CN110596644B - Sound source positioning method and system using mobile annular microphone array - Google Patents

Sound source positioning method and system using mobile annular microphone array Download PDF

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CN110596644B
CN110596644B CN201910905051.1A CN201910905051A CN110596644B CN 110596644 B CN110596644 B CN 110596644B CN 201910905051 A CN201910905051 A CN 201910905051A CN 110596644 B CN110596644 B CN 110596644B
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CN110596644A (en
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韩欣宇
吴鸣
韩泽瑞
杨军
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Institute of Acoustics CAS
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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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • 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
    • G01S5/20—Position of source determined by a plurality of spaced direction-finders
    • 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
    • G01S5/28—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

Abstract

The invention discloses a sound source positioning method using a mobile ring microphone array, which is realized by a ring microphone array, wherein the number of microphones of the array is M, and the array is arranged in parallel with the ground; the method comprises the following steps: moving the center of the circular array to Q different spatial positions without changing the height; acquiring a frequency separation signal acquired by an mth microphone at a qth spatial position; estimating local sound field coefficients of each spatial position according to the M frequency separation signals; estimating a global sound field coefficient of each frequency point according to the obtained local sound field coefficient by utilizing the spatial transformation relation of the sound field coefficient; and estimating the sound source orientation according to the obtained global sound field coefficient. The method of the invention fully collects sound field information in a space range far larger than the array aperture by moving a ring microphone array, thereby improving the performance of sound source positioning.

Description

Sound source positioning method and system using mobile annular microphone array
Technical Field
The present invention relates to the field of array signal processing, and more particularly, to a sound source localization method and system using a mobile ring microphone array.
Background
Sound source positioning has wide application in the fields of intelligent sound boxes, robots, video conferences, security and the like. The traditional array element domain sound source positioning method is divided into an indirect method and a direct method. The indirect method firstly calculates the relative time delay from the sound source to each array element, and then determines the sound source orientation according to the geometric shape of the array; the direct method requires calculating a loss function in a series of candidate orientations, and accordingly, the most likely orientation is estimated, and the method can be classified into a controllable response power method, a maximum likelihood method and a subspace method according to the loss function.
Different from the method of directly processing microphone data by using an array element domain method, the spatial harmonic domain method firstly carries out spatial harmonic decomposition on the data and then processes the data of the spatial harmonic domain after compensating the frequency dependent term. The guide vector of the spatial harmonic domain has a frequency-independent characteristic, which can simplify the frequency focusing operation (the focusing of the spatial harmonic domain can be realized by summing and averaging the covariance matrixes of the samples), and can realize the high-resolution characteristic of low frequency.
The method of the spatial harmonic domain can be used for two types of array structures at present: the spherical array and the annular array respectively correspond to a spherical harmonic domain and a circular harmonic domain. The invention relates to a sound source positioning method, belonging to a circular harmonic domain method.
The resolution and robustness of the circular harmonic domain sound source localization method are limited by the size of the circular array and the number of array elements. Increasing the size of the array and the number of array elements can effectively improve the sound source localization performance, but doing so can result in: the bessel zero problem worsens, increases costs and the system is bulky and heavy. Therefore, how to realize high-performance sound source localization by using a small-aperture and small-array-element circular array is an important problem.
Disclosure of Invention
An object of the present invention is to solve the above-mentioned problems and to provide a sound source localization method using a moving ring microphone array, which can greatly improve the sound source localization performance.
In order to achieve the above object, the present invention provides a sound source localization method using a mobile ring microphone array, which is implemented by a ring microphone array, the number of microphones of the array is M, and the array is placed in parallel with the ground; the method comprises the following steps:
moving the center of the circular array to Q different spatial positions without changing the height; acquiring a frequency separation signal acquired by an mth microphone at a qth spatial position;
estimating local sound field coefficients of each spatial position according to the M frequency separation signals;
estimating a global sound field coefficient of each frequency point according to the obtained local sound field coefficient by utilizing the spatial transformation relation of the sound field coefficient;
and estimating the sound source orientation according to the obtained global sound field coefficient.
