cost function is compensated according to calibration delay inequality, to obtain not
The value of corresponding cost function with delay inequality take the corresponding sound source position of cost function maximum value as the position of sound source to be measured
It sets.
The corresponding position for determining sound source to be measured of every two microphone, remaining microphone have (N-M) a, can determine more
It is aPosition averages to multiple positions, obtains the position of sound source to be measured.
On the basis of a kind of method of calibration microphone array of discussion in Fig. 2 above, the embodiment of the present application is also mentioned
For a kind of equipment for calibrating microphone array, referring to figure 5., which includes acquisition module 501 and processing module 502, in which:
Acquisition module 501, for passing through sound number of N number of microphone acquisition from setting point source of sound in microphone array
According to；Wherein, the distance of N number of microphone to setting point source of sound is all the same, and N is the integer more than or equal to 3；
Processing module 502 figures method using preset correlation coefficient and obtains N number of wheat for the voice data according to N number of microphone
The related coefficient of every two microphone in gram wind；
Processing module 502 is also used to according to the part phase relation for being less than preset correlation coefficient threshold in related coefficient
Number, determines associated corresponding M microphone；Wherein, M is the integer less than N；
Processing module 502 is also used to based on every two in remaining microphone in N number of microphone other than M microphone
The voice data of a microphone obtains the delay inequality for the voice data that every two microphone acquires in remaining microphone；
Processing module 502 is also used to determine each Mike calibrated in remaining microphone based on delay inequality
The corresponding time-delay calibration value of wind.
In a kind of possible embodiment, processing module 502 is specifically used for:
Each microphone voice data in every two microphone in N number of microphone of interception preset length, after obtaining interception
N number of microphone in every two microphone voice data；
The voice data of every two microphone in N number of microphone after interception is normalized, N number of Mike is obtained
The related coefficient of every two microphone in wind.
In a kind of possible embodiment, processing module 502 is specifically used for:
Construct the cost function in remaining microphone between the voice data of every two microphone；
Based on default delay inequality value range, the maximum of the cost function of every two microphone in remaining microphone is obtained
Value；
Determine with the corresponding delay inequality of maximum value be remaining microphone in every two microphone acquisition voice data when
Prolong difference.
In a kind of possible embodiment, processing module 502 is specifically used for:
Determine that the difference in delay inequality between the average value of delay inequality is greater than at least two delay inequalitys of preset difference value；
According to average value and at least two delay inequalitys, determine and at least one associated wheat of at least two delay inequalitys
Gram corresponding calibration value of wind, to obtain the corresponding time delay school of each microphone calibrated in remaining microphone
Quasi- value.
On the basis of a kind of sound localization method of discussion in Fig. 4 above, the embodiment of the present application also provides a kind of sound
Source positioning device, please refers to Fig. 6, which includes obtaining module 601 and processing module 602, in which:
Module 601 is obtained, obtains and each of is calibrated in remaining microphone for the method by discussing in Fig. 2
The corresponding time-delay calibration value of microphone；
Processing module 602, for according to the corresponding time delay school of each microphone calibrated in remaining microphone
Quasi- value compensates target voice data of remaining microphone acquisition from point source of sound to be measured；
Processing module 602 is also used to the mesh based on the microphone in remaining microphone other than compensated microphone
The target voice data for marking voice data and compensated microphone, obtains the position of point source of sound to be measured.
On the basis of discussion in Fig. 2 above or Fig. 4, the embodiment of the present application also provides a kind of smart machine, intelligently sets
For such as intelligent sound, ball machine or intelligent sound assistant.Fig. 7 is please referred to, which includes processor 701 and memory
702, in which:
Memory 702 is stored with the instruction that can be executed by processor 701, and processor 701 is stored by executing memory 702
Instruction realize the method as discussed in Fig. 2 or Fig. 4.
It is but not limit the quantity of processor 701 actually by taking a processor 701 as an example in Fig. 7.
As one embodiment, in Fig. 5 calibration microphone array equipment can by the processor 701 in Fig. 7 come
It realizes.
As one embodiment, the sound source locating device in Fig. 6 can be realized by the processor 701 in Fig. 7.
