CN115086836B - Beam forming method, system and beam former - Google Patents
Beam forming method, system and beam former Download PDFInfo
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Abstract
The invention relates to a beam forming method, a beam forming system and a beam forming device, wherein the method comprises the following steps: determining a basic beam former and a plurality of auxiliary beam formers; acquiring an observation signal vector; and forming beams of the observation signal vector by using the basic beam former and the plurality of auxiliary beam formers to obtain an output array. The invention realizes the beam forming of an observation signal array consisting of observation signals of a multi-channel microphone by utilizing a basic beam forming device and a plurality of auxiliary beam forming devices. And the invention combines the basic beam former and a plurality of auxiliary beam formers to realize beam forming, thereby improving the array gain compared with the mode of the prior single beam former.
Description
Technical Field
The present invention relates to the field of signal processing technologies, and in particular, to a method and a system for beam forming and a beam former.
Background
For the observation signal output by the multi-channel microphone, it needs to be beamformed.
Disclosure of Invention
In view of the above, the present invention provides a beamforming method, a beamforming system and a beamforming device, so as to implement beamforming on an observation signal output by a multi-channel microphone.
In order to achieve the above-mentioned objects, the invention provides the following scheme:
a method of beamforming, the method comprising the steps of:
determining a basic beam former and a plurality of auxiliary beam formers;
acquiring an observation signal vector;
and forming beams for the observation signal vectors by using the basic beam former and the auxiliary beam formers to obtain an output array.
Optionally, the determining the basic beamformer and the multiple auxiliary beamformers specifically includes:
using the formula Z B (f，t)＝w B H (f, t) y (f, t), optimizing w B (f, t) making w B (f, t) meeting the performance requirements of the super-directional beam former to obtain a basic beam former w B (f, t); wherein Z is B (f, t) denotes the use of a basic beamformer w B (f, t) an output array obtained by beamforming the observation signal vector; y (f, t) represents an observed signal vector, f represents a frequency variable, and t represents a time variable;
using the formula Z 0 (f，t)＝w 0 H (f, t) y (f, t), optimizing w 0 (f, t) making w 0 (f, t) meet the performance requirement of the delay-sum beam former to obtain the 0 th beamAuxiliary beamformer w 0 (f, t); wherein Z is 0 (f, t) denotes the use of the 0 th auxiliary beamformer w 0 (f, t) an output array obtained by beamforming the observation signal vector;
using the formula Z 1 (f，t)＝w 1 H (f, t) y (f, t), optimizing w 1 (f, t) making w 1 (f, t) satisfying the performance requirement of the super-directional beam former to obtain the 1 st auxiliary beam former w 1 (f，t)；Z 1 (f, t) denotes the use of the 1 st auxiliary beamformer w 1 (f, t) an output array obtained by beamforming the observation signal vector;
using the formula w j (f，t)＝1/Mi j Determining the jth auxiliary beamformer w j (f，t)；
Where M denotes the number of channels of the microphone used to acquire the observation signal vector, i j Representing the jth column of the identity matrix.
Optionally, the beamforming the observation signal vector by using the basic beamformer and the plurality of auxiliary beamformers to obtain an output array specifically includes:
using the basic beam former and a plurality of auxiliary beam formers to form beams of the observation signal vector by adopting the following formula to obtain an output array;
where Z (f, t) represents an output array obtained by beamforming the observation signal vector using the basic beamformer and the plurality of auxiliary beamformers, J represents the number of the auxiliary beamformers other than the 0 th auxiliary beamformer and the 1 st auxiliary beamformer, Φ (f, t) represents an M × M covariance matrix, and the superscript H represents transposition.
A beamforming system, the system:
a beamformer determining module for determining a basic beamformer and a plurality of auxiliary beamformers;
the observation signal vector acquisition module is used for acquiring an observation signal vector;
and the beam forming module is used for forming beams of the observation signal vectors by using the basic beam former and the auxiliary beam formers to obtain an output array.
