CN111077497A - Device and method for sound source positioning - Google Patents
Device and method for sound source positioning Download PDFInfo
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- CN111077497A CN111077497A CN201911396317.0A CN201911396317A CN111077497A CN 111077497 A CN111077497 A CN 111077497A CN 201911396317 A CN201911396317 A CN 201911396317A CN 111077497 A CN111077497 A CN 111077497A
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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
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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
- G01S3/802—Systems for determining direction or deviation from predetermined direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/24—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
Abstract
The embodiment of the invention discloses a device and a method for positioning a sound source, wherein the device comprises a shell, sound sensor sub-arrays, signal acquisition equipment and a host computer for operating a positioning algorithm, the sound sensor sub-arrays are arranged on the shell, the shell is arranged in a regular N-pyramid shape, and one sound sensor sub-array is fixed on the side surface of each shell. The signal acquisition equipment samples, quantizes and records the signal to the host. The positioning algorithm operation host realizes a positioning algorithm step by using the algorithm program instruction and the recorded audio data. In the sound source positioning device and method, a plurality of sound sensor sub-arrays are all integrated on the same regular pyramid, and a more complete construction mode is provided in a microphone array sound source positioning scheme; the inherent included angles among the subarrays are utilized to distinguish the incoming wave directions determined by different subarrays, so that a new method is provided for sound source positioning; the beam forming positioning algorithm can effectively inhibit noise interference and improve positioning accuracy in far-field sound source positioning.
Description
Technical Field
The embodiment of the invention relates to the technical field of sound source positioning, in particular to a device and a method for sound source positioning.
Background
In nature, the identification and judgment of the sound source position is a basic skill for the survival of both humans and animals. The rapid development of technology in recent years makes it possible to implement accurate positioning of sound source position by using technical means, and the technology is widely applied to whistle tracking, robotics, sound monitoring, sound control technology and the like. In the prior art, sound signals are collected through an array formed by a plurality of microphones to obtain one or more groups of sound pressure data, and the collected data are subjected to algorithm optimization and analysis, so that accurate information of the sound source position is obtained. At present, three sound source positioning algorithms based on a microphone array exist, namely a Beam Forming (BF) method; second, a method based on high resolution spectral estimation; and thirdly, a method based on time difference of arrival (TDOA). Among them, the TDOA method is widely used because of its advantages of simple equipment and no influence from phase ambiguity. Compared with the TDOA technology, the beam forming algorithm is based on signals received by each array element on the array sensor, and the algorithm selects a proper weighting vector for the array output to compensate the propagation delay of each array element, so that the array output can be superposed in the same direction in a certain expected direction, thereby realizing the directional positioning of the original signals and having better precision and application range; which in turn causes the array to produce a main lobe beam in that direction and to some extent suppress interference in that direction. Experiments show that different microphone array building forms can have certain influence on positioning results. The construction of microphone arrays is therefore a critical part of the solution. Other positioning schemes are mostly one-dimensional arrays or two-dimensional arrays, and the new array type of three-dimensional arrays is lacked. In addition, in a two-dimensional array, the distributed array is applied to far-field measurement, and in other distributed arrays, a certain distance is required between sound sensor sub-arrays to distinguish the incoming wave directions of different sub-arrays, so that the purpose of positioning is achieved. The relatively far sub-array causes inconvenience to the device in placement and carrying. The compact array of the present invention solves this problem compared to conventional distributed arrays. In addition, the beam forming positioning algorithm can effectively inhibit noise in far-field positioning, and the positioning accuracy is improved.
Disclosure of Invention
Therefore, the embodiment of the invention provides a device and a method for sound source positioning, so as to solve the problem of inconvenient placement and carrying caused by long distance between sensors in the traditional distributed subarray in the prior art, and meanwhile, the characteristic of effectively suppressing noise in far-field positioning by using a beam forming algorithm is applied, so that the positioning progress is improved.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of the embodiments of the present invention, an apparatus for sound source localization includes a housing, and a plurality of sound sensor sub-arrays disposed on the housing, a signal collecting device for collecting sound signals, and a host for processing sound signals and running a localization algorithm, where the housing is configured as a housing with a regular N-pyramid shape, the housing includes a bottom surface and N side surfaces of a regular N-polygon, and one sound sensor sub-array is fixed on each side surface of the housing.
Further, each acoustic sensor sub-array includes a plurality of acoustic sensors, the number of the acoustic sensors in each acoustic sensor sub-array is the same, the shape of the acoustic sensors in each acoustic sensor sub-array is the same, and the positions of the acoustic sensors in each acoustic sensor sub-array in the acoustic sensor sub-arrays are the same.
Further, the shape of the acoustic transducer elements in the acoustic transducer sub-array is a symmetrical shape.
Further, the sound sensor is provided as a microphone.
Further, the microphone is a sensor of Gras of 40PH denmark.
Furthermore, the system also comprises a signal acquisition device for acquiring sound signals and a host for processing the sound signals and running a positioning algorithm, and each microphone is connected with the host through the signal acquisition device.
