CN111679244B - Direct sound time-frequency point selection method based on plane wave relative density - Google Patents
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Abstract
The invention discloses a method for selecting a direct sound time-frequency point based on plane wave relative density, which comprises the following steps: firstly, establishing a spherical array output model under a reverberation environment, and performing short-time Fourier transform to a time-frequency domain in order to use sparsity of a voice signal; the spherical harmonic coefficients of the plane wave density of the signals are obtained through the spherical harmonic domain plane wave decomposition; using the ball Fourier inverse transformation to construct the plane wave density of any angle of each time-frequency point, wherein the higher the density is, the more likely the time-frequency point is dominated by single direct sound; after taking the model, traversing the angle, and calculating the ratio of the maximum plane wave density to the second maximum plane wave density to be used as the relative density of the plane waves; and selecting a time-frequency point with high plane wave relative density, thereby obtaining a final direct sound DOA estimation result. According to the method, the plane wave density function in the spherical harmonic domain is considered, the complex calculation amount caused by covariance matrix eigenvalue decomposition is reduced, the time-frequency points with high relative density are selected, and DOA estimation accuracy is improved.
Description
Technical Field
The invention relates to a method for selecting a direct sound time-frequency point based on plane wave relative density, which is applied to the technical fields of voice enhancement, video conference, robot hearing and the like.
Background
As one of the important research directions for array signal processing, the direction of arrival (Direction of Arrival, DOA) estimation of the signals is extremely important. Many researchers are devoting to research on speech enhancement and sound scene analysis. Among these studies, more and more have focused on DOA estimation in a practical environment. In a reverberant environment, due to multipath effects of sound propagation, the reflected sound confuses the direct sound, so that it is difficult to accurately obtain the direct sound DOA estimation result.
In recent years, one common way to increase the robustness of reverberation is to process only the signal segments containing the direct sound, while rejecting those that are disturbed by reflections. For this purpose, the array signal is usually subjected to Short-time fourier transform (STFT), the signal is transformed into the time-frequency domain, and then the time-frequency point dominated by the direct sound is selected. With this approach, the robustness to reverberation is largely dependent on the ability to correctly select the time-frequency point of the direct sound dominant.
Currently, spherical microphone arrays are widely used for sound field analysis. The spherical arrays have three-dimensional symmetry, which facilitates more comprehensive analysis of sound fields and estimation of sound source DOA. Ball array sound field analysis is based on the ball fourier transform, i.e. an orthogonal basis function that decomposes the sound field into spherical harmonics. The steering matrix decouples the independent portions of angle and frequency by spherical harmonic decomposition. Mohan et al propose a method of coherent detection by selecting a time-frequency point mode with an effective rank of 1, namely a mode of selecting only a single active sound source time-frequency point in the time-frequency points. Since the covariance matrix is time-smoothed and a sound source with little coherence can be detected when the effective rank is 1, the covariance matrix has good performance even in a low reverberation environment. However, in the case of high reverberation, the selected time-frequency points contain direct sound and coherent reverberation signals, so that DOA estimation positioning results are affected. Rafaely et al propose to use direct-path domino (DPD) test to select the time-frequency point dominated by the direct sound. The DPD test is based on a spherical array and adopts frequency smoothing, so that the influence of coherent signals in a reverberation environment is remarkably reduced. And selecting a time-frequency point corresponding to the high ratio by calculating the ratio of the maximum eigenvalue and the second maximum eigenvalue of the local covariance matrix. This test is for a ball array so that the focus matrix does not need to be calculated during frequency smoothing. However, the key to selecting the time-frequency points by the eigenvalue ratio is to select the time-frequency point when the energy of the largest eigenvalue is relatively large, and the dominant sound source in the time-frequency point may be high-energy reverberant sound, so that the estimation performance of the subsequent multiple signal classification (Multiple Signal Classification, MUSIC) is reduced. Madmoni et al propose a method for selecting time-frequency points based on plane wave similarity based on the MUSIC method. The method mainly comprises the steps of calculating the similarity between a first eigenvector of a covariance matrix and each angle plane wave component in each time-frequency point. The higher the similarity is, the higher the accuracy of the time-frequency point for picking out the direct sound is, the final direct sound DOA estimation performance is improved, but the calculated amount is increased. In practical scene application, a method for selecting time-frequency points with high complexity is inevitably limited due to limited computing resources and strict real-time requirements.