As an improvement of the above method, the estimating a local sound field coefficient for each spatial position according to M frequency-separated signals specifically includes:
step 2-1) separating the frequency of the signal Xq,m(k) Expressed in the form of a circular harmonic expansion:
Figure BDA0002213028750000021
where k is 2 pi f/c is the wave number, f is the frequency, c is the speed of sound, αq,n(k) For the nth order sound field coefficient of the qth spatial position, JnFor an n-th order Bessel function of the first kind, e is a natural base number, and the polar coordinates of the mth microphone with respect to the qth spatial position are expressed as (r, φ)q,m) (ii) a The microphone is positioned on a circle with a half warp of r;
then Xq,m(k) The truncation is as follows:
Figure BDA0002213028750000022
when the truncation order satisfies
Figure BDA0002213028750000023
When the error is smaller than 16.1%, the truncation error of the formula is smaller;
step 2-2) constructing a transformation matrix Bq(k) Q1.., Q, writing equation (2) in a matrix form:
xq(k)＝Bq(k)αq(k) (3)
wherein
Figure BDA0002213028750000024
Snapping the frequency domain data of the qth spatial position;
Figure BDA0002213028750000025
transforming the matrix for the sound field coefficient vector of the qth spatial position
Figure BDA0002213028750000026
Has the following form:
Figure BDA0002213028750000027
step 2-3) estimating local sound field coefficients
Figure BDA0002213028750000028
The equation shown in equation (3) is solved using the least square method. The local sound field coefficients are thus estimated according to equation (5):
Figure BDA0002213028750000029
wherein λ1In order to be a factor for the regularization,
Figure BDA00022130287500000210
is an identity matrix.
As an improvement of the above method, the global sound field coefficients of each frequency point are estimated according to the obtained local sound field coefficients by using the spatial transform relation of the sound field coefficients; the method specifically comprises the following steps:
step 3-1) constructing transformation matrix
Figure BDA0002213028750000031
Defining a minimum annular area containing all spatial positions as a global area, wherein the radius of the global area is represented by R, and the center of the area is the origin of global coordinates; the global sound field is subjected to circular harmonic expansion at the global origin to obtain the global sound field coefficient
Figure BDA0002213028750000032
The following relation exists between the local sound field coefficients:
Figure BDA0002213028750000033
wherein
Figure BDA0002213028750000034
The transform coefficients have the form:
Figure BDA0002213028750000035
wherein (r)q,θq) Is a polar coordinate representation of the spatial position q relative to a global coordinate origin; writing equation (7) in matrix form:
α(k)＝T(k)β(k)(8)
wherein:
Figure BDA0002213028750000036
Figure BDA0002213028750000037
Figure BDA0002213028750000038
step 3-2) solving the formula (8) by using a least square method to obtain the global sound field coefficient
Figure BDA0002213028750000039
Comprises the following steps:
Figure BDA0002213028750000041
wherein λ2In order to be a factor for the regularization,
Figure BDA0002213028750000042
as an improvement of the above method, the step 4) specifically includes:
step 4-1) constructing a sample covariance matrix R of global sound field coefficientsβ：
Figure BDA0002213028750000043
Wherein K is the number of frequency points of interest;
step 4-2) constructing a frequency-independent weighting vector
Figure BDA0002213028750000044
Figure BDA0002213028750000045
Step 4-3) changing the pointing direction of the weighting vector
Figure BDA0002213028750000046
Estimating an orientation spectrum
Figure BDA0002213028750000047
Figure BDA0002213028750000048
And 4-4) taking the position of the peak value of the azimuth spectrum as the estimation of the azimuth of the sound source.
The present invention also provides a sound source localization system using a moving loop microphone array, the system comprising:
a ring microphone array comprising M microphones; moving the center of the circular array to Q different spatial positions without changing the height; a time domain signal collected by the mth microphone at the qth spatial position;
the short-time Fourier transform module is used for sequentially performing framing, windowing and Fourier transform on the time domain signal to obtain a corresponding frequency separation signal;
a local sound field coefficient estimation module for estimating a local sound field coefficient using the frequency separated signal;
the global sound field coefficient estimation module is used for estimating a global sound field coefficient by using the local sound field coefficient;
and the sound source positioning module is used for estimating a sound source azimuth angle according to the global sound field coefficient.
Compared with the prior art, the invention has the advantages that:
1. the method of the invention fully collects sound field information in a space range far larger than the array aperture by moving a ring microphone array, thereby improving the performance of sound source positioning;
2. the method has stronger anti-interference capability and is steady to the position error of the array element;
3. the method of the invention can realize the low-frequency high-resolution positioning of the small-aperture microphone array, and has low cost, small volume and flexible and convenient use in practical application;
4. the sound source positioning method of the invention can realize that: the sound field information is fully collected in the space range far larger than the array aperture, so that the sound source positioning performance is improved, and the improvement of the low-frequency positioning performance is particularly obvious.
