CN111739552A - Method and system for forming wave beam of microphone array - Google Patents
Method and system for forming wave beam of microphone array Download PDFInfo
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Abstract
The invention discloses a microphone array beam forming method and system, relates to the technical field of voice enhancement, and solves the technical problem that beam imaging direction scanning is complex and inaccurate in calculation. The judgment module judges the beam range of the seat signal according to the seat signal, judges the beam range of the seat signal by combining the audio frequency of the microphone array to obtain the beam direction of the audio signal, and finally carries out beam forming processing on the audio signal according to the beam direction and then outputs the audio signal. The method and the system take the seat signal as a prior signal, and reduce the range of the beam angle of the beam forming method, thereby increasing the anti-interference capability of the beam forming method. Meanwhile, based on the beam forming technology, the strong interference signals outside the beam range are eliminated, so that the output signals are more accurate and clear.
Description
Technical Field
The present disclosure relates to the field of speech enhancement technologies, and in particular, to a method and a system for processing speech signals, reducing noise, and increasing target signal strength and quality by using a microphone array technology, and more particularly, to a method and a system for beam forming of a microphone array.
Background
The voice interaction technology is more and more widely applied in the automobile, and because the noise and the interference which are different from other environments exist in the automobile and outside the automobile, the particularity and the complexity of the automobile sound environment are formed. On the other hand, voice signals directly sampled by the microphone are often confused with various noises and interferences, the use scene of the automobile is more easily mixed with various different types of noises, and both daily communication and voice recognition have great demands on voice enhancement, so that the requirements on the technology of the in-vehicle microphone array are higher and higher.
The voice enhancement belongs to one of digital signal processing, and one of the main purposes is to improve the quality of sound, improve the subjective listening feeling of a user and enable the user to understand the voice content more easily, such as a voice enhancement module in a mobile phone; the other purpose is to preprocess voice, improve the effect of the following voice recognition module, and be widely used for mobile phones or intelligent sound boxes; voice interactions such as phone calls or voice recognition in the car will also use these two enhanced processing modes. The microphone array samples and processes the spatial characteristics of a sound field by using a plurality of microphone elements, is used for improving the signal-to-noise ratio of voice, positioning a sound source, removing reverberation and the like, is widely applied to products such as video conferences, mobile phones and intelligent sound boxes, and is widely used in the automobile industry to improve the effect of voice interaction in automobiles.
Beamforming techniques combine multiple audio signals received from a microphone array to enhance a signal at a particular azimuth, or may enhance sound sources in certain desired directions in the environment and attenuate noise or interference in undesired directions to improve the size or output quality of the audio signals. But beam-forming techniques have problems with beam direction in microphone array applications. It is common practice to algorithmically point the beam in the direction of the strongest sound signal and then enhance the signal in this strongest direction, but in practice the signal with the strongest sound energy is not always expected to point to the signal, and the energy of the expected pointing signal is not always constant, and the beam-forming direction may be algorithmically pointed in other directions in a dynamic process.
Based on the above problem of the beam direction, in the prior art, the wake-up direction is taken as the beam forming direction, and this way can make the beam point to the direction of the wake-up person, so as to ensure that the sound of the wake-up person is taken as the enhanced target signal by the beam forming algorithm, but this way depends on the wake-up flow, and at the same time, there is no enhancement effect on the voice still in the wake-up state. The method can solve the problem of over-strong noise energy because the noise does not usually have language information, and the identified score is not very high, but the method depends on an identification module and increases the complexity of an algorithm.
Disclosure of Invention
The technical purpose of the method is to simplify the complexity of beam forming direction scanning by pre-estimating the beam forming direction, eliminate strong interference signals on the basis of the complexity and improve the overall effect of audio signals acquired by a microphone array in a vehicle.
The technical purpose of the present disclosure is achieved by the following technical solutions:
a method of microphone array beamforming, comprising:
collecting an audio signal;
acquiring a seat signal;
judging according to the seat signal to obtain a first beam range, and judging and obtaining a second beam direction of the audio signal according to the first beam range and the audio signal;
and performing beamforming processing on the audio signal according to the second beam direction and outputting the audio signal.
Further, the determining includes:
judging according to the seat signal to obtain a first beam range, and judging and obtaining a second beam direction of the audio signal according to the first beam range and the audio signal;
judging whether a strong interference signal exists outside the range of the second wave beam direction;
and judging whether the strong interference signal exceeds a threshold value or not when the strong interference signal exists, and acquiring a third beam direction of the strong interference signal if the strong interference signal exceeds the threshold value.