Disclosure of Invention
The invention aims at: aiming at the defects of the prior art, the direct sound time-frequency point selection method based on the plane wave relative density is provided, the calculated amount of time-frequency point selection is reduced, and direct sound DOA estimation is facilitated.
In order to achieve the above object, the present invention is conceived as follows:
firstly, converting signals received based on a spherical array in a reverberation environment to a time-frequency domain; then calculating the spherical harmonic coefficient of the plane wave density function; calculating the ratio of the maximum value of the plane wave density to the second maximum value; and finally, selecting a time-frequency point corresponding to the high ratio, and calculating to obtain a direct sound DOA estimation result.
Firstly, establishing a signal model based on a spherical array in a reverberation environment, and converting the signal into a time-frequency domain through short-time Fourier transform in order to utilize sparsity of a voice signal; then performing sphere Fourier transform on the time-frequency domain signals, and decomposing the time-frequency domain signals by plane waves to obtain spherical harmonic coefficients of a plane wave density function; calculating the plane wave density of each angle through inverse spherical Fourier transform, and calculating the ratio of the maximum value to the second maximum value after taking the model, namely the plane wave relative density; finally, in order to select the time-frequency point with dominant direct sound, the time-frequency point corresponding to the high ratio is selected, and the direct sound DOA estimation result is obtained through calculation.
According to the inventive concept, the technical scheme adopted by the invention is as follows:
a direct sound time-frequency point selection method based on plane wave relative density comprises the following steps:
1) Establishing a spherical microphone array output model under a reverberation environment, and converting the obtained signals into a time-frequency domain through short-time Fourier transform in order to utilize the sparsity of voice signals;
2) The time-frequency domain signal obtained in the step 1) is subjected to sphere Fourier transform and plane wave decomposition to obtain sphere harmonic coefficients of a plane wave density function;
3) The spherical harmonic coefficient of the plane wave density function obtained in the step 2) is subjected to inverse transformation of the spherical Fourier transform, and the plane wave density of any angle corresponding to each time-frequency point is obtained through calculation;
4) Taking the mode of the plane wave density obtained in the step 3), traversing the angle, and calculating the ratio of the maximum value to the second maximum value to obtain the plane wave relative density;
5) And (3) selecting a time-frequency point corresponding to the relatively high density of the plane wave according to the ratio obtained in the step (4), so as to calculate and obtain a final direct sound DOA estimation result.
Compared with the prior art, the method has the following obvious and prominent substantial characteristics and remarkable advantages:
according to the method, covariance matrix is not required to be calculated, eigenvalue decomposition is not involved, calculated amount is reduced, and the fact that direct sound is not only plane wave high density, but also the maximum value of plane wave density is absolute advantage is considered, and the corresponding time-frequency point when the plane wave is relatively high density is selected in a ratio mode, so that the final direct sound DOA estimation accuracy is improved.
Drawings
Fig. 1 is a flowchart of a method for selecting a direct sound time-frequency point based on a plane wave relative density.
Fig. 2 is a schematic diagram of a coordinate system of a spherical microphone array according to the present invention.
Fig. 3 is a schematic diagram of selecting a time-frequency point corresponding to a relatively high density plane wave according to the present invention.
Detailed Description
For a better understanding of the technical solution of the present invention, preferred embodiments of the present invention are described in further detail below with reference to the accompanying drawings:
example 1
Referring to fig. 1-3, a method for selecting a direct sound time-frequency point based on a plane wave relative density includes the following steps:
1) Establishing a spherical microphone array output model under a reverberation environment, and converting the obtained signals into a time-frequency domain through short-time Fourier transform in order to utilize the sparsity of voice signals;
2) The time-frequency domain signal obtained in the step 1) is subjected to sphere Fourier transform and plane wave decomposition to obtain sphere harmonic coefficients of a plane wave density function;
3) The spherical harmonic coefficient of the plane wave density function obtained in the step 2) is subjected to inverse transformation of the spherical Fourier transform, and the plane wave density of any angle corresponding to each time-frequency point is obtained through calculation;
4) Taking the mode of the plane wave density obtained in the step 3), traversing the angle, and calculating the ratio of the maximum value to the second maximum value to obtain the plane wave relative density;
5) And (3) selecting a time-frequency point corresponding to the relatively high density of the plane wave according to the ratio obtained in the step (4), so as to calculate and obtain a final direct sound DOA estimation result.