Optionally, the beamformer determining module specifically includes:
basic beam former determining submodule for utilizing formula Z B (f，t)＝w B H (f, t) y (f, t), optimizing w B (f, t) making w B (f, t) satisfying the performance requirement of the super-directional beam former to obtain a basic beam former w B (f, t); wherein, Z B (f, t) denotes the use of a basic beamformer w B (f, t) an output array obtained by beamforming the observation signal vector; y (f, t) represents an observed signal vector, f represents a frequency variable, and t represents a time variable;
0 th auxiliary beam former determining sub-module for utilizing formula Z 0 (f，t)＝w 0 H (f, t) y (f, t), optimizing w 0 (f, t) making w 0 (f, t) meet the performance requirement of the delay-sum beam former to obtain the 0 th auxiliary beam former w 0 (f, t); wherein Z is 0 (f, t) denotes the use of the 0 th auxiliary beamformer w 0 (f, t) an output array obtained by beamforming the observation signal vector;
1 st auxiliary beamformer determination submodule for using the formula Z 1 (f，t)＝w 1 H (f, t) y (f, t), optimizing w 1 (f, t) making w 1 (f, t) meeting the performance requirement of the super-directional beam former to obtain the 1 st auxiliary beam former w 1 (f，t)；Z 1 (f, t) denotes the use of the 1 st auxiliary beamformer w 1 (f, t) an output array obtained by beamforming the observation signal vector;
a jth auxiliary beamformer determination sub-module for using the formula w j (f，t)＝1/Mi j Determining the jth auxiliary beamformer w j (f，t)；
Where M denotes the number of channels of the microphone used to acquire the observation signal vector, i j Representing the jth column of the identity matrix.
Optionally, the beam forming module specifically includes:
a beam forming submodule, configured to perform beam forming on the observation signal vector by using the basic beam former and the plurality of auxiliary beam formers according to the following formula, so as to obtain an output array;
where Z (f, t) represents an output array obtained by beamforming the observation signal vector using the basic beamformer and the plurality of auxiliary beamformers, J represents the number of the auxiliary beamformers other than the 0 th auxiliary beamformer and the 1 st auxiliary beamformer, Φ (f, t) represents an M × M covariance matrix, and the superscript H represents transposition.
A beamformer comprising a basic beamformer and a plurality of auxiliary beamformers.
Optionally, the beam former is:
wherein w (f, t) denotes a beamformer, w B (f, t) denotes a basic beamformer, w 0 (f, t) denotes the 0 th auxiliary beamformer, w 1 (f, t) denotes the 1 st auxiliary beamformer, w j (f, t) denotes a jth auxiliary beamformer, J denotes the number of other auxiliary beamformers except for the 0 th and 1 st auxiliary beamformers, Φ (f, t) denotes an M × M covariance matrix, an upper index H denotes transposition, f denotes a frequency variable, and t denotes a time variable.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a beam forming method, a beam forming system and a beam forming device, wherein the method comprises the following steps: determining a basic beam former and a plurality of auxiliary beam formers; acquiring an observation signal vector; and forming beams of the observation signal vector by using the basic beam former and the plurality of auxiliary beam formers to obtain an output array. The invention realizes the beam forming of an observation signal array consisting of observation signals of a multi-channel microphone by utilizing a basic beam forming device and a plurality of auxiliary beam forming devices.
And the invention combines the basic beam former and a plurality of auxiliary beam formers to realize beam forming, thereby improving the array gain compared with the mode of the prior single beam former.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a flowchart of a beam forming method according to an embodiment of the present invention;
fig. 2 is a comparison graph of the effects provided by the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a beam forming method, a beam forming system and a beam forming device, which are used for forming beams of observation signals output by a multi-channel microphone.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
When designing a microphone array filter, it is difficult to obtain high array gain in the middle and low frequency bands under the condition that the array aperture/size is limited.
Suppose the observed signal of the mth (M =0,1, 2.., M-1) microphone in the time-frequency domain is Y m (f, t), where f is frequency and t is time.
By grouping all observations into a vector, one can obtain:
y(f，t)＝[Y 0 (f，t) Y 1 (f，t)…Y M-1 (f，t)] T ，
where the superscript T represents transpose.
Using a similar approach, a vector w (f, t) to be optimized can be constructed. This vector, also of length M, is applied to the observed signal vector y (f, t) to obtain an output array as follows:
Z(f，t)＝w H (f，t)y(f，t)
this is the basic framework for conventional beamforming methods to obtain the output of an array. The filter coefficients are contained in a vector w (f, t). By optimizing w (f, t), various beam forming devices such as a delay-and-sum beam former, a super-directive beam former, and the like can be designed.
