CN110376551A - A kind of TDOA localization method based on the distribution of acoustical signal time-frequency combination - Google Patents
A kind of TDOA localization method based on the distribution of acoustical signal time-frequency combination Download PDFInfo
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- CN110376551A CN110376551A CN201910598564.2A CN201910598564A CN110376551A CN 110376551 A CN110376551 A CN 110376551A CN 201910598564 A CN201910598564 A CN 201910598564A CN 110376551 A CN110376551 A CN 110376551A
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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
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses a kind of TDOA localization methods based on the distribution of acoustical signal time-frequency combination, it can be achieved that scene Recognition and positioning function.The invention is made of the Intelligent mobile equipment of the loudspeaker base station of capable of emitting high-frequency chirp acoustical signal and built-in microphone sensor.Firstly, setting the time sequencing and frequency range of each base station sounding according to different scene unified planning base station numbers, time frequency coding is carried out.Then, base station sends the high-frequency chirp acoustical signal of setting, is received by the microphone of Intelligent mobile equipment, effective frequency range of signal is told using broad sense cross correlation algorithm, the time-frequency characteristic for obtaining periodic signal is decoded, and identifies scene information.The timestamp that each useful signal is determined finally by reverberation filtering algorithm utilizes the location information of TDOA location algorithm computational intelligence mobile device.
Description
Technical field
The invention belongs to acoustics positioning field more particularly to a kind of positioning sides TDOA based on the distribution of acoustical signal time-frequency combination
Method.
Background technique
Currently, room acoustics location technology is as a kind of high-precision indoor positioning technologies, it can be in cost, precision, model
It encloses, meet the existing market demand in compatibility, compared to location technologies such as bluetooth, ultra wide band, wireless networks more for market price
Value.
For the TDOA positioning of high frequency sound signal, the prior art is mainly by the way of based on the time-division, and each base station is in difference
Timing issues identical signal, differentiates initial sounding base station and subsequent sounding base station with duration interval.This mode realize compared with
To be simple, but when the heavy construction of required positioning is divided into multiple rooms by wall, acoustical signal since wall can not be penetrated,
It is only capable of positioning the Intelligent mobile equipment in single room.Therefore this method can not identify positioning scene, i.e., can not expire
Location requirement under the sufficient more room availabilities of heavy construction.
The present invention introduces frequency division technique on the basis of the time-division, carries out time-frequency combination distribution to base station signal, realizes more
The time frequency coding of scape promotes orientation range, and Intelligent mobile equipment decoding is made to identify itself locating scene and position.
Summary of the invention
In view of the deficienciess of the prior art, it is an object of the invention to provide one kind by carrying out time-frequency combination point to acoustical signal
Cloth, the TDOA localization method that can be identified scene information, promote orientation range.
To achieve the above object, the present invention provides a kind of TDOA localization method based on the distribution of acoustical signal time-frequency combination, should
Method the following steps are included:
Step (1) base station sets: quantity, signal waveform and the frequency of setting loudspeaker base station；
Step (2) time frequency coding: the acoustical signal timing and frequency range that setting base station issues encode different scenes；
Step (3) scene Recognition: the acoustical signal of base station sending step (2) setting, by Mike's hearsay of Intelligent mobile equipment
Sensor acquisition, and signal will be received by broad sense cross correlation algorithm and compared with original signal, identify environmental information；
The positioning of step (4) equipment: obtaining the poor information in the distance between each base station and mobile phone using reverberation filtering algorithm, according to
TDOA algorithm obtains location information of the mobile phone with respect to base station, and combining environmental information is converted into absolute position.
Further, the step 1 specifically includes following sub-step:
(1a) planning base station number and position: building is separated into multiple scenes by wall, comprehensive scene quantity,
Scale and base station measurement range place N number of base station in each scene；
(1b) unified useful signal waveform: base station t moment issue time width be τ, the high-frequency chirp sound that bandwidth is ω
Signal s (t, τ)；
(1c) division signals frequency range: by 18KHz-24KHz acoustical signal frequency partition at the signal frequency that K bandwidth is ω
Section fk, wherein k=1,2 ..., K.
