CN113702909A - Sound source positioning analytic solution calculation method and device based on sound signal arrival time difference - Google Patents

Sound source positioning analytic solution calculation method and device based on sound signal arrival time difference Download PDF

Info

Publication number
CN113702909A
CN113702909A CN202111003228.2A CN202111003228A CN113702909A CN 113702909 A CN113702909 A CN 113702909A CN 202111003228 A CN202111003228 A CN 202111003228A CN 113702909 A CN113702909 A CN 113702909A
Authority
CN
China
Prior art keywords
microphone
sound
sound source
sound signal
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111003228.2A
Other languages
Chinese (zh)
Other versions
CN113702909B (en
Inventor
李帛翰
黄志尧
邱奕臻
冀海峰
王保良
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University ZJU
Original Assignee
Zhejiang University ZJU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to CN202111003228.2A priority Critical patent/CN113702909B/en
Publication of CN113702909A publication Critical patent/CN113702909A/en
Application granted granted Critical
Publication of CN113702909B publication Critical patent/CN113702909B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Circuit For Audible Band Transducer (AREA)

Abstract

The invention discloses a sound source positioning analysis solution calculation method and device based on sound signal arrival time difference. The method adopts five microphones to form an array, the configuration of the array meets the condition that a coefficient matrix of a sound source position resolving linear equation set is reversible, five paths of sound signals are obtained simultaneously, time delay among observed signals is obtained by utilizing a generalized cross-correlation algorithm with PHAT as a weighting function, and then an analytic solution of three-dimensional coordinates of a sound source and a time difference from sound production of the sound source to signal receiving of the microphones is obtained according to the time delay solution. The method realizes the analytic solution of the midpoint sound source coordinate in the three-dimensional space by specifically selecting the microphone array, has the characteristics of high accuracy, small volume, low power consumption, small influence on the environment and the like, and is suitable for the application of a satellite positioning system which cannot cover the scene, such as an indoor warehouse and other environments, and the scene in which the generation of electromagnetic waves is forbidden or strong interference sources of the electromagnetic waves exist at the periphery.