However, the method cannot meet the requirement of high gain in the medium and low frequency bands, and normally, the white noise gain of the corresponding beam former is very low in high gain (high directivity). The beam former can obtain a certain gain theoretically, but in practice, due to inherent deviation of a microphone array, the robustness of the beam former is not enough, and the performance which can be obtained by the medium-low frequency band is very limited.
The present invention provides a beamforming method, system and beamformer which can achieve higher array gain than the above method.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides a beam forming method, including the following steps:
in step 101, a basic beamformer and a plurality of auxiliary beamformers are determined.
There are many criteria that can determine the basic beamformer and the multiple auxiliary beamformers.
Illustratively, the determining the basic beamformer and the plurality of auxiliary beamformers in step 101 specifically includes:
using the formula Z B (f，t)＝w B H (f, t) y (f, t), optimizing w B (f, t) making w B (f, t) meeting the performance requirements of the super-directional beam former to obtain a basic beam former w B (f, t); wherein Z is B (f, t) denotes the use of a basic beamformer w B (f, t) an output array obtained by beamforming the observation signal vector.
Using the formula Z 0 (f，t)＝w 0 H (f, t) y (f, t), optimizing w 0 (f, t) making w 0 (f, t) meet the performance requirement of the delay-sum beam former to obtain the 0 th auxiliary beam former w 0 (f, t); wherein Z is 0 (f, t) denotes the use of the 0 th auxiliary beamformer w 0 (f, t) an output array obtained by beamforming the observation signal vector.
Using the formula Z 1 (f，t)＝w 1 H (f, t) y (f, t), optimizing w 1 (f, t) making w 1 (f, t) meeting the performance requirement of the super-directional beam former to obtain the 1 st auxiliary beam former w 1 (f，t)；Z 1 (f, t) denotes the use of the 1 st auxiliary beamformer w 1 (f, t) an output array obtained by beamforming the observation signal vector.
Using the formula w j (f，t)＝1/Mi j Determining the jth auxiliary beamformer w j (f，t)。
Wherein M represents a symbol for acquiring observation informationNumber of channels of microphone of number vector, i j Representing the jth column of the identity matrix.
And 103, performing beam forming on the observation signal vector by using the basic beam forming device and the plurality of auxiliary beam forming devices to obtain an output array.
using the basic beam former and a plurality of auxiliary beam formers to form beams of the observation signal vector by adopting the following formula to obtain an output array;
where Z (f, t) represents an output array obtained by beamforming the observation signal vector using the basic beamformer and the plurality of auxiliary beamformers, J represents the number of the auxiliary beamformers other than the 0 th auxiliary beamformer and the 1 st auxiliary beamformer, Φ (f, t) represents an M × M covariance matrix, and the superscript H represents transposition.
determining, using the basic beamformer and the plurality of auxiliary beamformers, a beamformer for filter design as:
designing parameters of a filter according to the beam former to obtain the filter;
the observation signal is filtered based on the filter.
The method in embodiment 1 of the present invention for beamforming may be used to determine whether a beamformer composed of the basic beamformer and a plurality of the auxiliary beamformers can achieve a desired effect when used for filter design.
Example 2
Embodiment 2 of the present invention provides a beam forming system, including:
and the beam former determining module is used for determining the basic beam former and the plurality of auxiliary beam formers.
Illustratively, the beamformer determining module specifically includes:
basic beam former determining submodule for utilizing formula Z B (f，t)＝w B H (f, t) y (f, t), optimizing w B (f, t) making w B (f, t) meeting the performance requirements of the super-directional beam former to obtain a basic beam former w B (f, t); wherein, Z B (f, t) denotes the use of a basic beamformer w B (f, t) an output array obtained by beamforming the observation signal vector.
0 th auxiliary beam former determining submodule for utilizing formula Z 0 (f，t)＝w 0 H (f, t) y (f, t), optimizing w 0 (f, t) making w 0 (f, t) meet the performance requirement of the delay-sum beam former to obtain the 0 th auxiliary beam former w 0 (f, t); wherein, Z 0 (f, t) denotes the use of the 0 th auxiliary beamformer w 0 (f, t) an output array obtained by beamforming the observation signal vector.
1 st auxiliary beamformer determination submodule for using the formula Z 1 (f，t)＝w 1 H (f, t) y (f, t), optimizing w 1 (f, t) making w 1 (f, t) meeting the performance requirement of the super-directional beam former to obtain the 1 st auxiliary beam former w 1 (f，t)；Z 1 (f, t) denotes the use of the 1 st auxiliary beamformer w 1 (f, t) beamforming the observation signal vectorTo obtain an output array.