Further, detailed process is as follows for the step 2:
N number of loudspeaker base station is shared in (2a) single game scape, only n-th of timing in cycle T issues once nth base station
Short duration high frequency linear FM signalWherein n ∈ N；
The 1st loudspeaker base station (2b) issues f first since the t=0 moment1Frequency band signals
(2c) after the 1st base station signal is sent, interval τ0Duration, the 2nd loudspeaker base station is from t=τ+τ0Moment
Start, issues signalWherein k*=2,3 ..., K；
(2d) after the 2nd base station signal is sent, interval τ0Duration, the 3rd loudspeaker base station is from t=2 (τ+τ0) when
Issue signal at quarterWherein k*=2,3 ..., K, subsequent base stations are similarly；
N number of base station sounding is shared in (2e) cycle T, removes the f that the 1st base station issues1Outside frequency band signals, remaining base station exists
The frequency range issued in respective timing shares (K-1)N-1Kind combination, can be to (K-1)N-1A scene is encoded.
Further, the step 2 specifically includes following sub-step:
The synchronization of (3a) base station clock and sounding: server carries out wireless networking to all base stations in scene, with broadcast
Mode sends instruction, realizes that the clock between base station is synchronous, each base station is set after receiving clock synchronic command according to preparatory parameter
It is fixed, it is periodically sent out short duration high frequency linear frequency modulation acoustical signal；
(3b) signal acquisition and pretreatment: the built-in microphone sensor of Intelligent mobile equipment acquires ambient sound letter in real time
Number, and sub-frame processing is carried out in a manner of time sliding window to acoustical signal, each frame signal passes through bandpass filter, retains 18KHz-
The useful signal of 24KHz frequency range；；
(3c) determines useful signal frequency range: it is mutual that filtered frame signal being carried out with each audible signal to broad sense on frequency domain
It closes (GCC), judges whether it is useful signal frame according to cross correlation results, and determine frequency range belonging to the frame signal；
The decoding of (3d) signal and scene Recognition: the 1st base station f is being detected1On the basis of frequency band signals, in the period
The audible signal of remaining base station is successively confirmed, is decoded to the acoustical signal time frequency coding data of acquisition, is extrapolated this
Base station combination situation under scape, to identify scene.
Further, the step 3 specifically includes following sub-step:
(4a) takes reverberation elimination algorithm to reduce indoor multipath the broad sense cross correlation results for receiving signal and audible signal
Influence of the effect to result, and calculate the base station of subsequent each base station with respect to the 1st and issue acoustical signal arrival Intelligent mobile equipment
Time difference；
The time difference that each useful signal is propagated is converted into range difference information by (4b), in conjunction with the relative position of each base station, is adopted
It is positioned with TDOA algorithm；
(4c) combines identified scene, the location information of the opposite base station of Intelligent mobile equipment is converted into exhausted in map
To location information, positioning function is realized.
Compared with prior art, the invention has the following advantages that
1. loudspeaker base station issues the linear frequency modulation acoustical signal in 18KHz-24KHz, it is more not only can effectively to weaken interior
Diameter and Doppler contribution, while the frequency range that is above human ear and can receive, but can be detected by Intelligent mobile equipment, application prospect
It is wide.
2. loudspeaker base station issues the signal of special frequency channel in specific time, acoustical signal time-frequency volume is carried out to different scenes
Code, can be obviously improved more scene capacity of the TDOA acoustic positioning system under overall situation.
3. Intelligent mobile equipment by the arrival timing and frequency band of detection acoustical signal, calculates the time-frequency under current scene and compiles
Code situation, may be implemented the positioning function under more scenes.
Detailed description of the invention
Fig. 1 is that the base station under more scenes disposes situation；
Fig. 2 is the base station sounding situation under single game scape；
Fig. 3 is the time frequency coding situation under each scene.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention provides a kind of by carrying out time-frequency combination distributed code, identification scene information, expansion positioning to acoustical signal
The TDOA localization method of range, comprising the following steps:
Step (1) base station sets: the time sequencing and frequency range of setting loudspeaker base station sounding, the specific steps are as follows:
(1a) planning base station number and position: building is separated into multiple scenes by wall, comprehensive scene quantity,
Scale and base station measurement range place N number of base station in each scene, as shown in fig. 1, share scene 01, scene 02, scene
03,4 scenes including scene 04 respectively place 4 base stations (A, B, C, D) in each scene；
(1b) unified useful signal waveform: since reverberation phenomenon is serious in indoor environment, and acoustical signal can be mobile in equipment
When generate Doppler effect, therefore the audible signal of each base station be designed to t moment issue time width τ=40ms, bandwidth omega=
The high-frequency chirp acoustical signal s (t, τ) of 800Hz；
(1c) division signals frequency range: as shown in Fig. 2, drawing 18KHz-24KHz acoustical signal frequency in single scene
It is divided into 4 bandwidth omega=800Hz signal frequency range fk, respectively 18KHz-18.8KHz, 19KHz-19.8KHz, 20KHz-
The linear FM signal of tetra- frequency ranges of 20.8KHz and 21KHz-21.8KHz.