Description

Sound source positioning analytic solution calculation method and device based on sound signal arrival time difference
Technical Field
The present invention relates to sound source localization technologies, and in particular, to a method and an apparatus for computing a sound source localization analytic solution based on a time difference of arrival of a sound signal.
Background
With the development of scientific technology, more and more complex scenes put higher requirements on the target positioning technology. Early active target positioning technologies actively transmit detection signals, such as electromagnetic waves and ultrasonic waves, receive the detection signals reflected by the environment, and then analyze and calculate to obtain the specific position of a target in space. Compared with the passive target positioning technology, the passive target positioning technology has the advantages of small volume, low power consumption, strong concealment, wide application range, small influence on the environment and the like because a measuring device is not required to actively send out a detection signal. Therefore, passive positioning technology is now intensively studied by many scholars, and the results are successfully applied to the fields including national defense, security, warehousing, ecological environment monitoring and the like.
The sound source positioning technology is a typical passive positioning technology, and the main principle is that a sound receiver receives a sound signal emitted by a sound source, and then a series of signal processing means analyze relevant parameters of the signal to obtain position information of the sound source. The existing sound source localization technologies are mainly classified into a sound source localization (TDOA) based on a signal arrival time difference, a sound source localization (TOA) based on a signal arrival time, a sound source localization (DOA) based on a signal incidence angle, a sound source localization (RSSI) based on a signal arrival intensity, and the like. The TDOA-based sound source positioning method is one of widely used sound source positioning methods, and the flow of the method is further divided into two steps, namely: delay estimation (time difference estimation) and position resolution. The time delay estimation is to calculate the time delay from a sound source to different microphones through sound signals, and a widely adopted algorithm is a cross-correlation algorithm; the position calculation, that is, the position information of the sound source is obtained through time delay calculation, and the adopted mainstream methods include a newton iteration method, a spherical interpolation method and the like. However, the calculation result of the mainstream method of position solution can only obtain the numerical solution of the sound source position, and the result has the problems of divergence after iteration and large influence by the initial value of the iteration. Meanwhile, the existing common method generally needs a large number of microphones to form an array, and has the defects of large calculation amount and the like when solving a numerical solution. Therefore, a method for solving the sound source position analytic solution with the least computation cost and the least reduction of the number of microphones as possible is required.
Disclosure of Invention
The invention provides a sound source positioning analytic solution calculation method and a sound source positioning analytic solution calculation device based on sound signal arrival time difference, aiming at the current situation of a sound source positioning technology based on signal arrival time difference. The invention adopts five microphones to form a microphone array to collect sound signals, selects a proper weighting function in a generalized cross-correlation algorithm to carry out time delay estimation, and obtains an analytic solution of a sound source position through time delay solving. The microphone configuration and the method have the advantages of small calculation amount, high accuracy and the like in the aspect of sound source positioning.
The technical scheme of the invention is as follows:
the invention provides a configuration of a sound source positioning microphone array, which is characterized by comprising five microphones with the coordinate Mi(xi，yi，zi) 1, 2.... 5; let microphone M1Is a reference microphone, which may be any one of five microphones; according to four time differences between the arrival of the rest four microphone sounds and the arrival of the reference microphone sound, the condition that the three-dimensional space sound source coordinate has an analytic solution is known as a matrix A which is reversible, and five microphone coordinates in the configuration of the sound source positioning microphone array are configured to meet the condition, wherein the expression of the matrix A is as follows:
Figure BDA0003236314840000021
where c is the speed of sound and the reference microphone is denoted as M1(x1，y1，z1) Without loss of generality, it may be any of five microphones, ti1The sound signal emitted for the sound source is received by the ith microphone MiTime of reception (t)i0I.e. the sound signal emitted by the sound source is propagated to the ithMicrophone MiTime required) and the reference microphone M1Time of received sound signal (t)10I.e. the sound signal emitted by the sound source propagates to the reference microphone M1Required time), ti1＝ti0-t10。
One way to determine whether matrix a is invertible is to determine whether the determinant of a is not equal to 0:
Figure BDA0003236314840000022
in order to ensure that the matrix A is reversible, reduce the calculated amount in the process of solving the determinant and the inverse matrix of the matrix A and obtain an effective analytic solution, the microphone array optimization configuration is as follows: the four microphones are positioned in the same plane and at four vertexes of a concave quadrilateral respectively, and the fifth microphone is positioned at any position outside the plane. The matrix a corresponding to this configuration is reversibly demonstrated as follows:
the coordinate system is established and the microphone coordinates are set as shown in fig. 2. Without loss of generality, a microphone M is provided1、M2、M3、M4In the X-Y plane, i.e. z2＝z3＝z4Point M is equal to 01Coordinate is (0, 0, 0), microphone M4In the microphone M1、M2、M3Inside the triangle as a vertex and not falling on the side of the triangle, the microphone M1、M2、M3、M4Four points form a concave quadrangle; microphone M5Outside this plane, i.e. z5Not equal to 0; let the position vector of the ith microphone be: m isi＝[xi，yi，zi]T1, 2.... 5; the sound source position vector is: p ═ x, y, z]T(ii) a Sound source to microphone MiThe distance of (a) is:
Figure BDA0003236314840000023
Figure BDA0003236314840000031
1, 2, 5, where | · | | | represents the 2 norm of the vector (the norm of the vector).
Point M1、M2、M3、M4Co-located with the X-Y plane, point M1、M2、M3The triangle formed is a typical convex set, point M4Located inside the triangle and not falling on the triangle edge, according to the linear algebra and convex set theory, we can get:
m4＝αm2+βm3 (1)
x4＝αx2+βx3 (2)
y4＝αy2+βy3 (3)
wherein alpha is more than 0, beta is more than 0, and alpha + beta is less than 1. Accordingly, the matrix a can be represented as:
Figure BDA0003236314840000032
the determinant of matrix a is:
Figure BDA0003236314840000033
in the expression of detA, the sound speed c is not 0; z is a radical of5Is not 0; vector m2And m3Not collinear, i.e.
Figure BDA0003236314840000034
Figure BDA0003236314840000035
Thus, in this optimized configuration, the proof problem that matrix A is reversible translates into proof t41-at21-βt31≠0。
ct21＝c(t20-t10)＝D2-D1 (6)
ct31＝c(t30-t10)＝D3-D1 (7)
ct41＝c(t30-t10)＝D4-D1 (8)
According to the formula (6), (7) and (8), the values of alpha > 0, beta > 0 and alpha + beta < 1 are substituted into c (t)41-αt21-βt31)：
c(t41-αt21-βt31)＝D4-D1-α(D2-D1)-β(D3-D1)＝D4-αD2-βD3-(1-α-β)D1
＝||m4-p||-α||m2-p||-β||m3-p||-(1-α-β)||m1-p||
＝||m4-p||-||α(m2-p)||-||β(m3-p)||-||-(1-α-β)p|| (9)
The vector inequality formula can be obtained:
Figure BDA0003236314840000041
in the above formula, | | m4-p||-||α(m2-p)||-||β(m3The sufficient condition of-p) | - (1- α - β) p | | | 0 is the vector m2-p、m3-p、m4-p three vectors are parallel and co-directional. In this optimized configuration, the microphone M4In the microphone M1、M2、M3Inside the triangle as a vertex and not falling on the triangle's side, so the vector m2-p、m3-p、m4P must not be parallel and oriented differently, the condition of equality does not hold, and therefore:
c(t41-αt21-βt31)＝||m4-p||-||α(m2-p)||-||β(m3-p)||-||-(1-α-β)p||＜0 (11)
since the speed of sound c is not 0, t41-αt21-βt31< 0, i.e. t41-αt21-βt31Is not that0。
In summary, in the depicted configuration, detA is not 0, i.e., the matrix A is reversible.
On the basis, the calculation amount in the process of solving the determinant and the inverse matrix of the matrix A is further reduced, and the reference microphone M is enabled1As the origin (0, 0, 0), the microphone M2Coordinate is (a, 0, 0), microphone M3Coordinates of (0, a, 0), microphone M4Coordinates (b, b, 0), microphone M5The coordinate is (0, 0, a), and the guarantee point M4At point M1、M2、M3The triangle is formed, wherein a is more than 2b is more than 0. The matrix a in this configuration can be represented as:
Figure BDA0003236314840000042
corresponding inverse matrix A-1Comprises the following steps:
Figure BDA0003236314840000043
wherein detA is 16a2c2(at41-bt31-bt21) Corresponding sound source coordinates P (x, y, z) and t10Is expressed as
Figure BDA0003236314840000044
The invention also provides a sound source positioning device based on the arrival time difference of the sound signals, which comprises the microphone array, the preamplifier, the data acquisition module and the computer. The sound signals received by each microphone are amplified by a preamplifier, then the data acquisition module is used for carrying out sound signal acquisition and analog-to-digital conversion, the data acquisition module is communicated with a computer through a data line, and the computer is used for calculating the time delay between the microphones and then calculating to obtain the analytic solution of the position of the sound source.
The invention also provides a sound source positioning analysis solution calculation method based on the sound signal arrival time difference, which comprises the following steps:
the method comprises the following steps: five microphones in the microphone array adopting the structure respectively receive signals emitted by a sound source, the received signals of the microphones are amplified by the preamplifier and then subjected to analog-to-digital conversion and sampling by the data acquisition module to obtain a sound signal siI is a microphone number, i is 1, 2.
Step two: for the sound signal siPerforming frame division windowing, mean value removing, normalization and discrete Fast Fourier Transform (FFT) processing to obtain a frequency domain sound signal S 'subjected to frame division processing'ijWherein j is 1, 2.... u;
step three: the microphone M is selected according to the configuration of the microphone array1Using the received sound signal as reference, and using PHAT as weighting function generalized cross-correlation algorithm to calculate the other four groups of sound signals relative to the microphone M1Time delay t of received sound signali1，i＝2，3，......，5；；
Step four: using the method of claim 2, four sets of sound signals estimated from time delays are made relative to the microphone M1Time delay t of received sound signali1And obtaining an equation between the sound source position coordinates and the sound source position coordinates P (x, y, z);
step five: using the method of claim 2, the equations in step four are simplified to obtain the coordinates P (x, y, z) of the sound source and the propagation of the sound signal emitted by the sound source to the reference microphone M1Required time t10Is solved to obtain t of the sound source coordinates P (x, y, z) and10and analyzing the expression.
Preferably, in the second step, the framing operation selects the same position on five groups of sound signals as a starting point, takes w as 10-30 ms as a frame length, v as a frame shift, and selects u frames backwards, where v is any time greater than 0, and usually 0 < v < w.
Preferably, in the second step, between the normalization and the discrete fast fourier transform, a step of butterworth filtering is further included.
Preferably, the step three specifically includes:
with a microphone M1Taking the received sound signal as a reference, and calculating the relative time delays t of the four groups of rest sound signals and the reference signal by using a generalized cross-correlation algorithm taking PHAT as a weighting functioni1: firstly, from S'ijAre each with S'1jConjugate multiplication is carried out to obtain cross-power spectral function