Further, when the strong interfering signal is present outside the range of the second beam direction and the strong interfering signal does not exceed a threshold, or the strong interfering signal is not present outside the range of the second beam direction, the beamforming process comprises: and outputting the audio signal after performing beamforming processing on the audio signal in the second beam direction.
Further, when the strong interfering signal is present outside the range of the second beam direction and the strong interfering signal exceeds a threshold, the beamforming process comprises:
performing beam forming processing on the strong interference signal in the third beam direction to obtain a first output signal;
eliminating the strong interference signal in the audio signal by taking the first output signal as a reference signal to obtain a second output signal;
and outputting the second output signal after performing beam forming processing on the second output signal in the second beam direction.
Further, when the strong interfering signal is present outside the range of the second beam direction and the strong interfering signal exceeds a threshold, the beamforming process comprises:
performing beam forming processing on the strong interference signal in the third beam direction to obtain a third output signal;
performing beamforming processing on the audio signal in the second beam direction to obtain a fourth output signal;
and eliminating the strong interference signal in the fourth output signal by taking the third output signal as a reference signal and then outputting the strong interference signal.
A system for microphone array beamforming, comprising:
a microphone array for collecting audio signals;
a sensor to acquire a seat signal;
the judgment module is used for judging according to the seat signal to obtain a first beam range and judging to obtain a second beam direction of the audio signal according to the first beam range and the audio signal;
and the beam forming module is used for carrying out beam forming processing on the audio signal according to the second beam direction and outputting the audio signal.
Further, the judging module comprises:
the first judgment unit is used for judging according to the seat signal to obtain a first beam range and judging and acquiring a second beam direction of the audio signal according to the first beam range and the audio signal;
a second judging unit that judges whether or not a strong interference signal exists outside the range of the second beam direction;
and the third judging unit is used for judging whether the strong interference signal exceeds a threshold value or not when the strong interference signal exists, and acquiring a third beam direction of the strong interference signal if the strong interference signal exceeds the threshold value.
Further, the beamforming module is to: and when the strong interference signal exists outside the range of the second beam direction and does not exceed a threshold value, or the strong interference signal does not exist outside the range of the second beam direction, performing beamforming processing on the audio signal in the second beam direction and outputting the audio signal.
Further, when the strong interfering signal is present outside the range of the second beam direction and the strong interfering signal exceeds a threshold, the beamforming module comprises:
the first beam forming unit is used for carrying out beam forming processing on the strong interference signal in the third beam direction to obtain a first output signal;
the first filtering unit is used for eliminating the strong interference signal in the audio signal by taking the first output signal as a reference signal to obtain a second output signal;
and a second beamforming unit configured to perform beamforming processing on the second output signal in the second beam direction and output the second output signal.
Further, when the strong interfering signal is present outside the range of the second beam direction and the strong interfering signal exceeds a threshold, the beamforming module comprises:
the third beam forming unit is used for carrying out beam forming processing on the strong interference signal in the third beam direction to obtain a third output signal;
a fourth beamforming unit, configured to perform beamforming processing on the audio signal in the second beam direction to obtain a fourth output signal;
and the second filtering unit is used for eliminating the strong interference signal in the fourth output signal by taking the third output signal as a reference signal and then outputting the strong interference signal.
The beneficial effect of this disclosure lies in: according to the microphone array beam forming method and system, the microphone array is used for collecting audio signals, the seat signals are obtained through the sensors, and a foundation is provided for determining the beam direction of the audio signals. The judgment module judges the beam range of the seat signal according to the seat signal to obtain the beam direction of the audio signal, and finally carries out beam forming processing on the audio signal according to the beam direction of the audio signal and then outputs the audio signal. The method and the system take the seat signal as a prior signal, and reduce the range of the beam angle of the beam forming method, thereby increasing the anti-interference capability of the beam forming method. Meanwhile, based on the beam forming technology, the strong interference signals outside the beam range are eliminated, so that the output signals are more accurate and clear.
Drawings
FIG. 1 is a flow chart of the disclosed method;
FIG. 2 is a schematic view of the disclosed system;
FIG. 3 is a schematic diagram of the beam direction of the main seat signal;
FIG. 4 is a schematic diagram of a union of beam directions of a primary seat signal and a secondary seat signal;
FIG. 5 is a schematic diagram of the main lobe directions of an audio signal and a strong interfering signal;
FIG. 6 is a flowchart of an embodiment of the present disclosure;
FIG. 7 is a flowchart of an embodiment of the present disclosure;
FIG. 8 is a flowchart of an embodiment of the present disclosure;
FIG. 9 is a fourth schematic view of an embodiment of the disclosure;
FIG. 10 is a schematic view of an embodiment of the present disclosure;
FIG. 11 is a flowchart of a second beamforming process according to an embodiment;
FIG. 12 is a flow diagram of an embodiment three beamforming process.