Step (2) time frequency coding: the timing and frequency range of setting base station sounding encode different scenes, such as Fig. 3 institute
Show, the specific steps are as follows:
4 loudspeaker base stations (A, B, C, D) are shared in (2a) single game scape, in cycle T=1000ms, the base station A is the 1st
A timing, the base station B issue primary short respectively in the 3rd timing, the base station D in the 2nd timing, the base station C in the 4th timing
When high-frequency chirp signalWherein k=1,2,3,4 represent 4 frequency ranges, such as white signal part in Fig. 3；
(2b) A loudspeaker base station issues signal first since the t=0 moment
(2c) after A base station signal is sent, interval τ0=110ms duration, B loudspeaker base station is from t=150ms
Moment issues signalWherein k*=2,3,4；
(2d) after B base station signal is sent, interval τ0=110ms duration, C loudspeaker base station is from t=300ms
Moment issues signalWherein k*=2,3,4, subsequent base stations are similarly；
(2e) shares 4 base station sounding in the period, remove the f that the base station A issues1Outside frequency band signals, remaining base station is each
The frequency range issued from timing shares 33=27 kinds of combinations, can encode 27 scenes.As shown in figure 3, to 4 scenes
Carry out 4 kinds of signal time-frequency assembly codings.
Step (3) scene Recognition: the acoustical signal of base station sending step (2) setting, by Mike's hearsay of Intelligent mobile equipment
Sensor acquisition, and signal will be received by broad sense cross correlation algorithm and compared with original signal, identify environmental information, specifically
Steps are as follows:
The synchronization of (3a) base station clock and sounding: server carries out wireless networking to all base stations in scene, with broadcast
Mode sends instruction, realizes that the clock between base station is synchronous, each base station is set after receiving clock synchronic command according to preparatory parameter
It is fixed, it is periodically sent out short duration high frequency linear frequency modulation acoustical signal；
(3b) signal acquisition and pretreatment: the built-in microphone sensor of Intelligent mobile equipment acquires ambient sound letter in real time
Number, and sub-frame processing is carried out in a manner of time sliding window to acoustical signal, each frame signal passes through bandpass filter, retains 18KHz-
The useful signal of 24KHz frequency range；
(3c) determines useful signal frequency range: it is mutual that filtered frame signal being carried out with each audible signal to broad sense on frequency domain
It closes (GCC), judges whether it is useful signal frame according to cross correlation results, and determine frequency range belonging to the frame signal；
The decoding of (3d) signal and scene Recognition: the base station A f is being detected1On the basis of frequency band signals, to surplus in the period
The audible signal at complementary basis station is successively confirmed, is decoded to the acoustical signal time frequency coding data of acquisition, is extrapolated the scene
Under base station combination situation, to identify scene.
The positioning of step (4) equipment: obtaining the poor information in the distance between each base station and mobile phone using reverberation filtering algorithm, according to
TDOA algorithm obtains location information of the mobile phone with respect to base station, and combining environmental information is converted into absolute position, the specific steps are as follows:
(4a) takes reverberation elimination algorithm to reduce indoor multipath the broad sense cross correlation results for receiving signal and audible signal
Influence of the effect to result, and calculate subsequent each base station with respect to the base station A issue acoustical signal reach Intelligent mobile equipment when
Between it is poor；
The time difference that each useful signal is propagated is converted into range difference information by (4b), in conjunction with the relative position of each base station, is adopted
It is positioned with TDOA algorithm；
(4c) combines identified scene, the location information of the opposite base station of Intelligent mobile equipment is converted into exhausted in map
To location information, positioning function is realized.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent process transformation made by description of the invention and accompanying drawing content is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (5)
1. a kind of TDOA localization method based on the distribution of acoustical signal time-frequency combination, which is characterized in that method includes the following steps:
Step (1) base station sets: quantity, signal waveform and the frequency of setting loudspeaker base station；
Step (2) time frequency coding: the acoustical signal timing and frequency range that setting base station issues encode different scenes；
Step (3) scene Recognition: the acoustical signal of base station sending step (2) setting, by the microphone sensor of Intelligent mobile equipment
Acquisition, and signal will be received by broad sense cross correlation algorithm and compared with original signal, identify environmental information；
The positioning of step (4) equipment: the poor information in the distance between each base station and mobile phone is obtained using reverberation filtering algorithm, according to TDOA
Algorithm obtains location information of the mobile phone with respect to base station, and combining environmental information is converted into absolute position.