Figure BDA0003236314840000051
Then, a PHAT weighting function is selected
Figure BDA0003236314840000052
For cross power spectrum
Figure BDA0003236314840000053
After weighting, performing inverse discrete fast Fourier transform to obtain cross-correlation function
Figure BDA0003236314840000054
Figure BDA0003236314840000055
Then, the relative sampling points of the other four groups of sound signals are delayed
Figure BDA0003236314840000056
Converting relative sample point delays to relative time delays
Figure BDA0003236314840000057
Wherein f issA sampling frequency set for the analog-to-digital conversion section; finally, t is discardedi1jThe average value of the gross errors in the four groups of sound signals is calculated to obtain four groups of sound signals corresponding to the microphone M1Time delay t of received sound signali1。
Preferably, according to five microphone coordinates Mi(xi，yi，zi) And four groups of sound signals obtained by time delay estimation relative to the microphone M1Time delay t of received sound signali1Their relationship to the sound source position coordinates P (x, y, z) can be found:
Figure BDA0003236314840000061
Figure BDA0003236314840000062
Figure BDA0003236314840000063
Figure BDA0003236314840000064
Figure BDA0003236314840000065
Figure BDA0003236314840000066
where c is the speed of sound and T is the ambient temperature in degrees Celsius.
The fifth step is as follows: simplifying the equation in step four to obtain the sound source coordinates P (x, y, z) and t10The analytical expression of (2).
First, the two sides of equations (15) to (19) are squared and expanded to obtain:
x2-2xx1+x1 2+y2-2yy1+y1 2+z2-2zz1+z1 2＝c2t10 2 (21)
x2-2xx2+x2 2+y2-2yy2+y2 2+z2-2zz2+z2 2＝c2t21 2+2c2t21t10+c2t10 2 (22)
x2-2xx3+x3 2+y2-2yy3+y3 2+z2-2zz3+z3 2＝c2t31 2+2c2t31t10+c2t10 2 (23)
x2-2xx4+x4 2+y2-2yy4+y4 2+z2-2zz4+z4 2＝c2t41 2+2c2t41t10+c2t10 2 (24)
x2-2xx5+x5 2+y2-2yy5+y5 2+z2-2zz5+z5 2＝c2t51 2+2c2t51t10+c2t10 2 (25)
then, the formula (21) is subtracted from both sides of the formulas (22) to (25) respectively, and the two sides are simplified by term shifting to obtain:
Figure BDA0003236314840000068
Figure BDA0003236314840000069
Figure BDA00032363148400000610
Figure BDA00032363148400000611
conversion to linear equation set a ξ ═ σ form:
Figure BDA0003236314840000067
where xi is [ x, y, z, t ═ t10]T，
Figure BDA0003236314840000071
When the equation is satisfied, A is reversible, and the sound source coordinates P (x, y, z) and t can be obtained at the time10The analytical expression of (a) is:
Figure BDA0003236314840000072
compared with the prior art, the invention has the following beneficial effects:
1) the invention adopts a novel microphone array configuration. The number of the five microphones in the array reaches the minimum value of the problem of calculating the three-dimensional space positioning, the configuration meets the condition of the existence of an analytic solution, and the microphones can be accurately positioned at any position on the positioning expression.
2) The position calculation of the invention obtains an analytic solution by solving a linear equation set. The defects that the traditional numerical solution needs a large number of microphones to form an array, the calculated amount is large during the solution, and the like can be overcome. The analytic solution solving method has the characteristics of strong stability, high accuracy and small calculated amount, and is favorable for real-time positioning.
3) After the frame windowing operation is carried out on the signal, the method adopts a mode of removing gross errors and averaging the time delay estimation of each frame, and compared with a mode of directly carrying out one-time delay estimation on the original signal, the stability of the algorithm can be improved. At the same time as the sound signal passes through a fixed frequency f in the time domainsThe resolution of sampling and single time delay estimation is only 1/fsAnd the multi-frame average value can obtain the delay estimation with higher resolution.
4) In the generalized cross-correlation algorithm, the PHAT weighting function is adopted, the effect is equivalent to whitening filtering, and the peak value of the generalized cross-correlation function is sharper in the time domain.
Drawings
FIG. 1 is a schematic diagram of a sound source localization apparatus based on sound signal arrival time differences;
fig. 2 is an optimized spatial configuration of a microphone array for use in the present invention.
Fig. 3 is a further optimized configuration of the optimized spatial configuration of the microphone array of fig. 2.
Detailed Description
The invention provides a novel microphone array configuration and a sound source positioning method aiming at the configuration on the basis of the sound source positioning problem based on the sound signal arrival time difference. Compared with the traditional method, the method has the characteristics of strong stability, high accuracy and small calculated amount.
As shown in fig. 1, an apparatus for sound source localization based on time difference of arrival of sound signals includes a microphone array, a preamplifier, a data acquisition module, and a computer. The five microphones are used for receiving sound signals and are arranged in a configuration capable of ensuring the sound source position to be analyzed and solved, the sound signals received by each microphone are amplified by the preamplifier and are connected with the data acquisition module through the flat cable to realize the power supply of the microphones and the reading of the sound signals. The data acquisition module is connected with the power module to realize the power supply of the device of the sound signal acquisition and signal analog-to-digital conversion processing part, and is communicated with the computer through a data line.
The microphone array comprises five microphones, and the coordinates of the five microphones are Mi(xi，yi，zi) 1, 2.... 5; let microphone M1Is a reference microphone, which may be any one of five microphones; according to four time differences between the sound arrival of the rest four microphones and the sound arrival of the reference microphone, the condition that the three-dimensional space sound source coordinate has an analytic solution is known as a matrix A to be reversible, and the sound source positioning microphone arrayIs configured to satisfy the condition, wherein the expression of the matrix a is:
Figure BDA0003236314840000081
where c is the speed of sound and the reference microphone is denoted as M1(x1，y1，z1)，ti1The sound signal emitted for the sound source is received by the ith microphone MiTime of reception (t)i0I.e. the sound signal emitted by the sound source is propagated to the i-th microphone MiTime required) and the reference microphone M1Time of received sound signal (t)10I.e. the sound signal emitted by the sound source propagates to the reference microphone M1Required time), ti1＝ti0-t10。
A method for judging whether a matrix A is reversible can judge whether a determinant of A is not equal to 0:
Figure BDA0003236314840000082
as shown in fig. 2, an optimized configuration of the microphone array configuration can be implemented by four microphones (M) to reduce the amount of calculation in the process of solving the determinant and the inverse matrix of the matrix a and obtain an effective analytic solution1、M2、M3、M4) A fifth microphone (M) in the same plane and located at the four vertices of a concave quadrilateral respectively5) Anywhere outside the plane.
On the basis of the above, the calculation amount in the process of solving the determinant and the inverse matrix of the matrix A is further reduced, and as shown in FIG. 3, the microphone M is enabled1As the origin (0, 0, 0), the microphone M2Coordinate is (a, 0, 0), microphone M3Coordinates of (0, a, 0), microphone M4Coordinates (b, b, 0), microphone M5The coordinates are (0, 0, a), where a > 2b > 0. The matrix a in this configuration is reversible and has the form:
Figure BDA0003236314840000091
the corresponding inverse matrix is:
Figure BDA0003236314840000092
wherein detA is 16a2c2(at41-bt31-bt21) At this time, the corresponding sound source coordinates P (x, y, z) and t10The analytical expression of (a) is:
Figure BDA0003236314840000093
in the implementation process of the method, firstly, sound signals emitted by a sound source are received by the microphone array and are sent to a computer through a preamplifier and a data acquisition module to obtain five groups of sound signal sequences si(i ═ 1, 2.... 5), then performing frame windowing, mean value removing, normalization, Butterworth filtering and discrete fast Fourier transform processing on the sequence to obtain a processed frequency domain sound signal
Figure BDA0003236314840000095
(i 1, 2.... 5), which may be followed by any microphone MkRelative time delays of the four remaining groups of sound signals are estimated by using a PHAT-weighted generalized cross-correlation algorithm with reference to the received sound signals, and in the embodiment, only the microphone M is used1The received sound signal is used as a reference for explanation, and the other four groups of sound signals are relative to the microphone M1Time delay t of received sound signali1And (i 2, 3, a.... 5), and finally, solving an analytic solution P (x, y, z) of the sound source coordinates according to the time delay estimation result. The specific operation is as follows:
1) for the sound signal s received by the computeri(i 1, 2.... 5) frame windowing is performed:
s′ij(n)＝hamming(n)si(N+n+(j-1)×r)(n＝1，2......q)(i＝1，2，......，5)(j＝1，2，......，u)
wherein j represents the j th frame in the u frames, N represents the start point of framing, q represents the frame length, r represents the frame shift, and hamming (N) represents the Hamming window with length of wlen. The framing operation selects the same position on five groups of sound signals as a starting point, the time domain takes 10-30 ms as the frame length, any time length v is the frame shift, usually, the two frames are overlapped, and u frames are selected backwards.
2) Carrying out mean value removing, normalization, Butterworth filtering and discrete fast Fourier transform processing on the signals after the framing windowing:
Figure BDA0003236314840000094
where bw represents the time-domain impulse response function of the butterworth filter.
3) With a microphone M1For reference, calculate cross-power spectrum:
Figure BDA0003236314840000101
4) calculate the PHAT weighted generalized cross-correlation function:
Figure BDA0003236314840000102
5) calculating the time delay:
Figure BDA0003236314840000103
6) calculating the sound speed c:
Figure BDA0003236314840000104
where T is the known ambient Celsius temperature.
7) According to the coordinates M of five microphonesi(xi，yi，zi) And four groups of sound signals obtained by time delay estimation relative to the microphone M1Time delay t of received sound signali1Their relationship to the sound source position coordinates P (x, y, z) can be found:
Figure BDA0003236314840000105
Figure BDA0003236314840000106
Figure BDA0003236314840000107
Figure BDA0003236314840000108
Figure BDA0003236314840000109
first, equations (15) to (19) are squared on both sides and expanded to obtain:
x2-2xx1+x1 2+y2-2yy1+y1 2+z2-2zz1+z1 2＝c2t10 2 (21)
x2-2xx2+x2 2+y2-2yy2+y2 2+z2-2zz2+z2 2＝c2t21 2+2c2t21t10+c2t10 2 (22)
x2-2xx3+x3 2+y2-2yy3+y3 2+z2-2zz3+z3 2＝c2t31 2+2c2t31t10+c2t10 2 (23)
x2-2xx4+x4 2+y2-2yy4+y4 2+z2-2zz4+z4 2＝c2t41 2+2c2t41t10+c2t10 2 (24)
x2-2xx5+x5 2+y2-2yy5+y5 2+z2-2zz5+z5 2＝c2t51 2+2c2t51t10+c2t10 2 (25)
then, the formula (21) is subtracted from both sides of the formulas (22) to (25) respectively, and the two sides are simplified by term shifting to obtain:
Figure BDA00032363148400001010
Figure BDA00032363148400001011
Figure BDA00032363148400001012
Figure BDA00032363148400001013
conversion to linear equation set a ξ ═ σ form:
Figure BDA0003236314840000111
where xi is [ x, y, z, t ═ t10]T，
Figure BDA0003236314840000112
When the equation is satisfied, A is reversible, and the sound source coordinates P (x, y, z) and t can be obtained at the time10The analytical expression of (a) is:
Figure BDA0003236314840000113
the number of the five microphones in the array reaches the minimum value of the problem of calculating the three-dimensional space positioning, the configuration meets the condition of the existence of an analytic solution, and the microphones can be accurately positioned at any position on the positioning expression. The microphone configuration and the analytic solution solving method of the sound source position based on the sound signal arrival time difference can realize omnidirectional sound source positioning in a three-dimensional space, and the analytic solution obtained by position solving has the characteristics of high accuracy and strong stability.