Example two
Referring to fig. 1, a flow of a direct sound time-frequency point selection method based on plane wave relative density in the embodiment is that signals received by a spherical array are transformed into a time-frequency domain through short-time fourier transform under a reverberation environment, and spherical harmonic coefficients corresponding to a plane wave density function of the received signals are obtained through the spherical fourier transform and plane wave decomposition; at this time, the steering matrix only contains sound source angle information, and through inverse fourier transform, a plane wave density function corresponding to any angle is calculated in each time-frequency point, and considering that the direct sound is not only plane wave high density, but also plane wave with the maximum value of the plane wave density being the absolute dominant plane wave, the relative density of the plane wave is calculated, and the time-frequency point higher than a threshold value is selected, so that the direct sound DOA estimation is obtained, and the specific implementation steps are as follows:
1) As shown in fig. 2, a spherical microphone array output model under a reverberation environment is established, in order to utilize sparsity of a voice signal, the obtained signal is converted into a time-frequency domain through short-time fourier transform, so that direct sound estimation is converted into a time-frequency point for selecting direct sound dominant, specifically as follows:
assuming that D signal sources are incident on a uniform spherical array with the array element number of L, signals received by the spherical array are expressed in a matrix form:
p(t)＝V(k,Φ)s(t)+n(t) (1)
wherein,represents the sound pressure signal received by the ball array, s (t) = [ s ] 1 (t),...,s D (t)] T Is the sound source signal vector,/">Represents a steering matrix containing DOA and frequency information, n (t) = [ n ] 1 (t),...,n L (t)] T Is the mean value of 0, the variance of +.>Additive white gaussian noise of (c).
Using short-time fourier transform (STFT), equation (2) is transformed into the time-frequency domain, expressed as:
p(τ,ω)＝V(k,Φ)s(τ,ω)+n(τ,ω) (2)
where τ is the time index and ω is the frequency index. Since the steering matrix is only related to the DOA and the frequency information, the steering matrix is unchanged after a short time Fourier transform.
2) The time-frequency domain signal obtained in the step 1) is subjected to sphere Fourier transform and plane wave decomposition to obtain the sphere harmonic coefficient of the plane wave density function, and the specific process is as follows:
for a spherical matrix, the steering matrix is decomposed into DOA and frequency components. Equation (2) can be expressed as:
p(τ,ω)＝Y(Ω)B(k)Y H (Φ)s(τ,ω)+n(τ,ω) (3)
wherein,
Y(Φ)＝[y T (Φ 1 ),...,y T (Φ D )] T (4)
is D× (N+1) 2 Phi of sound source of dimension d ＝(θ d ,φ d ) The information of the angle at which the angle is to be calculated,each element->Representing spherical harmonics of order N, m, where N is the maximum spherical harmonic order. Similarly, Y (Ω) is L× (N+1) 2 Array element of a dimensional sphere array>Angle information of (a) is provided. (N+1) 2 ×(N+1) 2 The diagonal matrix B (k) of dimensions contains the radial function of the scattering of plane waves from rigid spheres.
The plane wave density function is obtained through the calculation of the plane wave decomposition of the spherical harmonic domain in the formula (4):
wherein a is nm (τ, ω) is of length (N+1) 2 Spherical harmonic coefficients of the plane wave density function of (c).