2. a kind of TDOA localization method based on the distribution of acoustical signal time-frequency combination according to claim 1, which is characterized in that
The step 1 specifically includes following sub-step:
(1a) planning base station number and position: building is separated into multiple scenes, comprehensive scene quantity, scale by wall
With base station measurement range, N number of base station is placed in each scene；
(1b) unified useful signal waveform: base station t moment issue time width be τ, the high-frequency chirp acoustical signal s that bandwidth is ω
(t,τ)；
(1c) division signals frequency range: the signal frequency range f for being ω at K bandwidth by 18KHz-24KHz acoustical signal frequency partitionk,
Wherein k=1,2 ..., K.
3. a kind of TDOA localization method based on the distribution of acoustical signal time-frequency combination according to claim 1, which is characterized in that
Detailed process is as follows for the step 2:
N number of loudspeaker base station is shared in (2a) single game scape, only n-th of timing in cycle T issues once in short-term nth base station
High-frequency chirp signalWherein n ∈ N；
The 1st loudspeaker base station (2b) issues f first since the t=0 moment1Frequency band signals
(2c) after the 1st base station signal is sent, interval τ0Duration, the 2nd loudspeaker base station is from t=τ+τ0Moment,
Issue signalWherein k*=2,3 ..., K；
(2d) after the 2nd base station signal is sent, interval τ0Duration, the 3rd loudspeaker base station is from t=2 (τ+τ0) moment opens
Begin, issues signalWherein k*=2,3 ..., K, subsequent base stations are similarly；
N number of base station sounding is shared in (2e) cycle T, removes the f that the 1st base station issues1Outside frequency band signals, remaining base station is respective
The frequency range issued in timing shares (K-1)N-1Kind combination, can be to (K-1)N-1A scene is encoded.
4. a kind of TDOA localization method based on the distribution of acoustical signal time-frequency combination according to claim 1, which is characterized in that
The step 2 specifically includes following sub-step:
The synchronization of (3a) base station clock and sounding: server carries out wireless networking to all base stations in scene, in a broadcast manner
Instruction is sent, realizes that the clock between base station is synchronous, each base station is after receiving clock synchronic command, according to preparatory parameter setting,
It is periodically sent out short duration high frequency linear frequency modulation acoustical signal；
(3b) signal acquisition and pretreatment: the built-in microphone sensor of Intelligent mobile equipment acquires environmental sound signal in real time, and
Sub-frame processing is carried out in a manner of time sliding window to acoustical signal, each frame signal passes through bandpass filter, retains 18KHz-24KHz frequency
The useful signal of section；
(3c) determines useful signal frequency range: filtered frame signal and each audible signal are carried out broad sense cross-correlation on frequency domain
(GCC), useful signal frame is judged whether it is according to cross correlation results, and determine frequency range belonging to the frame signal；
The decoding of (3d) signal and scene Recognition: the 1st base station f is being detected1On the basis of frequency band signals, to the residue in the period
The audible signal of base station is successively confirmed, is decoded, is extrapolated under the scene to the acoustical signal time frequency coding data of acquisition
Base station combination situation, to identify scene.
5. a kind of TDOA localization method based on the distribution of acoustical signal time-frequency combination according to claim 1, which is characterized in that
The step 3 specifically includes following sub-step:
(4a) takes reverberation elimination algorithm to reduce indoor multipath effect the broad sense cross correlation results for receiving signal and audible signal
Influence to result, and calculate the base station of subsequent each base station with respect to the 1st and issue the time that acoustical signal reaches Intelligent mobile equipment
Difference；
The time difference that each useful signal is propagated is converted into range difference information by (4b), in conjunction with the relative position of each base station, is used
TDOA algorithm is positioned；
(4c) combines identified scene, and the location information by Intelligent mobile equipment with respect to base station is converted into the absolute position in map
Confidence breath, realizes positioning function.
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