Claims (8)

1. A configuration of a sound source positioning microphone array is characterized by comprising five microphones, and coordinates M of the five microphonesi(xi，yi，zi) 1, 2.... 5; let microphone M1Is a reference microphone, which may be any one of five microphones; according to four time differences between the arrival of the rest four microphone sounds and the arrival of the reference microphone sound, it can be known that the condition that the three-dimensional space sound source coordinate has an analytic solution is a reversible matrix A, and five microphone coordinates in the configuration of the sound source positioning microphone array are configured to meet the condition, wherein the expression of the matrix A is as follows:
Figure FDA0003236314830000011
where c is the speed of sound and the reference microphone is denoted as M1(x1，y1，z1)，ti1The sound signal emitted by the sound source is the ith microphone MiTime of reception ti0And a reference microphone M1Time t of received sound signal10Difference of ti1＝ti0-t10。
2. The configuration of the sound source localization microphone array according to claim 1, wherein four microphones are located at four vertices of a concave quadrangle in the same plane, and the fifth microphone is located at any position outside the plane.
3. The configuration of the sound source localization microphone array as claimed in claim 1, wherein the microphone M is made of1As the origin (0, 0, 0), the microphone M2Coordinate is (a, 0, 0), microphone M3Coordinates of (0, a, 0), microphone M4Coordinates (b, b, 0), microphone M5The coordinates are (0, 0, a), wherein a > 2b > 0; the matrix a in this configuration is reversible and has the form:
Figure FDA0003236314830000012
corresponding inverse matrix A-1Comprises the following steps:
Figure FDA0003236314830000013
wherein detA is 16a2c2(at41-bt31-bt21) At this time, the corresponding sound source coordinates P (x, y, z) and t10The analytical expression of (a) is:
Figure FDA0003236314830000014
4. a sound source localization device based on sound signal arrival time difference is characterized by comprising the sound source localization microphone array configuration, a preamplifier, a data acquisition module and a computer, wherein the sound source localization microphone array configuration is as claimed in any one of claims 1-3; the sound signals received by each microphone are amplified by a preamplifier, and then are subjected to sound signal acquisition and signal analog-to-digital conversion by a data acquisition module, the data acquisition module is communicated with a computer through a data line, and the computer is used for calculating the analytic solution of the position of the sound source.
5. A sound source positioning analytic solution calculation method based on sound signal arrival time difference is characterized by comprising the following steps:
the method comprises the following steps: the microphone array of claim 1, wherein the five microphones receive the signals from the sound source, the received signals from the microphones are amplified by the preamplifier, and then are analog-to-digital converted and sampled by the data acquisition module to obtain the sound signal siI is a microphone number, i is 1, 2.
Step two: for the sound signal siPerforming frame division windowing, mean value removing, normalization and discrete Fast Fourier Transform (FFT) processing to obtain a frequency domain sound signal S 'subjected to frame division processing'ijWherein j is 1, 2.... u;
step three: the microphone M is selected according to the configuration of the microphone array1Using the received sound signal as reference, and using PHAT as weighting function generalized cross-correlation algorithm to calculate four groups of sound signals relative to the microphone M1Time delay t of received sound signali1，i＝2，3，......，5；
Step four: four groups of sound signals obtained according to time delay estimation relative to the microphone M1Time delay t of received sound signali1And obtaining equations between them and the sound source position coordinates P (x, y, z), i.e., equations (15) to (19);
step five: the equation in step four is simplified,propagation of sound signals emitted by the sound source and with respect to the sound source coordinates P (x, y, z) to the reference microphone M is obtained1Required time t10Solving the linear equation system with the analytic solution to obtain the sound source coordinates P (x, y, z) and t10The analytical expression of (2).
6. The sound source localization analytic solution computing method based on sound signal arrival time difference according to claim 5, characterized in that: in the second step, the same positions on five groups of sound signals are selected as starting points in the framing operation, w is 10-30 ms as the frame length, v is the frame shift, and u frames are selected backwards, wherein v is any time greater than 0, and usually 0 < v < w.
7. The method for calculating a sound source localization analytic solution based on sound signal arrival time difference according to claim 5, wherein the third step specifically comprises:
with a microphone M1Using the received sound signal as reference, and using PHAT as weighting function generalized cross-correlation algorithm to calculate four groups of sound signals relative to the microphone M1Time delay t of received sound signali1: firstly, from S'ijEach is respectively provided with
Figure FDA0003236314830000021
Conjugate multiplication is carried out to obtain cross-power spectral function
Figure FDA0003236314830000022
Then, a PHAT weighting function is selected
Figure FDA0003236314830000023
Figure FDA0003236314830000024
For cross power spectrum
Figure FDA0003236314830000025
Weighted and then subjected to inverse discrete fast Fourier transform to obtainTo cross correlation function
Figure FDA0003236314830000026
Figure FDA0003236314830000027
Then, the relative sampling points of the other four groups of sound signals are delayed
Figure FDA0003236314830000028
Converting relative sample point delays to relative time delays
Figure FDA0003236314830000029
Wherein f issA sampling frequency set for the analog-to-digital conversion section; finally, take ti1jCalculating the average value to obtain four groups of sound signals relative to the microphone M1Time delay t of received sound signali1。
8. The method for calculating a sound source localization analytic solution based on sound signal arrival time difference according to claim 5, wherein the step five specifically comprises:
the microphone array of claim 1, wherein the matrix A of the sound source in the equation is reversible at any position in space, and the sound source coordinates P (x, y, z) and t are obtained10The analytical expression of (1):
Figure FDA0003236314830000031
CN202111003228.2A 2021-08-30 2021-08-30 Sound source localization analysis solution calculation method and device based on arrival time difference of sound signals Active CN113702909B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111003228.2A CN113702909B (en) 2021-08-30 2021-08-30 Sound source localization analysis solution calculation method and device based on arrival time difference of sound signals