Detailed Description
The technical scheme of the disclosure will be described in detail with reference to the accompanying drawings. In the description of the present disclosure, it is to be understood that the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated, but merely as differentiating between different components.
Fig. 1 is a flowchart of the method of the disclosure, and as shown in fig. 1, after acquiring an audio signal and obtaining a seat signal, firstly, judging the seat signal to obtain a first beam range of the seat signal, obtaining a second beam direction of the audio signal according to the first beam range and the audio signal, and finally, performing beam forming processing on the audio signal according to the second beam direction and outputting the audio signal.
Fig. 2 is a schematic diagram of the system of the present disclosure, where the system includes a microphone array 101, a sensor 102, a determining module 103, and a beam forming module 104, 105 are final output signals after processing, and specific functions of each module refer to the method of the present disclosure, and are not described again. The judgment module also comprises a first judgment unit, a second judgment unit and a third judgment unit, wherein the first judgment unit is used for judging according to the seat signal to obtain a first beam range and judging to obtain a second beam direction of the audio signal according to the first beam range and the audio signal; the second judging unit is used for judging whether a strong interference signal exists outside the range of the second beam direction; the third judging unit is used for judging whether the strong interference signal exceeds the threshold value or not when the strong interference signal exists, and acquiring a third beam direction of the strong interference signal if the strong interference signal exceeds the threshold value.
In addition, the microphone array is used for collecting audio signals, and the layout of the microphone array in this application includes a linear array, a circular array, a square array, and the like, and in this application, a linear microphone array is used in the illustration for simplifying the description.
The seat signal is used as a priori signal and is obtained by a sensor, and usually, the main seat and the auxiliary seat of the automobile are both provided with the sensors. When the automobile main seat 301 is occupied, the sensor transmits a main seat signal to the judging module, and the judging module takes the position information as a prior signal of an algorithm to be processed in the judging module. If the seat signal transmitted by the sensor is the main seat signal and the limited range 302 of the beam direction is (θ 2- θ 1), as shown in fig. 3, the determining module receives the audio signal from the microphone array, and the accurate beam forming direction 303 (i.e. the second beam direction) of the audio signal can be calculated in the range of the beam direction of (θ 2- θ 1) by combining with other information, such as VAD (Voice activity detection) and signal energy comprehensive determination. When the automobile auxiliary seat has a person, the determination of the beam direction is the same as that of the main seat, and the description is omitted.
Fig. 4 shows the determination of the beam direction when the main seat 301 and the sub-seat 403 are simultaneously occupied, the sensor transmits the main seat signal and the sub-seat signal to the determination module, and the determination module calculates the precise beam forming direction of the audio signal by combining the audio data of the microphone array with the range of the target beam direction as the union of the angle range (θ 2- θ 1) 401 and the angle range (θ 4- θ 3) 402.
In addition, the determining module may determine whether there is a strong interference signal while determining the beam direction of the audio signal, and as shown in fig. 5, if the signal of the strong interference signal 501 is too strong, when calculating the main lobe direction 502 of the beamforming of the audio signal, the determining module also calculates the main lobe direction 503 of the strong interference signal at the same time, and transmits the main lobe direction to the beamforming module for processing.
Fig. 6 is a flowchart of an embodiment of the disclosure, and as can be seen from fig. 6, first detecting sound signals in an environment, if there is no seat signal, determining a beam direction directly according to audio signals acquired by a microphone array, and performing beamforming processing on the audio signals according to the beam direction and outputting the audio signals.
If the seat signal exists, firstly, judging according to the seat signal to obtain a first beam range, and then judging and obtaining a second beam direction of the audio signal through the first beam range and the audio signal of the microphone array. And then judging whether a strong interference signal exists outside the range of the second beam direction, and if the strong interference signal does not exist, performing beam forming processing on the audio signal in the second beam direction and outputting the audio signal.
And if the strong interference signal exists outside the range of the second beam direction, judging whether the strong interference signal exceeds a threshold value, and if not, performing beam forming processing on the audio signal in the second beam direction and outputting the audio signal. If the strong interference signal exceeds the threshold, the beam direction of the strong interference signal is obtained as a third beam direction, and the strong interference signal in the third beam direction is eliminated in the second beam direction.