Drawings
FIG. 1 is a schematic diagram of a configuration of the present invention using a moving ring microphone array;
FIG. 2 is a schematic diagram of a sound source localization system of the present invention;
FIG. 3 is a schematic diagram of three examples of moving a ring microphone array;
FIG. 4 is a diagram illustrating the estimation result of the spatial spectrum at a frequency of 500Hz according to the present invention;
fig. 5 is a schematic diagram of the effect of array element position error on the positioning performance of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Example 1:
embodiment 1 of the present invention provides a sound source localization method using a mobile ring microphone array, which specifically includes the steps of:
step 1) collecting frequency domain separation signal Xq,m(k) (ii) a The method comprises the following steps:
step 1-1) as shown in fig. 1, a ring-shaped microphone array is provided, the number of microphones is M equal to 9, the microphones are located on a circle with a half radius of r equal to 6cm, and the ring-shaped array is placed in parallel with the ground. The circular array is sequentially moved to Q different spatial positions and measured. At the qth spatial position, the time domain signal collected at the mth microphone is xq,m(t)；q＝1,...,Q；m＝1,...,M；
Step 1-2) for time domain signal xq,m(t) performing framing, windowing and Fourier transform in sequence to obtain corresponding frequency separation signal Xq,m(k)；
Step 2) estimating local sound field coefficients
Figure BDA0002213028750000051
Step 2-1) constructing a transformation matrix Bq(k),q＝1,...,Q；
Acquired frequency-separated signal Xq,m(k) Can be expressed in the form of a circular harmonic expansion:
Figure BDA0002213028750000052
where k is 2 pi f/c is the wave number, f is the frequency, c is the speed of sound, αq,n(k) For the nth order sound field coefficient of the qth spatial position, JnIs an n-th order bessel function of the first kind. As shown in FIG. 1, (r, φ)q，m) For the m-th microphone with respect to the spatial position oqIn polar coordinates. Formula (1) can be truncated as:
Figure BDA0002213028750000061
wherein the truncation order
Figure BDA0002213028750000062
Writing equation (2) in matrix form:
xq(k)＝Bq(k)αq(k),q＝1,...,Q (3)
wherein
Figure BDA0002213028750000063
Fast shooting frequency domain data formed by frequency separation signals acquired at q spatial positions in the step 1),
Figure BDA0002213028750000064
vector, matrix of local sound field coefficients for q spatial positions
Figure BDA0002213028750000065
Has the following form:
Figure BDA0002213028750000066
step 2-2) estimating local sound field coefficients
Figure BDA0002213028750000067
Equation (3) describes the Q least squares problem. The local sound field coefficient vector of the spatial position q can be estimated according to equation (5):
Figure BDA0002213028750000068
wherein λ1In order to be a factor for the regularization,
Figure BDA0002213028750000069
is an identity matrix.
Step 3) estimating global sound field coefficients
Figure BDA00022130287500000610
The method comprises the following specific steps:
step 3-1) constructing transformation matrix
Figure BDA00022130287500000611
As shown in fig. 1, the global region has a region radius R and a region center o. Spatial position q is centered on oqThe polar coordinate with respect to the center of the region is expressed as (r)q,θq). Establishing local sound field coefficients
Figure BDA00022130287500000612
Relation with global sound field coefficients β (k) characterizing the sound field characteristics of the global region:
Figure BDA00022130287500000613
wherein
Figure BDA00022130287500000614
The transform coefficients have the form:
Figure BDA00022130287500000615
writing equation (7) in matrix form:
α(k)＝T(k)β(k) (8)
wherein:
Figure BDA0002213028750000071
Figure BDA0002213028750000072
Figure BDA0002213028750000073
step 3-2) estimating global sound field coefficients
Figure BDA0002213028750000074
Solving equation (8) by using a least square method, and estimating a global sound field coefficient vector according to equation (12):
Figure BDA0002213028750000075
wherein λ2In order to be a factor for the regularization,
Figure BDA0002213028750000076
a vector formed by the local sound field coefficient estimated values obtained in the step 2).
Step 4), estimating the azimuth angle of the sound source;
step 4-1) constructing a sample covariance matrix of the global sound field coefficients according to the formula (13)
Figure BDA0002213028750000077
Figure BDA0002213028750000078
Where K is the number of frequency points of interest.
Step 4-2) constructing a frequency-independent weighting vector
Figure BDA0002213028750000079
Figure BDA00022130287500000710
Step 4-3) estimating an azimuth spectrum according to the formula (15);
Figure BDA00022130287500000711
and 4-4) taking the position of the peak value of the azimuth spectrum as the estimation of the azimuth of the sound source.