According to a second aspect of embodiments of the present invention, a localization algorithm for sound source localization comprises the steps of:
all the sound sensors on each sound sensor subarray pick up audio signals of the same sound source at the same time, acquire data through signal acquisition equipment and record the data on a host;
the host computer carries out weighting calculation on the collected audio signal data, and the weight value of the data collected by the sound sensor depends on the phase delay of the received signal of the sound sensor;
the host machine carries out summation calculation on the weighted signal data of each sound sensor, and each sound sensor subarray calculates to obtain an incoming wave direction;
and performing least square calculation on the incoming wave directions calculated by all the sound sensor sub-arrays to obtain the direction and the position of the sound source.
According to a third aspect of embodiments of the present invention, a method electronic device for sound localization, comprises:
the processor and the memory are communicated with each other through a bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform steps as described in a method for sound localization.
According to a fourth aspect of embodiments of the present invention, a method for sound localization, a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as a method for sound localization.
The embodiment of the invention has the following advantages: because a plurality of sound sensor sub-arrays are all integrated on the same regular pyramid, a more complete array building mode can be provided in the scheme of sound source positioning by a microphone array, the incoming wave directions determined by different sub-arrays are distinguished by utilizing the inherent included angles among the sub-arrays, a new thought and method are provided for sound source positioning, and meanwhile, a sound source positioning device which is more convenient and small in occupied area is realized; in addition, the beam forming positioning algorithm can effectively inhibit noise interference and improve positioning accuracy in far-field sound source positioning.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic structural diagram of an apparatus for sound source localization according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an apparatus for sound source localization according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for sound source localization according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps of a sound source localization algorithm used in a method for sound source localization according to an embodiment of the present invention;
fig. 5 is an overall flow chart of sound source localization used in the method for sound source localization according to the embodiment of the present invention.
In the figure: 1. a housing; 2. a central sensor; 3. an edge sensor.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): a device for sound source localization, as shown in fig. 1 and 2, comprises a housing 1 and a sound sensor sub-array disposed on the housing 1, the housing 1 is disposed as a housing 1 with a regular pyramid shape in the present embodiment, the housing 1 includes a bottom surface and N side surfaces of a regular N-polygon, the sound sensor sub-array is fixed on the side surfaces of the housing 1, each side surface of the housing 1 is fixed with the same number of sound sensors, in the present embodiment, the sound sensors are disposed as microphones for performing sound pickup actions.
In the present embodiment, two specific sound sensor arrays are provided, and in order to facilitate recording of the position coordinates of the microphone, the casing 1 is selected from a regular triangular pyramid having a side surface of an congruent isosceles right triangle and a regular rectangular pyramid having a side surface of an congruent equilateral triangle. In the present embodiment, 4 acoustic sensors are placed on each side, wherein the 4 acoustic sensors include one center sensor 2 and three edge sensors 3, respectively.
On the housing 1 of a regular triangular pyramid, 4 microphones are placed per side. The center of gravity of an isosceles right triangle of each side is used as the center in each side, a first microphone is placed, the first microphone is a central sensor 2 on one side of a triangular pyramid shell 1, other three microphones are fixed on the vertex of the equilateral triangle with the central sensor 2 as the center of gravity, namely the central sensor 2 is fixedly arranged on the center of gravity of each side, and the three edge sensors 3 surround the equilateral triangle with the central sensor 2 as the center of gravity.
On the regular rectangular pyramid shell 1, 4 microphones are placed on each side, a first microphone is placed on each side by taking the gravity center of an equilateral triangle of the side as the center, the microphone is a central sensor 2 on one side of the rectangular pyramid shell 1, the other three microphones are positioned on the vertexes of the equilateral triangle with the first microphone as the gravity center, namely the central sensor 2 is fixedly arranged on the gravity center of each side, and the three edge sensors 3 enclose an equilateral triangle by taking the central acquisition device 2 as the gravity center. In the arrangement, as the plurality of microphones are all integrated on the same regular pyramid, a more complete array building mode can be provided in the scheme of sound source positioning of the microphone array, a new thought and method is provided for sound source positioning, a more convenient and smaller-occupied-area sound source positioning device is realized, a new array form in the sound source positioning method based on the microphone array is provided, the method aims to explore whether the accuracy of sound source positioning can be improved by changing the array form or not, errors are reduced, meanwhile, the used three-dimensional array integrates the advantages of a distributed array and a compact array, data obtained from different sides can be used as the distributed array for analysis, meanwhile, the difficulty in placing equipment caused by the distributed array is avoided, the occupied space of the equipment is reduced, the selection of the regular pyramid is ensured, the bottom surface of the regular pyramid is used for fixing, the microphone sub-arrays arranged on the plurality of sides can judge the incoming wave direction of sound from a plurality of angles, and then judge the position of sound source, simultaneously, the setting of arranging of the same side can guarantee that the calculation is more accurate, and simpler.
Each microphone is connected with a host through a signal acquisition device through a connecting line, the regular triangular pyramid shell 1 forms 12 sound signal channels, and the regular rectangular pyramid shell 1 forms 16 sound signal channels. In practical application, the number of microphones on each side can be increased as required, but for the consistency of sound signals collected by each side, the number of microphones on each side and the shape formed by the microphones are the same on the same sound collection shell 1.