A jth auxiliary beamformer determination sub-module for using the formula w j (f，t)＝1/Mi j Determining the jth auxiliary beamformer w j (f，t)。
Where M denotes the number of channels of the microphone used to acquire the observation signal vector, i j Representing the jth column of the identity matrix.
And the observation signal vector acquisition module is used for acquiring an observation signal vector.
And the beam forming module is used for forming beams of the observation signal vectors by using the basic beam former and the auxiliary beam formers to obtain an output array.
The beam forming module specifically includes:
a beam forming submodule, configured to perform beam forming on the observation signal vector by using the basic beam former and the plurality of auxiliary beam formers according to the following formula, so as to obtain an output array;
wherein Z (f, t) represents an output array obtained by beamforming the observation signal vector using a basic beamformer and a plurality of the auxiliary beamformers, J represents the number of the other auxiliary beamformers except for the 0 th auxiliary beamformer and the 1 st auxiliary beamformer, Φ (f, t) represents an M × M covariance matrix, and an upper index H represents transposition.
Example 3
Embodiment 3 of the present invention provides a beamformer including a basic beamformer and a plurality of auxiliary beamformers.
Specifically, the beam former is:
wherein w (f, t) denotes a beamformer, w B (f, t) denotes a basic beamformer, w 0 (f, t) denotes the 0 th auxiliary beamformer, w 1 (f, t) denotes the 1 st auxiliary beamformer, w j (f, t) denotes a jth auxiliary beamformer, J denotes the number of other auxiliary beamformers except for the 0 th auxiliary beamformer and the 1 st auxiliary beamformer, Φ (f, t) denotes an M × M covariance matrix, and an upper index H denotes transposition.
The beamformer in embodiments of the present invention is equivalent to a mathematical model of a filter used to filter the observed signal output by a multi-channel microphone, which is related to, or contains, specific parameters of the filter.
Based on the above embodiment, the advantages of the present invention are as follows:
compared with the conventional beamforming method, the beamforming system and the beamforming device of the present invention can improve the array gain, and the comparison result is shown in fig. 2, where (a) in fig. 2 is a schematic diagram of the array gain of the conventional beamforming method, and (b) in fig. 2 is a schematic diagram of the array gain of the beamforming method of the present invention, where a solid line encloses a region representing the array gain, which is a directional diagram, the sharper the pattern is, the higher the array gain is, and it can be seen from fig. 2 that the beamforming method provided by the present invention improves the array gain.
Given the beamformer w (f, t) and the steering vector d (f, t) of the array, the white noise gain is defined as:
the white noise gain embodies the robustness of the array beamforming. According to the above equation, if the beamformer w (f, t) is multiplied by a coefficient, that is, w (f, t) ← α w (f, t), the white noise gain does not change. The present invention provides beam formers w (f, t) and w B The white noise gain of (f, t) is the same, but a higher array gain can be achieved. In other words,under the same white noise gain, higher array gain can be obtained; under the same array gain, higher white noise gain can be obtained.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. A method of beamforming, the method comprising the steps of:
determining a basic beam former and a plurality of auxiliary beam formers;
acquiring an observation signal vector;
utilizing the basic beam former and a plurality of auxiliary beam formers to form beams of the observation signal vectors to obtain an output array;
the determining the basic beamformer and the multiple auxiliary beamformers specifically comprises:
using the formula Z B (f,t)＝w B H (f, t) y (f, t), optimizing w B (f, t) making w B (f, t) meeting the performance requirements of the super-directional beam former to obtain a basic beam former w B (f, t); wherein Z is B (f, t) denotes the use of a basic beamformer w B (f, t) an output array obtained by beamforming an observation signal vector, y (f, t) representing the observation signal vector, f representing a frequency variable, and t representing a time variable;
using the formula Z 0 (f,t)＝w 0 H (f, t) y (f, t), optimizing w 0 (f, t) making w 0 (f, t) satisfies the delay-sum beamFormer performance requirement, get 0 th auxiliary beam former w 0 (f, t); wherein Z is 0 (f, t) denotes the use of the 0 th auxiliary beamformer w 0 (f, t) an output array obtained by beamforming the observation signal vector;
using the formula Z 1 (f,t)＝w 1 H (f, t) y (f, t), optimizing w 1 (f, t) making w 1 (f, t) meeting the performance requirement of the super-directional beam former to obtain the 1 st auxiliary beam former w 1 (f,t)；Z 1 (f, t) denotes the use of the 1 st auxiliary beamformer w 1 (f, t) an output array obtained by beamforming the observation signal vector;
using the formula w j (f,t)＝1/Mi j Determining the jth auxiliary beamformer w j (f,t)；
Where M denotes the number of channels of the microphone used to acquire the observation signal vector, i j Representing the jth column of the identity matrix.