As shown in fig. 2, embodiment 2 of the present invention proposes a sound source localization system including:
a ring microphone array comprising M microphones; moving the center of the circular array to Q different spatial positions without changing the height; time domain signal x collected by mth microphone at qth spatial positionq,m(t)；
A short-time Fourier transform module 101 for transforming the time-domain signal xq,m(t) performing framing, windowing and Fourier transform in sequence to obtain corresponding frequency separation signal Xq,m(k)；
A local sound field coefficient estimation module 102, configured to estimate a local sound field coefficient using the frequency separation signal;
a global sound field coefficient estimation module 103, configured to estimate a global sound field coefficient by using the local sound field coefficient;
and the sound source positioning module 104 is configured to estimate a sound source azimuth according to the global sound field coefficient.
Assuming that there are two coherent plane waves in space, the frequency is 500Hz and the angles of incidence are 60 ° and 90 °, respectively. The ring microphone array is moved with a radius R of 66cm in three ways, labeled DUCA-L, DUCA-R and DUCA-C, respectively, as shown in figure 3. The data collected by the moving ring microphone array is processed according to the above embodiment, and a normalized spatial spectrum as shown in fig. 4 can be obtained. It can be seen that two distinguishable spectral peaks can be obtained by three moving modes, which shows the excellent performance of the method for locating the low-frequency coherent signal.
In practical applications, there is inevitably an error in the calibration of the relative position of the annular microphone array. Assuming that there is a random error of + -1 cm and a rotational error of + -5 deg. for each calibration of the center position of the annular microphone array, the normalized spatial spectrum is shown in FIG. 5. Where "match" indicates that there is no estimation result of the position error, and "mismatch" indicates that there is an estimation result of the position error. The results show that: the method of the invention is robust against position errors.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (3)

1. A sound source localization method using a mobile ring microphone array is realized by a ring microphone array, the number of microphones of the array is M, and the array is placed in parallel with the ground; the method comprises the following steps:
moving the center of the circular array to Q different spatial positions without changing the height; acquiring a frequency separation signal acquired by an mth microphone at a qth spatial position;
estimating local sound field coefficients of each spatial position according to the M frequency separation signals;
estimating a global sound field coefficient of each frequency point according to the obtained local sound field coefficient by utilizing the spatial transformation relation of the sound field coefficient;
estimating the sound source orientation according to the obtained global sound field coefficient;
the estimating a local sound field coefficient of each spatial position according to the M frequency-separated signals specifically includes:
step 2-1) separating the frequency of the signal Xq,m(k) Expressed in the form of a circular harmonic expansion:
Figure FDA0003351365930000011
where k is 2 pi f/c is the wave number, f is the frequency, c is the speed of sound, αq,n(k) For the nth order sound field coefficient of the qth spatial position, JnFor an n-th order Bessel function of the first kind, e is a natural base number, and the polar coordinates of the mth microphone with respect to the qth spatial position are expressed as (r, φ)q,m) (ii) a The microphone is positioned on a circle with a half warp of r;
then Xq,m(k) The truncation is as follows:
Figure FDA0003351365930000012
when the truncation order satisfies
Figure FDA0003351365930000013
When the error is smaller than 16.1%, the truncation error of the formula is smaller;
step 2-2) constructing a transformation matrix Bq(k) Q1.., Q, writing equation (2) in a matrix form:
xq(k)＝Bq(k)αq(k) (3)
wherein
Figure FDA0003351365930000014
Snapping the frequency domain data of the qth spatial position;
Figure FDA0003351365930000015
transforming the matrix for the sound field coefficient vector of the qth spatial position
Figure FDA0003351365930000016
Has the following form:
Figure FDA0003351365930000017
step 2-3) estimating local sound field coefficients
Figure FDA0003351365930000018
Solving the equation shown in the formula (3) by using a least square method; the local sound field coefficients are thus estimated according to equation (5):
Figure FDA0003351365930000021
wherein λ1In order to be a factor for the regularization,
Figure FDA0003351365930000022
is an identity matrix;
the estimating of the sound source orientation according to the obtained global sound field coefficient specifically includes:
step 4-1) constructing a sample covariance matrix R of global sound field coefficientsβ：
Figure FDA0003351365930000023
Wherein K is the number of frequency points of interest;
step 4-2) constructing a frequency-independent weighting vector
Figure FDA0003351365930000024
Figure FDA0003351365930000025
Step 4-3) changing the pointing direction of the weighting vector
Figure FDA0003351365930000026
Estimating an orientation spectrum
Figure FDA0003351365930000027
Figure FDA0003351365930000028
And 4-4) taking the position of the peak value of the azimuth spectrum as the estimation of the azimuth of the sound source.