Fig. 7 is a flowchart of an embodiment of the disclosure, as shown in fig. 7, when a strong interference signal exists outside the range of the second beam direction and the strong interference signal exceeds a threshold, first perform beamforming on the strong interference signal in the third beam direction to obtain a first output signal, eliminate the strong interference signal in the audio signal by using the first output signal as a reference signal to obtain a second output signal, and then perform beamforming on the second output signal in the second beam direction to output the second output signal.
The specific calculation process of the second embodiment is shown in fig. 11: assuming that there are s0(k) sound source signals and m interference signals si (k), i = 1.
Wherein the content of the first and second substances,
a matrix of desired signal steering vectors, N (k) is a noise vector,
i.e., s (k) includes a sound source signal and an interference signal.
The signals of the n microphones are weighted and summed to obtain the desired signal and the strong interference signal which are included in the output yc (k) of the beam forming, the desired signal can be output without distortion, and the strong interference signal is cancelled to achieve the purpose of enhancing the signal.
Different beamforming algorithms also include other parts, such as GSC (Generalized Side-lobe canceller) which also includes a branch for blocking the desired signal by blocking matrix, and yc (k) cancellation to enhance beamforming effect, which is not described herein.
The fixed beamforming matrix of the sub-algorithm 601 directs the beamforming direction to the strongest interference signal outside the range, in which case the strongest interference signal of this signal is taken as the desired signal, and the strong interference signal is enhanced by the algorithm, and output is yl (k), which represents the strongest one of the M strong interference signals.
Each microphone signal is filtered by the sub-algorithm 602, the microphone input signal is used as the basic signal xn (k), and the output yl (k) of the sub-algorithm 601 is used as the reference signal, which is used to eliminate the strong interference signal in each microphone source signal.
Take NLMS (normalized Least Mean Square algorithm) processing xn (k) signal as an example:
wherein W = [ W1, W2, W3.]Weighting the filter with a vector;
for NLMS algorithm, the iteration equation is
Wherein η is the step constant of the correction, which is a constant.
The output of the sub-algorithm 602 is removed from the strongest strong interference signal by an adaptive filter (filtering unit), and similarly, the strongest strong interference signals in other directions can also be removed. With respect to the original signal xn (k), the output en (k) of the sub-algorithm 602 cancels the interference in the direction of strongest signal strength; and then all the processed microphone signals en (k) are subjected to beam enhancement through a sub-algorithm 603, so that a better effect is obtained.
Fig. 8 is a flowchart of an embodiment of the disclosure, as shown in fig. 8, when a strong interference signal exists outside the range of the second beam direction and the strong interference signal exceeds a threshold, a third output signal is obtained after performing beamforming processing on the strong interference signal in the third beam direction, a fourth output signal is obtained after performing beamforming processing on the audio signal in the second beam direction, and then the third output signal is used as a reference signal to eliminate the strong interference signal in the fourth output signal and output the fourth output signal.
The specific calculation process of the third embodiment is shown in fig. 12: the strong interference signal 501 in the third beam direction is enhanced by the fixed beamforming matrix of the sub-algorithm 701, the audio signal in the second beam direction is enhanced by the fixed beamforming matrix of the sub-algorithm 702, and finally the strong interference signal 501 in the third beam direction is eliminated from the signal of the sub-algorithm 702 by the adaptive filter (filtering unit) of the sub-algorithm 703, which is different from fig. 11 in that the filtering for the strong interference signal is placed after the beamforming algorithm 702.
Fig. 9 is a fourth schematic diagram of an embodiment of the disclosure, where a strong interference signal exists outside the range of the second beam direction and the strong interference signal exceeds a threshold, the strong interference signal needs to be cancelled. In this embodiment, the beam forming module includes a first beam forming unit, a first filtering unit, and a second beam forming unit, where the first beam forming unit performs beam forming processing on the strong interference signal in a third beam direction to obtain a first output signal; the first filtering unit eliminates a strong interference signal in the audio signal by taking the first output signal as a reference signal to obtain a second output signal; the second beam forming unit performs beam forming processing on the second output signal in the second beam direction and outputs the second output signal.
Similarly, in order to eliminate the influence of the strong interference signal on the output audio signal, fig. 10 provides another implementation manner, in fig. 10, the beamforming module includes a third beamforming unit, a fourth beamforming unit and a second filtering unit, and the third beamforming unit performs beamforming processing on the strong interference signal in a third beam direction to obtain a third output signal; the fourth beam forming unit carries out beam forming processing on the audio signal in the second beam direction to obtain a fourth output signal; and the second filtering unit takes the third output signal as a reference signal to eliminate the strong interference signal in the fourth output signal and then outputs the strong interference signal.