3) The spherical harmonic coefficient of the plane wave density function obtained in the step 2) is calculated to obtain each angle theta corresponding to each time-frequency point by applying the inverse transformation of the spherical Fourier transformation j (j=1,., J) the corresponding plane wave density, the specific procedure is as follows:
a(τ,ω,Θ j )＝y T (Θ)a(τ,ω) (6)
4) And 3) taking a model of the plane wave density obtained in the step 3), traversing the angle, and calculating the ratio of the maximum value to the second maximum value to obtain the plane wave relative density, wherein the specific process is as follows:
DEN(τ,ω，Θ j )＝|a(τ,ω,Θ j )| (7)
where DEN (τ, ω) represents the modulus of the calculated plane wave density at (τ, ω). The greater the value of DEN (τ, ω), the more likely the direct sound is dominant. However, if (τ, ω) is the dominant reverberant sound, the DEN (τ, ω) also has a maximum value that is not sufficiently prominent.
In order to select the time-frequency point with the maximum value relatively protruding, a plane wave density ratio is set, and the expression is as follows:
where RA (τ, ω) represents a plane wave at this time-frequency point (τ, ω)Density ratio, theta j1 And theta (theta) j2 The angles at which the DEN attains the maximum value and the second maximum value correspond respectively.
5) Selecting a time-frequency point corresponding to the relatively high density of the plane wave according to the ratio obtained in the step 4), thereby calculating to obtain a final direct sound DOA estimation result, wherein the specific process is as follows:
D * ＝{(τ,ω):RA(τ,ω)>TH} (9)
wherein D is * And (5) representing the selected time-frequency point set, wherein TH is a threshold value. In the selected time-frequency point, calculating the final DOA estimated valueExpressed as:
in summary, the method for selecting the direct sound time-frequency point based on the plane wave relative density comprises the following steps: firstly, establishing a spherical array output model under a reverberation environment, and performing short-time Fourier transform to a time-frequency domain in order to use sparsity of a voice signal; the spherical harmonic coefficients of the plane wave density of the signals are obtained through the spherical harmonic domain plane wave decomposition; using the ball Fourier inverse transformation to construct the plane wave density of any angle of each time-frequency point, wherein the higher the density is, the more likely the time-frequency point is dominated by single direct sound; after taking the model, traversing the angle, and calculating the ratio of the maximum plane wave density to the second maximum plane wave density to be used as the relative density of the plane waves; and selecting a time-frequency point with high plane wave relative density, thereby obtaining a final direct sound DOA estimation result. According to the method, a plane wave density function in the spherical harmonic domain is considered, complex calculation amount caused by covariance matrix eigenvalue decomposition is reduced, and the fact that direct sound is not only high in plane wave density but also the maximum value of the plane wave density is dominant is considered, so that a method for the relative density of plane waves is provided, time-frequency points with high relative density are selected, and DOA estimation accuracy is improved.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the embodiments described above, and various changes, modifications, substitutions, combinations or simplifications made according to the spirit and principles of the technical solution of the present invention should be equivalent substitution, so long as the present invention is satisfied, and the technical principles and the inventive concept of the method for selecting direct sound time-frequency points based on plane wave relative density of the present invention are all within the scope of protection of the present invention.
Claims (6)
1. A direct sound time-frequency point selection method based on plane wave relative density is characterized by comprising the following steps:
1) Establishing a spherical microphone array output model under a reverberation environment, and converting the obtained signals into a time-frequency domain through short-time Fourier transform in order to utilize the sparsity of voice signals;
2) The time-frequency domain signal obtained in the step 1) is subjected to sphere Fourier transform and plane wave decomposition to obtain sphere harmonic coefficients of a plane wave density function;
3) The spherical harmonic coefficient of the plane wave density function obtained in the step 2) is subjected to inverse transformation of the spherical Fourier transform, and the plane wave density of any angle corresponding to each time-frequency point is obtained through calculation;
4) Taking the mode of the plane wave density obtained in the step 3), traversing the angle, and calculating the ratio of the maximum value to the second maximum value to obtain the plane wave relative density;
5) And (3) selecting a time-frequency point corresponding to the relatively high density of the plane wave according to the ratio obtained in the step (4), so as to calculate and obtain a final direct sound DOA estimation result.