On the basis of the method discussed in Fig. 2 above or Fig. 4, the embodiment of the present application also provides a kind of computer-readable deposit
Storage media, the computer-readable recording medium storage have computer instruction, when the computer instruction is run on computers
When, so that computer executes the method as discussed in Fig. 2 or Fig. 4.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (10)
1. a kind of method for calibrating microphone array characterized by comprising
Pass through voice data of N number of microphone acquisition from setting point source of sound in microphone array；Wherein, N number of Mike
The distance of wind to the setting point source of sound is all the same, and N is the integer more than or equal to 3；
According to the voice data of N number of microphone, method is figured using preset correlation coefficient and obtains every two in N number of microphone
The related coefficient of microphone；
According to the part related coefficient for being less than preset correlation coefficient threshold in the related coefficient, it is associated right to determine
Answer M microphone；Wherein, M is the integer less than N；
Sound based on every two microphone in remaining microphone in N number of microphone other than the M microphone
Data obtain the delay inequality of the voice data of every two microphone acquisition in remaining described microphone；
Based on the delay inequality, the corresponding time delay school of each microphone calibrated in remaining described microphone is determined
Quasi- value.
2. the method as described in claim 1, which is characterized in that according to the voice data of N number of microphone, using default correlation
Coefficient Algorithm obtains the related coefficient of every two microphone in N number of microphone, comprising:
Each microphone voice data in every two microphone in N number of microphone of interception preset length, after obtaining interception
N number of microphone in every two microphone voice data；
The voice data of every two microphone in N number of microphone after interception is normalized, is obtained described N number of
The related coefficient of every two microphone in microphone.
3. method according to claim 1 or 2, which is characterized in that be based in N number of microphone in addition to the M Mike
The voice data of every two microphone in remaining microphone except wind obtains every two Mike's elegance in remaining described microphone
The delay inequality of the voice data of collection, comprising:
Construct the cost function in remaining described microphone between the voice data of every two microphone；
Based on default delay inequality value range, the maximum of the cost function of every two microphone in remaining described microphone is obtained
Value；
Determine the voice data with the corresponding delay inequality of the maximum value for every two microphone acquisition in remaining described microphone
Delay inequality.
4. the method as described in claim 1, which is characterized in that be based on the delay inequality, determine in remaining described microphone
The corresponding time-delay calibration value of each microphone calibrated, comprising:
Determine that the difference in the delay inequality between the average value of the delay inequality is greater than at least two time delays of preset difference value
Difference；
According to the average value and at least two delay inequality, determine associated extremely at least two delay inequality
Few corresponding calibration value of a microphone, to obtain each microphone calibrated in remaining described microphone
Corresponding time-delay calibration value.
5. a kind of sound localization method characterized by comprising
According to each microphone pair calibrated in remaining microphone obtained by claim 1-4 any method
The time-delay calibration value answered compensates target voice data of remaining described microphone acquisition from point source of sound to be measured；
Based on the target voice data of the microphone in remaining described microphone other than compensated microphone, and compensation
The target voice data of microphone afterwards obtains the position of the point source of sound to be measured.
6. a kind of equipment for calibrating microphone array characterized by comprising
Detection module, for passing through voice data of N number of microphone acquisition from setting point source of sound in microphone array；Its
In, the distance of N number of microphone to the setting point source of sound is all the same, and N is the integer more than or equal to 3；
It is described N number of to figure method acquisition using preset correlation coefficient for the voice data according to N number of microphone for processing module
The related coefficient of every two microphone in microphone；
The processing module is also used to according to the part phase relation for being less than preset correlation coefficient threshold in the related coefficient
Number, determines associated corresponding M microphone；Wherein, M is the integer less than N；
The processing module is also used to based in remaining microphone in N number of microphone other than the M microphone
The voice data of every two microphone obtains the time delay of the voice data of every two microphone acquisition in remaining described microphone
Difference；
The processing module is also used to determine to be calibrated in remaining described microphone every based on the delay inequality
The corresponding time-delay calibration value of a microphone.
7. equipment as claimed in claim 6, which is characterized in that the processing module is specifically used for:
Each microphone voice data in every two microphone in N number of microphone of interception preset length, after obtaining interception
N number of microphone in every two microphone voice data；
The voice data of every two microphone in N number of microphone after interception is normalized, is obtained described N number of
The related coefficient of every two microphone in microphone.
8. a kind of sound source localization equipment characterized by comprising
Compensating module, it is every for being calibrated in remaining microphone by claim 1-4 any method acquisition
The corresponding time-delay calibration value of a microphone acquires the target voice data from point source of sound to be measured to remaining described microphone and carries out
Compensation；
Processing module, for the target sound based on the microphone in remaining described microphone other than compensated microphone
The target voice data of data and compensated microphone obtains the position of the point source of sound to be measured.
9. a kind of smart machine characterized by comprising
At least one processor, and
The memory being connect at least one described processor communication；
Wherein, the memory is stored with the instruction that can be executed by least one described processor, at least one described processor
The method as described in any one of claim 1-4 or 5 is realized in instruction by executing the memory storage.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer to refer to
It enables, when the computer instruction is run on computers, so that computer is executed such as any one of claim 1-4 or 5 institute
The method stated.
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