The foregoing is an exemplary embodiment of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.
Claims (10)
1. A method of microphone array beamforming, comprising:
collecting an audio signal;
acquiring a seat signal;
judging according to the seat signal to obtain a first beam range, and judging and obtaining a second beam direction of the audio signal according to the first beam range and the audio signal;
and performing beamforming processing on the audio signal according to the second beam direction and outputting the audio signal.
2. The method of microphone array beamforming of claim 1, wherein the determining comprises:
judging according to the seat signal to obtain a first beam range, and judging and obtaining a second beam direction of the audio signal according to the first beam range and the audio signal;
judging whether a strong interference signal exists outside the range of the second wave beam direction;
and judging whether the strong interference signal exceeds a threshold value or not when the strong interference signal exists, and acquiring a third beam direction of the strong interference signal if the strong interference signal exceeds the threshold value.
3. The method of microphone array beamforming of claim 2, wherein when the strong interference signal is present outside of the range of the second beam direction and the strong interference signal does not exceed a threshold, or the strong interference signal is not present outside of the range of the second beam direction, the beamforming process comprises: and outputting the audio signal after performing beamforming processing on the audio signal in the second beam direction.
4. The method of microphone array beamforming of claim 2, wherein when the strong interfering signal is present outside of the range of the second beam direction and the strong interfering signal exceeds a threshold, the beamforming process comprises:
performing beam forming processing on the strong interference signal in the third beam direction to obtain a first output signal;
eliminating the strong interference signal in the audio signal by taking the first output signal as a reference signal to obtain a second output signal;
and outputting the second output signal after performing beam forming processing on the second output signal in the second beam direction.
5. The method of microphone array beamforming of claim 2, wherein when the strong interfering signal is present outside of the range of the second beam direction and the strong interfering signal exceeds a threshold, the beamforming process comprises:
performing beam forming processing on the strong interference signal in the third beam direction to obtain a third output signal;
performing beamforming processing on the audio signal in the second beam direction to obtain a fourth output signal;
and eliminating the strong interference signal in the fourth output signal by taking the third output signal as a reference signal and then outputting the strong interference signal.
6. A system for microphone array beamforming, comprising:
a microphone array for collecting audio signals;
a sensor to acquire a seat signal;
the judgment module is used for judging according to the seat signal to obtain a first beam range and judging to obtain a second beam direction of the audio signal according to the first beam range and the audio signal;
and the beam forming module is used for carrying out beam forming processing on the audio signal according to the second beam direction and outputting the audio signal.
7. The system for microphone array beamforming of claim 6, wherein the determining module comprises:
the first judgment unit is used for judging according to the seat signal to obtain a first beam range and judging and acquiring a second beam direction of the audio signal according to the first beam range and the audio signal;
a second judging unit that judges whether or not a strong interference signal exists outside the range of the second beam direction;
and the third judging unit is used for judging whether the strong interference signal exceeds a threshold value or not when the strong interference signal exists, and acquiring a third beam direction of the strong interference signal if the strong interference signal exceeds the threshold value.
8. The system of microphone array beamforming of claim 7, wherein the beamforming module is to: and when the strong interference signal exists outside the range of the second beam direction and does not exceed a threshold value, or the strong interference signal does not exist outside the range of the second beam direction, performing beamforming processing on the audio signal in the second beam direction and outputting the audio signal.
9. The system of microphone array beamforming of claim 7, wherein when the strong interfering signal is present outside of the range of the second beam direction and the strong interfering signal exceeds a threshold, the beamforming module comprises:
the first beam forming unit is used for carrying out beam forming processing on the strong interference signal in the third beam direction to obtain a first output signal;
the first filtering unit is used for eliminating the strong interference signal in the audio signal by taking the first output signal as a reference signal to obtain a second output signal;
and a second beamforming unit configured to perform beamforming processing on the second output signal in the second beam direction and output the second output signal.
10. The system of microphone array beamforming of claim 7, wherein when the strong interfering signal is present outside of the range of the second beam direction and the strong interfering signal exceeds a threshold, the beamforming module comprises:
the third beam forming unit is used for carrying out beam forming processing on the strong interference signal in the third beam direction to obtain a third output signal;
a fourth beamforming unit, configured to perform beamforming processing on the audio signal in the second beam direction to obtain a fourth output signal;
and the second filtering unit is used for eliminating the strong interference signal in the fourth output signal by taking the third output signal as a reference signal and then outputting the strong interference signal.
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