2. The method for selecting the direct sound time-frequency points based on the plane wave relative density according to claim 1, wherein the method for selecting the direct sound time-frequency points based on the plane wave relative density is characterized in that in the step 1), a spherical microphone array output model under a reverberation environment is established, and specifically comprises the following steps:
assuming that D signal sources are incident on a uniform spherical array with the array element number of L, signals received by the spherical array are expressed in a matrix form:
p(t)＝V(k,Φ)s(t)+n(t) (1)
wherein,represents the sound pressure signal received by the ball array, s (t) = [ s ] 1 (t),...,s D (t)] T Is the sound source signal vector,/">Representing a steering matrix comprising DOA and frequency information, Φ 1 ，Φ 2 …Φ D Angle information indicating sound source, n (t) = [ n ] 1 (t),...,n L (t)] T Is the mean value of 0, the variance of +.>Additive white gaussian noise of (2);
using a short-time fourier transform, transform equation (2) to the time-frequency domain, expressed as:
p(τ,ω)＝V(k,Φ)s(τ,ω)+n(τ,ω) (2)
where τ is the time index and ω is the frequency index; since the steering matrix is only related to the DOA and the frequency information, the steering matrix is unchanged after a short time Fourier transform.
3. The method for selecting the direct sound time-frequency points based on the relative density of plane waves according to claim 2, wherein the time-frequency domain signal obtained in the step 1) is subjected to sphere fourier transform and plane wave decomposition to obtain the sphere harmonic coefficient of the plane wave density function, and the specific operation steps are as follows:
for a spherical matrix, the steering matrix is decomposed into DOA and frequency parts; equation (2) can be expressed as:
p(τ,ω)＝Y(Ω)B(k)Y H (Φ)s(τ,ω)+n(τ,ω) (3)
wherein,
Y(Φ)＝[y(Φ 1 )，…，y(Φ D )] T (4)
is D× (N+1) 2 Phi of sound source of dimension d ＝(θ d ,φ d ) The information of the angle at which the angle is to be calculated,each element->Representing spherical harmonics of order N, m, N being the maximum spherical harmonic order; similarly, Y (Ω) is L× (N+1) 2 Array element of a dimensional sphere array>Angle information of (2); (N+1) 2 ×(N+1) 2 The diagonal matrix B (k) of dimensions contains the radial functions of the scattering of plane waves from rigid spheres;
the plane wave density function is obtained through the calculation of the plane wave decomposition of the spherical harmonic domain in the formula (4):
wherein a is nm (τ, ω) is of length (N+1) 2 Spherical harmonic coefficients of the plane wave density function of (c).
4. The method for selecting direct sound time-frequency points based on plane wave relative density according to claim 3, wherein the spherical harmonic coefficient of the plane wave density function obtained in the step 2) is calculated to obtain each angle Θ corresponding to each time-frequency point by applying inverse transformation of the spherical fourier transform j (j=1,., J) corresponding plane wave density, the specific operation steps of which are as follows:
5. the method for selecting the direct sound time-frequency point based on the plane wave relative density according to claim 4, wherein the plane wave density obtained in the step 3) is subjected to modulus, the angle is traversed, the ratio of the maximum value to the second maximum value is calculated, and the plane wave relative density is obtained, and the method comprises the following operation steps:
DEN(τ,ω,Θ j )＝|a(τ,ω,Θ j )| (7)
wherein DEN (τ, ω, Θ) j ) A modulus representing the calculated plane wave density at (τ, ω); DEN (τ, ω, Θ) j ) The larger the value, (τ, ω) the more likely the direct sound dominates; if (τ, ω) is the reverberant sound dominant, DEN (τ, ω, Θ) j ) There is also a maximum value that is not sufficiently prominent;
in order to select the time-frequency point with the maximum value relatively protruding, a plane wave density ratio is set, and the expression is as follows:
where RA (τ, ω) represents the plane wave density ratio at this time-frequency point (τ, ω),and->The angles at which the DEN attains the maximum value and the second maximum value correspond respectively.
6. The method for selecting the direct sound time-frequency points based on the relative density of the plane waves according to claim 5, wherein the ratio obtained in the step 4) is selected to select the time-frequency points corresponding to the relatively high density of the plane waves, so as to calculate and obtain the final direct sound DOA estimation result, and the method comprises the following operation steps:
D * ＝{(τ,ω):RA(τ,ω)>TH} (9)
wherein D is * Representing a selected set of time-frequency points, wherein TH is a threshold value; in the selected time-frequency point, calculating the final DOA estimated valueExpressed as:
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