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111003228.2A CN113702909B (en) 2021-08-30 2021-08-30 Sound source localization analysis solution calculation method and device based on arrival time difference of sound signals

Publications (2)

Publication Number Publication Date
CN113702909A true CN113702909A (en) 2021-11-26
CN113702909B CN113702909B (en) 2023-10-31

Family

ID=78656687

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111003228.2A Active CN113702909B (en) 2021-08-30 2021-08-30 Sound source localization analysis solution calculation method and device based on arrival time difference of sound signals

Country Status (1)

Country Link
CN (1) CN113702909B (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114179107A (en) * 2021-12-28 2022-03-15 北京北控京奥建设有限公司 Intelligent health management system and method for desktop robot
CN115002607A (en) * 2022-05-25 2022-09-02 歌尔股份有限公司 Sound source position determining method, equipment and storage medium
CN115691496A (en) * 2022-12-29 2023-02-03 北京国安广传网络科技有限公司 TTS-based health management robot voice interaction module
CN115902776A (en) * 2022-12-09 2023-04-04 中南大学 Sound source positioning method based on passive sound signals
CN116593966A (en) * 2023-07-17 2023-08-15 水利部交通运输部国家能源局南京水利科学研究院 Real-time accurate acoustic wave positioning method for long-distance water conveyance tunnel
CN117768816A (en) * 2023-11-15 2024-03-26 兴科迪科技（泰州）有限公司 Method and device for realizing sound collection based on small-size PCBA
WO2024108367A1 (en) * 2022-11-22 2024-05-30 浙江大学 Ultrasonic active target positioning method and device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103728606A (en) * 2014-01-16 2014-04-16 西安电子科技大学 Doppler channel correlation two-stage dimension reduction method for onboard multiple input multiple output (MIMO) radar
CN104181506A (en) * 2014-08-26 2014-12-03 山东大学 Sound source locating method based on improved PHAT weighting time delay estimation and implementation system thereof
CN108490443A (en) * 2018-02-24 2018-09-04 中国人民解放军海军工程大学 Multiple submatrixes synthetic aperture sonar ω k imaging algorithms based on analytic solutions and NUFFT