Referring to fig. 3, the process of the sound source positioning device may adopt a beam forming positioning algorithm shown in fig. 4 to perform analysis processing, so as to obtain sound source position information, and specifically includes the following steps:
s1, all sound sensors in the device pick up audio signals emitted by the sound source;
s2, sampling and quantizing the picked audio signal by the signal acquisition equipment connected with the sound sensor, converting the audio signal into a digital signal and recording the digital signal on a host;
s3, realizing a beam forming positioning algorithm through the algorithm program instruction on the host and the recorded audio data;
and S4, obtaining the sound source position information.
The sound source positioning algorithm process used in the method for positioning a sound source provided by the embodiment of the invention, referring to fig. 4, specifically includes the following steps:
s1, all the sound sensors on each sound sensor sub-array pick up the audio signals of the same time and the same sound source, acquire data through signal acquisition equipment and record the data on the host;
s2, the host computer carries out weighting calculation on the collected audio signal data, and the weight of the data collected by the sound sensor depends on the phase delay of the signal received by the sound sensor;
s3, the host machine carries out summation calculation on the weighted signal data of each sound sensor, and each sound sensor subarray calculates an incoming wave direction;
and S4, performing least square calculation on the incoming wave directions calculated by all the sound sensor sub-arrays to obtain the direction and the position of the sound source.
When the acoustic sensor is positioned in a far field, in a traditional distributed array, a certain distance is needed between sound sensor sub-arrays to distinguish the incoming wave directions determined by different sub-arrays, so that the purpose of positioning is achieved. The relatively far sub-array causes inconvenience to the device in placement and carrying. The present invention addresses this problem by designing a compact array. Meanwhile, the beam forming positioning algorithm can effectively inhibit noise interference and improve positioning accuracy.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. An apparatus for sound source localization, characterized by: including casing (1) and a plurality of sound sensor subarray of setting on casing (1), be used for carrying on sound signal acquisition's signal acquisition equipment and be used for signal processing and operation positioning algorithm's host computer, casing (1) sets up casing (1) into positive N pyramid form, casing (1) includes the bottom surface and the N side of a positive N polygon, every a sound sensor subarray is all fixed to the side of casing (1).
2. The apparatus for sound source localization as claimed in claim 1, wherein: each acoustic sensor sub-array comprises a plurality of acoustic sensors, the number of the acoustic sensors in each acoustic sensor sub-array is the same, the shapes of the acoustic sensors in each acoustic sensor sub-array are the same, and the positions of the acoustic sensors in each acoustic sensor sub-array in the acoustic sensor sub-arrays are the same.
3. The apparatus for sound source localization as claimed in claim 2, wherein: the shape of the acoustic sensors in the acoustic sensor sub-array is a symmetrical shape.
4. The apparatus for sound source localization as claimed in claim 2, wherein: the sound sensor is arranged as a microphone.
5. The apparatus for sound source localization as claimed in claim 4, wherein: the microphone is a sensor of 40PH Danish Gras.
6. An apparatus for sound source localization as claimed in claim 5, wherein: the microphone positioning system also comprises a signal acquisition device for acquiring sound signals and a host for processing the sound signals and running a positioning algorithm, wherein each microphone is connected with the host through the signal acquisition device.
7. A method for sound source localization, characterized by: comprises the following steps
All the sound sensors on each sound sensor subarray pick up audio signals of the same sound source at the same time, acquire data through signal acquisition equipment and record the data on a host;
the host computer carries out weighting calculation on the collected audio signal data, and the weight value of the data collected by the sound sensor depends on the phase delay of the received signal of the sound sensor;
the host machine carries out summation calculation on the weighted signal data of each sound sensor, and each sound sensor subarray calculates to obtain an incoming wave direction;
and performing least square calculation on the incoming wave directions calculated by all the sound sensor sub-arrays to obtain the direction and the position of the sound source.
8. A method electronic device for sound localization, comprising:
the processor and the memory are communicated with each other through a bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of claim 7.
9. A method computer-readable storage medium for sound localization, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method as claimed in claim 7.
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| CN201911396317.0A CN111077497A (en) | 2019-12-30 | 2019-12-30 | Device and method for sound source positioning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112098938A (en) * | 2020-08-31 | 2020-12-18 | 黑龙江工程学院 | Six-element cone vector array-based underwater acoustic target dimension reduction matching sound field positioning method |
| WO2022041219A1 (en) * | 2020-08-31 | 2022-03-03 | 华为技术有限公司 | Sound source ranging method, device and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112098938A (en) * | 2020-08-31 | 2020-12-18 | 黑龙江工程学院 | Six-element cone vector array-based underwater acoustic target dimension reduction matching sound field positioning method |
| WO2022041219A1 (en) * | 2020-08-31 | 2022-03-03 | 华为技术有限公司 | Sound source ranging method, device and system |
| CN112098938B (en) * | 2020-08-31 | 2023-04-18 | 黑龙江工程学院 | Six-element cone vector array-based underwater acoustic target dimension reduction matching sound field positioning method |
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