2. The method according to claim 1, wherein the beamforming the observation signal vector by using the basic beamformer and the plurality of auxiliary beamformers to obtain an output array, specifically comprises:
using the basic beam former and a plurality of auxiliary beam formers to form beams of the observation signal vector by adopting the following formula to obtain an output array;
wherein Z (f, t) represents an output array obtained by beamforming the observation signal vector using a basic beamformer and a plurality of the auxiliary beamformers, J represents the number of the other auxiliary beamformers except for the 0 th auxiliary beamformer and the 1 st auxiliary beamformer, Φ (f, t) represents an M × M covariance matrix, and an upper index H represents transposition.
3. A beamforming system, wherein the system:
a beamformer determining module for determining a basic beamformer and a plurality of auxiliary beamformers;
the observation signal vector acquisition module is used for acquiring an observation signal vector;
a beam forming module, configured to perform beam forming on the observation signal vector by using the basic beam former and the multiple auxiliary beam formers, so as to obtain an output array;
the beamformer determining module specifically includes:
basic beam former determining submodule for utilizing formula Z B (f,t)＝w B H (f, t) y (f, t), optimizing w B (f, t) making w B (f, t) meeting the performance requirements of the super-directional beam former to obtain a basic beam former w B (f, t); wherein Z is B (f) And t) denotes the use of a basic beamformer w B (f, t) an output array obtained by beamforming an observation signal vector, y (f, t) representing the observation signal vector, f representing a frequency variable, and t representing a time variable;
0 th auxiliary beam former determining submodule for utilizing formula Z 0 (f,t)＝w 0 H (f, t) y (f, t), optimizing w 0 (f, t) making w 0 (f, t) meets the performance requirement of the delay-sum beam former, and the 0 th auxiliary beam former w is obtained 0 (f, t); wherein Z is 0 (f, t) denotes the use of the 0 th auxiliary beamformer w 0 (f, t) an output array obtained by beamforming the observation signal vector;
1 st auxiliary beamformer determination submodule for using the formula z 1 (f,t)＝w 1 H (f, t) y (f, t), optimizing w 1 (f, t) making w 1 (f, t) satisfying the performance requirement of the super-directional beam former to obtain the 1 st auxiliary beam former w 1 (f,t)；Z 1 (f, t) denotes the use of the 1 st auxiliary beamformer w 1 (f, t) an output array obtained by beamforming the observation signal vector;
a jth auxiliary beamformer determination sub-module for using the formula w j (f,t)＝1/Mi j Determining the jth auxiliary beamformer w j (f,t)；
Where M denotes the number of channels of the microphone used to acquire the observation signal vector, i j Representing the jth column of the identity matrix.
4. The beamforming system according to claim 3, wherein the beamforming module specifically includes:
a beam forming submodule, configured to perform beam forming on the observation signal vector by using the basic beam former and the plurality of auxiliary beam formers according to the following formula, so as to obtain an output array;
where Z (f, t) represents an output array obtained by beamforming the observation signal vector using the basic beamformer and the plurality of auxiliary beamformers, J represents the number of the auxiliary beamformers other than the 0 th auxiliary beamformer and the 1 st auxiliary beamformer, Φ (f, t) represents an M × M covariance matrix, and the superscript H represents transposition.
5. A beamformer, wherein the beamformer comprises a basic beamformer and a plurality of auxiliary beamformers;
the beam former is:
wherein w (f, t) denotes a beamformer, w B (f, t) denotes a basic beamformer, w 0 (f, t) denotes the 0 th auxiliary beamformer, w 1 (f, t) denotes the 1 st auxiliary beamFormer, w j (f, t) denotes a jth auxiliary beamformer, J denotes the number of other auxiliary beamformers except for the 0 th auxiliary beamformer and the 1 st auxiliary beamformer, Φ (f, t) denotes an M × M covariance matrix, an upper index H denotes transposition, f denotes a frequency variable, and t denotes a time variable.
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