2. The sound source localization method using a mobile ring microphone array according to claim 1, wherein the global sound field coefficients for each frequency point are estimated from the obtained local sound field coefficients using a spatial transform relationship of the sound field coefficients; the method specifically comprises the following steps:
step 3-1) constructing transformation matrix
Figure FDA0003351365930000029
Defining a minimum annular area containing all spatial positions as a global area, wherein the radius of the global area is represented by R, and the center of the area is the origin of global coordinates; the global sound field is subjected to circular harmonic expansion at the global origin to obtain the global sound field coefficient
Figure FDA00033513659300000210
The following relation exists between the local sound field coefficients:
Figure FDA00033513659300000211
wherein
Figure FDA00033513659300000212
The transform coefficients have the form:
Figure FDA00033513659300000213
wherein (r)q,θq) Is a polar coordinate representation of the spatial position q relative to a global coordinate origin; writing equation (7) in matrix form:
α(k)＝T(k)β(k) (8)
wherein:
Figure FDA0003351365930000031
Figure FDA0003351365930000032
Figure FDA0003351365930000033
step 3-2) solving the formula (8) by using a least square method to obtain the global sound field coefficient
Figure FDA0003351365930000034
Comprises the following steps:
Figure FDA0003351365930000035
wherein λ2In order to be a factor for the regularization,
Figure FDA0003351365930000036
3. a sound source localization system using a moving ring microphone array, the system comprising:
a ring microphone array comprising M microphones; moving the center of the circular array to Q different spatial positions without changing the height; a time domain signal collected by the mth microphone at the qth spatial position;
the short-time Fourier transform module is used for sequentially performing framing, windowing and Fourier transform on the time domain signal to obtain a corresponding frequency separation signal;
a local sound field coefficient estimation module for estimating a local sound field coefficient using the frequency separated signal;
the global sound field coefficient estimation module is used for estimating a global sound field coefficient by using the local sound field coefficient;
the sound source positioning module is used for estimating a sound source azimuth angle according to the global sound field coefficient;
the specific processing procedure of the local sound field coefficient estimation module comprises the following steps:
step 2-1) separating the frequency of the signal Xq,m(k) Expressed in the form of a circular harmonic expansion:
Figure FDA0003351365930000041
where k is 2 pi f/c is the wave number, f is the frequency, c is the speed of sound, αq,n(k) For the nth order sound field coefficient of the qth spatial position, JnFor an n-th order Bessel function of the first kind, e is a natural base number, and the polar coordinates of the mth microphone with respect to the qth spatial position are expressed as (r, φ)q,m) (ii) a The microphone is positioned on a circle with a half warp of r;
then Xq,m(k) The truncation is as follows:
Figure FDA0003351365930000042
when the truncation order satisfies
Figure FDA0003351365930000043
When the error is smaller than 16.1%, the truncation error of the formula is smaller;
step 2-2) constructing a transformation matrix Bq(k) Q1.., Q, writing equation (2) in a matrix form:
xq(k)＝Bq(k)αq(k) (3)
wherein
Figure FDA0003351365930000044
Snapping the frequency domain data of the qth spatial position;
Figure FDA0003351365930000045
transforming the matrix for the sound field coefficient vector of the qth spatial position
Figure FDA0003351365930000046
Has the following form:
Figure FDA0003351365930000047
step 2-3) estimating local sound field coefficients
Figure FDA0003351365930000048
Solving the equation shown in the formula (3) by using a least square method; the local sound field coefficients are thus estimated according to equation (5):
Figure FDA0003351365930000049
wherein λ1In order to be a factor for the regularization,
Figure FDA00033513659300000410
is an identity matrix;
the specific processing procedure of the sound source positioning module comprises the following steps:
step 4-1) constructing a sample covariance matrix R of global sound field coefficientsβ：
Figure FDA00033513659300000411
Wherein K is the number of frequency points of interest;
step 4-2) constructing a frequency-independent weighting vector
Figure FDA00033513659300000412
Figure FDA0003351365930000051
Step 4-3) changing the orientation of the weighting vectorDirection
Figure FDA0003351365930000052
Estimating an orientation spectrum
Figure FDA0003351365930000053
Figure FDA0003351365930000054
And 4-4) taking the position of the peak value of the azimuth spectrum as the estimation of the azimuth of the sound source.
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