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103728606A (en) * 2014-01-16 2014-04-16 西安电子科技大学 Doppler channel correlation two-stage dimension reduction method for onboard multiple input multiple output (MIMO) radar
CN104181506A (en) * 2014-08-26 2014-12-03 山东大学 Sound source locating method based on improved PHAT weighting time delay estimation and implementation system thereof
CN108490443A (en) * 2018-02-24 2018-09-04 中国人民解放军海军工程大学 Multiple submatrixes synthetic aperture sonar ω k imaging algorithms based on analytic solutions and NUFFT

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
A. POURMOHAMMAD ET AL.: "Real time high accuracy 3-D PHAT-based sound source location using a simple 4-microphone arrangement", IEEE SYSTEM JOURNAL *
张小卫: "基于稀疏重构的DOA估计方法研究", 中国博士学位论文全文数据库 信息科技辑 *

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114179107A (en) * 2021-12-28 2022-03-15 北京北控京奥建设有限公司 Intelligent health management system and method for desktop robot
CN114179107B (en) * 2021-12-28 2023-12-26 北京北控京奥建设有限公司 Intelligent health management system and method for desktop robot
CN115002607A (en) * 2022-05-25 2022-09-02 歌尔股份有限公司 Sound source position determining method, equipment and storage medium
CN115002607B (en) * 2022-05-25 2023-12-22 歌尔股份有限公司 Sound source position determining method, device and storage medium
WO2024108367A1 (en) * 2022-11-22 2024-05-30 浙江大学 Ultrasonic active target positioning method and device
CN115902776A (en) * 2022-12-09 2023-04-04 中南大学 Sound source positioning method based on passive sound signals
CN115902776B (en) * 2022-12-09 2023-06-27 中南大学 Sound source positioning method based on passive sound signal
CN115691496A (en) * 2022-12-29 2023-02-03 北京国安广传网络科技有限公司 TTS-based health management robot voice interaction module
CN115691496B (en) * 2022-12-29 2023-05-12 北京国安广传网络科技有限公司 TTS-based voice interaction module of health management robot
CN116593966A (en) * 2023-07-17 2023-08-15 水利部交通运输部国家能源局南京水利科学研究院 Real-time accurate acoustic wave positioning method for long-distance water conveyance tunnel
CN116593966B (en) * 2023-07-17 2023-10-03 水利部交通运输部国家能源局南京水利科学研究院 Real-time accurate acoustic wave positioning method for long-distance water conveyance tunnel
CN117768816A (en) * 2023-11-15 2024-03-26 兴科迪科技（泰州）有限公司 Method and device for realizing sound collection based on small-size PCBA

Also Published As

Publication number Publication date
CN113702909B (en) 2023-10-31

Similar Documents

Publication Publication Date Title
CN113702909B (en) Sound source localization analysis solution calculation method and device based on arrival time difference of sound signals
CN108375763B (en) Frequency division positioning method applied to multi-sound-source environment
CN110534126B (en) Sound source positioning and voice enhancement method and system based on fixed beam forming
WO2019061439A1 (en) Improved sound source positioning method based on progressive serial orthogonalized blind source separation algorithm, and system for implementing same
CN109725285B (en) DOA estimation method based on MVDR covariance matrix element self-adaptive phase angle conversion
CN109581275B (en) Two-dimensional underwater DOA estimation method and device based on non-circular signal and three-dimensional orthogonal array
CN109541548B (en) Air sonar positioning method based on matching field
CN106997037A (en) Acoustic vector-sensor array column space rotates decorrelation LMS angle-of- arrival estimation method
RU2680860C1 (en) Method of passive determination of coordinate of sources of sonar radiation
Sun et al. Array geometry calibration for underwater compact arrays
CN106908754B (en) L-type acoustic vector-sensor array column ESPRIT decorrelation LMS method for parameter estimation
Hu et al. Decoupled direction-of-arrival estimations using relative harmonic coefficients
Ma et al. Low-frequency sound source localization in enclosed space based on time reversal method
Jo et al. Robust localization of early reflections in a room using semi real-valued EB-ESPRIT with three recurrence relations and laplacian constraint
Cai et al. Accelerated steered response power method for sound source localization using orthogonal linear array
Nascimento et al. Acoustic imaging using the Kronecker array transform
Shu et al. Passive direction finding with a pair of acoustic vector sensors using fourth-order cumulants
CN113721184B (en) Near-field signal source positioning method based on improved MUSIC algorithm
CN114755628A (en) Method for estimating direction of arrival of acoustic vector sensor array under non-uniform noise
Liu et al. Efficient doa estimation method with ambient noise elimination for array of underwater acoustic vector sensors
CN110824484B (en) Array element position estimation method based on constant modulus algorithm
CN110361696B (en) Closed space sound source positioning method based on time reversal technology
Li et al. Sub-wavelength focusing for low-frequency sound sources using an iterative time reversal method
Diao et al. High-resolution DOA estimation achieved by a single acoustic vector sensor under anisotropic noise
Yang et al. A Review of Sound Source Localization Research in Three-Dimensional Space

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant