CN115278449A - Method, device and equipment for determining coordinates of microphone array unit and storage medium - Google Patents
Method, device and equipment for determining coordinates of microphone array unit and storage medium Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
- H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
- H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/76—Systems for determining direction or position line
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/24—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R29/00—Monitoring arrangements; Testing arrangements
- H04R29/004—Monitoring arrangements; Testing arrangements for microphones
- H04R29/005—Microphone arrays
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Abstract
The invention provides a method, a device, equipment and a storage medium for determining coordinates of a microphone array unit, and relates to the technical field of microphone arrays. In the invention, based on a regular array, such as coordinates of each microphone array unit in a spiral array under an equal-area array element distribution strategy, the coordinates of each unit in the microphone array are updated iteratively according to a preset objective function, and finally irregular microphone array unit coordinates with optimal performance are obtained. Because the array optimization design method is used for carrying out iterative optimization on the basis of the design result of the regular array, the calculated amount is relatively small, and the efficiency is higher.
Description
Technical Field
The invention relates to the technical field of microphone arrays, in particular to a method, a device, equipment and a storage medium for determining the coordinates of a microphone array unit.
Background
A microphone array is a system composed of a number of acoustic sensors (generally referred to as microphones) for sampling and processing the spatial characteristics of a sound field. The microphones are arranged according to the specified requirements, and then the corresponding algorithm is added, so that the acoustic problems such as sound source positioning, echo cancellation, voice enhancement and the like can be solved, the method is mainly applied to the fields of intelligent home, large conferences, voice recognition, man-machine interaction and the like, and has wide application prospect and research value.
According to the topology of the microphone array, the microphone array can be divided into a linear array, a planar array, a volume array, and the like. The one-dimensional linear array is simple in arrangement, only can identify the direction and is low in precision. The body array can identify the direction and the distance, but the structure is more complicated, and the applicable field is limited. The planar array is between the first two, and the application range is wider. In addition, the planar array may be divided into a regular array and an irregular array according to whether the shape is regular or not. Regular arrays include linear arrays, cross-shaped arrays, circular arrays, spiral arrays, and the like. In the irregular array, because the microphones are unevenly distributed, and the directions of the position vectors of the microphones are different and are linearly independent, repeated space sampling can be well avoided, aliasing effect is inhibited, and ghost images are effectively reduced. The irregular array can obtain the best positioning result with the least array elements.
However, for the identification of the aircraft noise source, the array of the used microphone array has more array elements and wide distribution area. Therefore, when irregular array design is performed, a large number of complex calculations are required to determine the coordinates of each microphone array unit, so as to ensure that each microphone array unit is relatively uniform and random, and the process of determining the coordinates of the microphone array units is relatively complex and time-consuming.
Disclosure of Invention
Based on the problems that a large amount of calculation is needed for determining the coordinates of the microphone array unit when an irregular array is adopted, and the calculation is complex and time-consuming in the prior art, the embodiment of the invention provides a method, a device, equipment and a storage medium for determining the coordinates of the microphone array unit, and the irregular array can be obtained based on a spiral array with equal area distribution, so that the calculation amount of the array optimization design is reduced, and the efficiency is improved.
In a first aspect, an embodiment of the present invention provides a method for determining coordinates of a microphone array unit, including:
determining an initial objective function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the equal-area distributed spiral array and a preset objective function;
on a spiral arm in the spiral array with equal area distribution where the microphone array units are located, changing the position of at least one microphone array unit for k times; the changed position of the microphone array unit is positioned between the innermost ring and the outermost ring of the spiral array with equal area distribution;
based on the change of the k times of positions, carrying out k times of iterations on the initial objective function solution and the initial coordinates, and determining an objective function solution corresponding to the k times of iterations and the coordinates of each microphone array unit; stopping iteration of the initial objective function solution and the initial coordinate when k is not less than a preset threshold value;
determining target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration; k is an integer greater than 0.
Optionally, for an ith iteration of k iterations, where i is an integer greater than 0 and less than or equal to k, determining a solution of an objective function corresponding to the ith iteration includes:
acquiring an ith coordinate of each microphone array unit after the ith position change;
obtaining a candidate objective function solution corresponding to the ith iteration according to the ith coordinate and the objective function;
obtaining a target function solution corresponding to the ith iteration and coordinates of each microphone array unit according to a candidate target function solution corresponding to the ith iteration and a target function solution corresponding to the (i-1) th iteration; when i is equal to 1, solving the objective function corresponding to the i-1 th iteration as the initial objective function.
Optionally, before determining the target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration, the method further includes:
updating the annealing temperature according to the initial annealing temperature and a preset cooling rate;
taking a target function solution corresponding to the kth iteration as an initial target function solution, taking the coordinates of each microphone array unit corresponding to the kth iteration as initial coordinates, changing the position of at least one microphone array unit for k times on the spiral arm in the spiral array with equal area distribution where the microphone array units are located again, and carrying out k iterations on the initial target function solution and the initial coordinates based on the change of the position for k times;
judging whether the current annealing temperature reaches the termination temperature;
if not, updating the annealing temperature again according to the current annealing temperature and the preset cooling rate.
Optionally, the objective function comprises a first function and a second function; before determining an initial objective function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the equal-area distributed spiral array and a preset objective function, the method further comprises the following steps:
acquiring a detection target frequency band of a spiral array with equal area distribution;
when the detected target frequency band is larger than 1000Hz, determining the first function as a target function;
and when the detection target frequency band is less than 1000Hz, determining the second function as a target function.
Optionally, obtaining an objective function solution corresponding to the ith iteration and coordinates of each microphone array unit according to the candidate objective function solution corresponding to the ith iteration and an objective function solution corresponding to the (i-1) th iteration includes:
and determining the coordinates and the objective function solution of each microphone array unit corresponding to the ith iteration based on the ith coordinate, the candidate objective function solution corresponding to the ith iteration, the objective function solution corresponding to the (i-1) th iteration and the coordinates of each microphone array unit according to the difference value between the candidate objective function solution corresponding to the ith iteration and the objective function solution corresponding to the (i-1) th iteration and a preset rule.
Optionally, the number of microphone array elements per change of position is different.
Optionally, after determining the target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration, the method further includes:
and determining the position of each microphone array unit according to the target coordinates of each microphone array unit.
In a second aspect, an embodiment of the present invention further provides an apparatus for determining coordinates of a microphone array unit, including:
the acquisition module is used for determining an initial target function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the spiral array with equal area distribution and a preset target function;
the processing module is used for changing the position of at least one microphone array unit for k times on a spiral arm in the spiral array with equal area distribution where the microphone array units are located; the changed position of the microphone array unit is positioned between the innermost ring and the outermost ring of the spiral array with equal area distribution; based on the change of the k times of positions, carrying out k times of iterations on the initial objective function solution and the initial coordinates, and determining an objective function solution corresponding to the k times of iterations and the coordinates of each microphone array unit; stopping iteration of the initial objective function solution when k is not less than a preset threshold value;
the determining module is used for determining target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration; k is an integer greater than 0.
Optionally, the processing module is specifically configured to obtain an ith coordinate of each microphone array unit after the ith position change is performed; obtaining a candidate target function solution corresponding to the ith iteration according to the ith coordinate and the target function; obtaining a target function solution corresponding to the ith iteration and coordinates of each microphone array unit according to the candidate target function solution corresponding to the ith iteration and a target function solution corresponding to the (i-1) th iteration; when i is equal to 1, solving the objective function corresponding to the i-1 th iteration as the initial objective function.
Optionally, the processing module is further configured to update the annealing temperature according to the initial annealing temperature and a preset cooling rate; taking an objective function solution corresponding to the kth iteration as an initial objective function solution, taking coordinates of each microphone array unit corresponding to the kth iteration as initial coordinates, changing the position of at least one microphone array unit for k times on a spiral arm in an equal-area-distribution spiral array where the microphone array units are located again, and carrying out k times of iterations on the initial objective function solution and the initial coordinates based on the change of the position of the k times; judging whether the current annealing temperature reaches the termination temperature; if not, updating the annealing temperature again according to the current annealing temperature and the preset cooling rate.
Optionally, the obtaining module is further configured to obtain a detection target frequency band of the spiral array distributed in an equal area;
when the detected target frequency band is larger than 1000Hz, determining a first function as a target function; and when the detection target frequency band is less than 1000Hz, determining the second function as a target function.
Optionally, the processing module is specifically configured to determine, according to a difference between a candidate target function solution corresponding to the ith iteration and a target function solution corresponding to the i-1 st iteration and a preset rule, coordinates and a target function solution of each microphone array unit corresponding to the ith iteration based on the ith coordinate, the candidate target function solution corresponding to the ith iteration, the target function solution corresponding to the i-1 st iteration, and coordinates of each microphone array unit.
Optionally, the number of microphone array elements per repositioning differs.
Optionally, the determining module is further configured to determine the position of each microphone array element according to the target coordinates of each microphone array element.
In a third aspect, an embodiment of the present invention provides an electronic device, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the method according to the first aspect when the processor executes the machine-readable instructions.
In a fourth aspect, an embodiment of the present invention provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the method according to the first aspect.
In the embodiment of the invention, the positions of the microphone array units can be iteratively updated according to a preset objective function based on the coordinates of each microphone array unit in a regular array, such as a spiral array with equal-area distribution, and finally, the coordinate optimization design of the microphone array units of an irregular array is realized. In the iteration process, the coordinates of each microphone array unit obtained after each iteration can be determined according to the coordinates of each microphone array unit obtained by two adjacent iterations and a target function solution, the convergence of the coordinates of each microphone array unit obtained in the iteration process is improved, and the condition that the final coordinates of each microphone array unit obtained by iteration are too dispersed to cause uneven distribution of the microphone array is avoided. Therefore, the finally obtained coordinates of the microphone array units capable of realizing the irregular array are obtained by iteration based on the coordinates of each microphone array unit in the regular array, so that the calculated amount is relatively small, and the efficiency is higher.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart illustrating a method for determining coordinates of a microphone array unit according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an equal-area spiral array provided by an embodiment of the invention;
fig. 3 is another schematic flow chart of a method for determining coordinates of microphone array elements according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram illustrating an apparatus for determining coordinates of a microphone array unit according to an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 should be understood that the drawings in the present invention are for illustrative and descriptive purposes only and are not used to limit the scope of the present invention. Further, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this disclosure illustrate operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flow diagrams may be performed out of order, and that steps without logical context may be reversed in order or performed concurrently. One skilled in the art, under the direction of this summary, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments of the present invention are only some embodiments of the present invention, and not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the term "comprising" will be used in the embodiments of the invention to indicate the presence of the features stated hereinafter, but does not exclude the addition of further features. It should also be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present invention, it should also be noted that the terms "first", "second", "third", and the like are used for distinguishing the description, and are not to be construed as indicating or implying relative importance.
A microphone array is a system consisting of a certain number of acoustic sensors (generally referred to as microphones) for sampling and processing the spatial characteristics of a sound field. The microphones are arranged according to the specified requirements, and then the corresponding algorithm is added, so that the acoustic problems such as sound source positioning, echo cancellation, voice enhancement and the like can be solved, the method is mainly applied to the fields of intelligent home, large conferences, voice recognition, man-machine interaction and the like, and has wide application prospect and research value.
According to the topology of the microphone array, the microphone array can be divided into a linear array, a planar array, a volume array, and the like. The one-dimensional linear array is simple in arrangement, only can identify the direction and is low in precision. The volume array can identify the direction and the distance, but the structure is more complex, and the applicable field is limited. The planar array is arranged between the two, and the application range is wider. In addition, the planar array may be divided into a regular array and an irregular array according to whether the shape is regular or irregular. Regular arrays include linear arrays, cross-shaped arrays, circular arrays, spiral arrays, and the like. In the irregular array, because the microphones are unevenly distributed, the positions of the microphones have different vector directions and are linearly independent, repeated space sampling can be well avoided, aliasing effect is inhibited, and ghost images are effectively reduced. The irregular array can obtain the best positioning result with the least array elements.
However, for the identification of the aircraft noise source, the used microphone array has a large number of array elements and a wide distribution area. Therefore, when irregular array design is performed, a large number of complex calculations are required to determine the coordinates of each microphone array unit, so as to ensure that each microphone array unit is relatively uniform and random, and the process of determining the coordinates of the microphone array units is relatively complex and time-consuming.
Based on this, the embodiment of the present application provides a method for determining coordinates of a microphone array unit, which specifically includes: determining an initial objective function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the equal-area distributed spiral array and a preset objective function; on a spiral arm in the spiral array with equal area distribution where the microphone array units are located, changing the position of at least one microphone array unit for k times; the changed position of the microphone array unit is positioned between the innermost ring and the outermost ring of the spiral array with equal area distribution; performing k iterations on the initial objective function solution and the initial coordinates based on the k-time position change, and determining an objective function solution corresponding to the k-th iteration and coordinates of each microphone array unit; when k is not less than a preset threshold value, stopping iteration of the initial objective function solution and the initial coordinate; determining target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration; k is an integer greater than 0.
In the embodiment of the invention, the coordinates of each microphone array unit can be subjected to iterative processing according to a preset objective function and the position update of the microphone array unit based on the coordinates of each microphone array unit in a regular array, such as a spiral array with equal area distribution, so as to obtain the final coordinates of the microphone array unit capable of realizing an irregular array. In the iteration process, the coordinates of each microphone array unit obtained after each iteration can be determined according to the coordinates of each microphone array unit obtained by two adjacent iterations and the objective function solution, the convergence of the coordinates of each microphone array unit obtained in the iteration process is improved, and the condition that the coordinates of each microphone array unit obtained by final iteration are too dispersed to cause uneven distribution of the arranged microphone array is avoided. Therefore, the finally obtained coordinates of the microphone array units capable of realizing the irregular array are obtained by iteration based on the coordinates of each microphone array unit in the regular array, so that the calculated amount is relatively small, and the efficiency is higher.
As shown in fig. 1, an embodiment of the present invention provides a method for determining coordinates of a microphone array element, which may include the following S101-S104.
S101, obtaining coordinates of each microphone array unit in the spiral array with equal area distribution, and taking the coordinates of each microphone array unit as initial coordinates.
Wherein, the spiral array with equal area distribution can be a logarithmic spiral array with a plurality of arms (i.e. at least two). Each arm of the microphone array unit has the same number of microphone array units, and the distance between the nth (n is an integer larger than 0) microphone array units on each arm is equal. For example, fig. 2 shows a schematic diagram of an equal-area spiral array provided in the embodiment of the present application. As shown in fig. 2, the equal area distributed spiral array includes 6 arms, each having 5 microphone array elements 201. The distances between the 1 st microphone array units 201 on each arm are equal, the distances between the 2 nd microphone array units 201 on each arm are equal, the distances between the 3 rd microphone array units 201 on each arm are equal, the distances between the 4 th microphone array units 201 on each arm are equal, and the distances between the 5 th microphone array units 201 on each arm are also equal.
The spiral array with equal area distribution in this step may be a preset array, and the coordinates of each microphone array unit in the array are known.
For example, the spiral array with equal area distribution can be preset according to the corresponding design requirement according to the related design method of the spiral array with equal area distribution.
For example, the aperture required by the design is about 35 meters, the number of the microphone array units is less than 128, the frequency band of the detection target of the microphone array is 1000Hz to 5000Hz, the width target of the main lobe is 1 °, and the dynamic range target is greater than 10 dB.
The outer ring radius of the spiral array with corresponding equal area distribution, such as r2 (r 2), can be determined according to the aperture requirementE.g., 15 meters), and then the corresponding helix angle v (e.g., 60) is selected to follow the spiral equation r (e.g., r, g), r
) = r2 exp[cot(v) 
]The polar coordinates (r,
) Of (e) a corresponding spiral. Then, different combinations of the number of arms meeting the requirement that the number of microphone array units is less than 128 and the number of microphone arrays on a single arm are respectively arranged according to the obtained spirals and then tested, and therefore the optimal combination of the number of arms and the number of microphone arrays on the single arm is determined. And then respectively carrying out simulation comparison on the spiral arrays which are arranged in combination according to the determined number and have the same area distribution with different spiral angles and the radius of the inner ring, so as to determine the better spiral angle and the radius of the inner ring, and further determine the final spiral array with the same area distribution and the coordinates of each microphone array unit in the final spiral array with the same area distribution.
And S102, obtaining an initial objective function solution based on a preset objective function according to the initial coordinates.
Optionally, the target function is set according to a detection target frequency band of the microphone array, so that corresponding target functions are set for different detection target frequency bands, and therefore the detection effect of the array realized by the coordinates of the microphone array units obtained through final iteration on the corresponding detection target frequency bands is improved.
For example, the corresponding objective function may be set according to the target frequency band (or called analysis frequency band) detected by the microphone array in the design requirement of the microphone array.
For example, an objective function that mainly optimizes the dynamic range may be set when the target band is detected as the high band. As an objective function:
wherein, in the step (A),
for the width of the main lobe corresponding to the ith frequency,
the maximum width of the grid is the maximum width of the grid,
the number of the sidelobe levels corresponding to the ith frequency of the normalization processing NF is the frequency number of the whole frequency band (namely the detection target frequency band),
the desired main lobe width.
The function is defined as:
the corresponding main lobe width and side lobe level can be obtained according to the coordinates (such as initial coordinates, k-th coordinates described below, etc.) of each microphone array unit, and then a corresponding initial objective function solution or k-th objective function solution can be obtained based on the objective function.
As another example, an objective function that mainly optimizes the width of the main lobe may be set when the detection target band is a low band. As an objective function:
wherein, in the step (A),
for the width of the main lobe corresponding to the ith frequency,
is the maximum width of the grid and is,
for the ith frequency of the normalization processThe side-lobe level to which the rate corresponds,
to normalize the desired sidelobe level of the process, NF is the number of frequencies of the entire band (i.e., the detection target band).
The function is defined as:
. The corresponding main lobe width and side lobe level can be obtained according to the coordinates (such as initial coordinates, k-th coordinates described below, etc.) of each microphone array unit, and then a corresponding initial objective function solution or k-th objective function solution can be obtained based on the objective function. In the above example, when the frequency of the detection target frequency band is greater than 1000Hz, the detection target frequency band is considered as a high frequency band, and when the frequency of the detection target frequency band is less than 1000Hz, the detection target frequency band is considered as a low frequency band. When the frequency of the detection target frequency band is equal to 1000Hz, the detection target frequency band can be regarded as a high frequency band, and the detection target frequency band can also be regarded as a low frequency band, which can be determined according to actual conditions in practical application.
Based on the above example, optionally, when the objective function is set according to the detection target frequency band of the microphone array, the method may further include a step of obtaining a preset objective function according to the detection target frequency band of the microphone array. I.e. the objective function may comprise a first function and a second function. Before determining an initial objective function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the equal-area distributed spiral array and a preset objective function, the method may further include: acquiring detection target frequency bands of the spiral arrays distributed in equal areas; when the detected target frequency band is larger than 1000Hz, determining a first function as a target function; and when the detection target frequency band is less than 1000Hz, determining the second function as a target function. The first objective function may be an objective function that mainly optimizes the dynamic range, and the second objective function may be an objective function that mainly optimizes the width of the main lobe.
Of course, the above is only an example in the embodiment of the present application, in practical applications, only one kind of objective function may be set, and the objective function is not distinguished for the detection target frequency bands of different frequency bands, which is not limited herein.
And S103, iterating the initial objective function solution until the iteration number is equal to or greater than a preset threshold (or is called to reach the preset threshold).
For example, for an ith iteration of k iterations, where i is an integer greater than 0 and less than or equal to k, determining a solution of an objective function corresponding to the ith iteration includes: acquiring an ith coordinate of each microphone array unit after the ith position change; obtaining a candidate objective function solution corresponding to the ith iteration according to the ith coordinate and the objective function; obtaining a target function solution corresponding to the ith iteration and coordinates of each microphone array unit according to the candidate target function solution corresponding to the ith iteration and a target function solution corresponding to the (i-1) th iteration; when i is equal to 1, solving the objective function corresponding to the i-1 th iteration into the initial objective function.
Illustratively, wherein the 1 st iteration comprises: changing the position of at least one microphone array unit in each microphone array unit, wherein for any one of the microphone array units with changed positions, the changed position and the position before the change are positioned on the same spiral arm of the spiral array with equal area distribution, and the changed position is positioned between the innermost ring and the outermost ring of the spiral array with equal area distribution; re-acquiring coordinates of each microphone array unit as a 1 st coordinate; obtaining a 1 st objective function solution based on a preset objective function according to the 1 st coordinate; and determining the coordinates and the objective function solution of each microphone array unit obtained by the 1 st iteration according to the 1 st objective function solution and the initial objective function solution.
The ith iteration includes: changing the position of at least one microphone array unit in each microphone array unit, re-acquiring the coordinates of each microphone array unit as the ith coordinate, and obtaining an ith target function solution according to the ith coordinate based on a preset target function; and determining the coordinates and the objective function solution of each microphone array unit obtained by the ith iteration according to the ith objective function solution and the objective function solution obtained by the (i-1) th iteration.
Optionally, the iteration number k may be that the iteration is completed when the iteration number k is equal to or greater than a preset threshold, and may be set according to actual needs in practical applications, which is not limited herein. Moreover, the preset threshold may also be set according to actual needs (such as the requirement of iteration speed and the requirement of iteration completeness), which is not limited here.
As an example, changing the position of at least one of the microphone array elements may be randomly choosing at least one of the microphone array elements to change its position.
As another example, changing the position of at least one of the microphone array elements may also be randomly picking the nth microphone array element on each arm and changing the position of the microphone array elements.
Optionally, in the embodiment of the present application, the position change range of the microphone array elements may be constrained on the arm (i.e. spiral, or called spiral arm) where the corresponding microphone array elements originally are located, and optionally, the changed position may also be constrained not to exceed the radius range of the innermost ring and the outermost ring (or the changed position is located between the innermost ring and the outermost ring). I.e. the relocated microphone array element, whose relocated position is still on the arm it is on (or the relocated microphone array element is relocated on the same arm as it was before relocation), optionally without relocating the microphone array element beyond the innermost and outermost rings. Therefore, the problem that the microphone array units in the obtained irregular array are not uniformly distributed due to large position change of the microphone array units can be avoided.
Optionally, determining the coordinates and the objective function solution of each microphone array unit obtained by the 1 st iteration according to the 1 st objective function solution and the initial objective function solution may include determining the coordinates and the objective function solution of each microphone array unit obtained by the 1 st iteration as the initial coordinates and the initial objective function solution, respectively, when the 1 st objective function solution and the initial objective function solution are the same. And when the 1 st objective function solution is different from the initial objective function solution, determining the coordinates and the objective function solution of each microphone array unit obtained by the 1 st iteration as the 1 st coordinate and the 1 st objective function solution respectively. Of course, in the embodiment of the present application, the coordinates and the objective function solution of each microphone array unit obtained by the 1 st iteration may also be determined according to the 1 st objective function solution and the initial objective function solution in other manners, which is not limited herein. Determining the coordinates and the objective function solutions of the microphone array units obtained by the ith iteration according to the ith objective function solution and the objective function solution obtained by the (i-1) th iteration, wherein when the ith objective function solution is the same as the objective function solution obtained by the (i-1) th iteration, determining the coordinates and the objective function solutions of the microphone array units obtained by the ith iteration to be the objective function solution and the coordinates obtained by the (i-1) th iteration respectively. And when the ith objective function solution is different from the objective function solution obtained by the i-1 st iteration, determining the coordinates and the objective function solution of each microphone array unit obtained by the i-th iteration as the ith coordinates and the ith objective function solution respectively. Of course, in the embodiment of the present application, the coordinates and the objective function solution of each microphone array unit obtained by the ith iteration may also be determined in other manners according to the ith objective function solution and the objective function solution obtained by the (i-1) th iteration, which is not limited herein.
And S104, taking the coordinates of each microphone array unit obtained by the last iteration as the coordinates of the microphone array units after final optimization.
Namely, the coordinates of each microphone array unit obtained by the last iteration are used as the coordinates of each microphone array unit in the microphone array, so that the irregular microphone array is constructed by arranging the microphone array units through the coordinates.
After iteration processing is not performed any more, coordinates of the microphone array obtained by the last iteration can be used as coordinates of each microphone array unit in the microphone array, and therefore an irregular array is set according to finally determined coordinates of the microphone array units. And further, the noise source identification effect of the finally obtained microphone array is improved.
In the embodiment of the invention, the coordinates of each microphone array unit can be subjected to iterative processing according to a preset objective function and the position update of the microphone array unit based on the coordinates of each microphone array unit in a regular array, such as a spiral array with equal area distribution, so as to obtain the final coordinates of the microphone array unit capable of realizing an irregular array. In the iteration process, the coordinates of each microphone array unit obtained after each iteration can be determined according to the coordinates of each microphone array unit obtained by two adjacent iterations and the objective function solution, the convergence of the coordinates of each microphone array unit obtained in the iteration process is improved, and the condition that the coordinates of each microphone array unit obtained by final iteration are too dispersed to cause uneven distribution of the arranged microphone array is avoided. Therefore, the finally obtained coordinates of the microphone array units capable of realizing the irregular array are obtained by iteration based on the coordinates of each microphone array unit in the regular array, so that the calculated amount is relatively small, and the efficiency is higher.
Optionally, before determining the target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration, the method further includes: updating the annealing temperature according to the initial annealing temperature and a preset cooling rate; taking an objective function solution corresponding to the kth iteration as an initial objective function solution, taking coordinates of each microphone array unit corresponding to the kth iteration as initial coordinates, changing the position of at least one microphone array unit for k times on a spiral arm in an equal-area-distribution spiral array where the microphone array units are located again, and carrying out k times of iterations on the initial objective function solution and the initial coordinates based on the change of the position of the k times; judging whether the current annealing temperature reaches the termination temperature; if not, updating the annealing temperature again according to the current annealing temperature and the preset cooling rate.
For example, based on the method shown in fig. 1, before the coordinates of each microphone array element obtained in the last iteration are used as the coordinates of the finally optimized microphone array element, as shown in fig. 3, the method may further include:
s301, updating the annealing temperature according to the initial annealing temperature and a preset cooling rate, taking the objective function solution obtained by the last iteration as an initial objective function solution, and iterating the initial objective function solution again.
The initial annealing temperature and the termination temperature may be set according to actual needs (such as the requirement of iteration speed and the requirement of iteration completeness), and are not limited herein. The rate of temperature decrease is typically a positive number less than 1, such as a value of 0.8-0.99, such as 0.8, 0.88, 0.9, 0.99, etc. Accordingly, the updated annealing temperature may be the product of the initial annealing temperature and the ramp down rate.
S302, judging whether the current annealing temperature reaches the termination temperature.
The reaching of the termination temperature may mean that the current annealing temperature is equal to the termination temperature, or the current annealing temperature is less than the termination temperature, which is not limited herein.
And S303, if not, updating the annealing temperature according to a preset cooling rate, taking the objective function solution obtained by the last iteration as an initial objective function solution, and iterating the initial objective function solution again.
It should be noted that, taking the objective function solution obtained by the last iteration as the initial objective function solution, and iterating the initial objective function solution again means that iteration is performed again through S103 based on the objective function solution obtained by the last iteration obtained in S103 before the annealing temperature is updated. Therefore, the objective function solution and the corresponding coordinates of each microphone array unit can be iterated more sufficiently according to the initial annealing temperature and the cooling rate, and finally, more optimal coordinates of the microphone array units for realizing irregular arrays are obtained.
It should be noted that when it is determined that the current annealing temperature reaches the termination temperature, S104 may be performed.
Optionally, obtaining an objective function solution corresponding to the ith iteration and coordinates of each microphone array unit according to the candidate objective function solution corresponding to the ith iteration and an objective function solution corresponding to the (i-1) th iteration includes: and determining the coordinates and the target function solution of each microphone array unit corresponding to the ith iteration on the basis of the ith coordinate, the candidate target function solution corresponding to the ith iteration, the target function solution corresponding to the i-1 st iteration and the coordinates of each microphone array unit according to the difference between the candidate target function solution corresponding to the ith iteration and the target function solution corresponding to the i-1 st iteration and a preset rule.
For example, based on the method shown in fig. 1, determining the coordinates and the objective function solution of each microphone array unit obtained in the 1 st iteration according to the 1 st objective function solution and the initial objective function solution includes: and determining the coordinates and the objective function solution of each microphone array unit obtained by the 1 st iteration based on the 1 st coordinate, the initial coordinate, the 1 st objective function solution and the initial objective function solution according to the difference value between the 1 st objective function solution and the initial objective function solution and a preset rule.
Correspondingly, determining the coordinates and the objective function solution of each microphone array unit obtained by the ith iteration according to the ith objective function solution and the objective function solution obtained by the (i-1) th iteration, wherein the determining comprises the following steps: and determining the coordinates and the target function solution of each microphone array unit obtained by the ith iteration on the basis of the ith coordinate, the ith target function solution and the target function solution and coordinates obtained by the ith-1 iteration according to the difference between the ith target function solution and the target function solution obtained by the ith-1 iteration and a preset rule.
For example, the preset rule may be that when a difference obtained by subtracting the initial objective function solution from the 1 st objective function solution is less than or equal to 0, the 1 st coordinate and the 1 st objective function solution are respectively used as the coordinate and objective function solution of each microphone array unit obtained by the 1 st iteration. And when the difference obtained by subtracting the initial objective function solution from the 1 st objective function solution is larger than 0, respectively taking the initial coordinates and the initial objective function solution as the coordinates and the objective function solution of each microphone array unit obtained by the 1 st iteration. Or when the difference obtained by subtracting the initial objective function solution from the 1 st objective function solution is greater than 0, according to the Metropolis criterion, when the probability that the 1 st objective function solution is superior to the initial objective function solution is greater than a threshold value, respectively taking the 1 st coordinate and the 1 st objective function solution as the coordinate and the objective function solution of each microphone array unit obtained by the 1 st iteration, otherwise, respectively taking the initial coordinate and the initial objective function solution as the coordinate and the objective function solution of each microphone array unit obtained by the 1 st iteration.
And when the difference value obtained by subtracting the objective function solution obtained by the i-1 th iteration from the ith objective function solution is less than or equal to 0, taking the ith coordinate and the ith objective function solution as the coordinate and the objective function solution of each microphone array unit obtained by the ith iteration respectively. And when the difference value obtained by subtracting the target function solution obtained by the i-1 st iteration from the ith target function solution is larger than 0, respectively taking the target function solution obtained by the i-1 st iteration and the coordinates of each microphone array unit as the coordinates of each microphone array unit and the target function solution obtained by the i-th iteration. Or when the difference obtained by subtracting the objective function solution obtained by the i-1 st iteration from the ith objective function solution is larger than 0, according to the Metropolis criterion, when the probability that the ith objective function solution is superior to the objective function solution obtained by the i-1 st iteration is larger than a threshold value, respectively taking the ith coordinate and the ith objective function solution as the coordinate and the objective function solution of each microphone array unit obtained by the i-th iteration, and otherwise, respectively taking the objective function solution obtained by the k-1 st iteration and the coordinate of each microphone array unit as the coordinate and the objective function solution of each microphone array unit obtained by the i-th iteration.
In this way, the coordinates of each microphone array unit obtained through final iteration can be a result of better optimization according to the objective function, and the sound detection effect of the microphone array realized by the finally obtained coordinates of each microphone array unit is improved.
Alternatively, the number of microphone array elements per repositioning may be different. Of course, in the embodiment of the present application, it is also possible to randomly select several microphone array elements each time the position of the microphone array elements is changed, without taking into account the number of the microphone array elements selected each time.
Optionally, after determining the target coordinates of each microphone array element according to the coordinates of each microphone array element corresponding to the kth iteration, the method further includes:
and determining the position of each microphone array unit according to the target coordinates of each microphone array unit.
Based on the method for determining the coordinates of the microphone array unit in the foregoing method embodiment, correspondingly, the embodiment of the present invention further provides a device for determining the coordinates of the microphone array unit, and fig. 4 shows a schematic structural diagram of the device for determining the coordinates of the microphone array unit provided in the embodiment of the present invention.
As shown in fig. 4, the apparatus may include: the obtaining module 401 is configured to determine an initial objective function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the equal-area distributed spiral array and a preset objective function.
A processing module 402, configured to perform k-time position changes on at least one microphone array unit on a spiral arm in an equal-area distributed spiral array where the microphone array units are located; the changed position of the microphone array unit is positioned between the innermost ring and the outermost ring of the spiral array with equal area distribution; performing k iterations on the initial objective function solution and the initial coordinates based on the k-time position change, and determining an objective function solution corresponding to the k-th iteration and coordinates of each microphone array unit; and stopping the iteration of the initial objective function solution when k is not less than a preset threshold value.
The determining module 403 determines target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration; k is an integer greater than 0.
Optionally, the processing module 402 is specifically configured to obtain an ith coordinate of each microphone array unit after the ith position change is performed; obtaining a candidate objective function solution corresponding to the ith iteration according to the ith coordinate and the objective function; obtaining a target function solution corresponding to the ith iteration and coordinates of each microphone array unit according to a candidate target function solution corresponding to the ith iteration and a target function solution corresponding to the (i-1) th iteration; when i is equal to 1, solving the objective function corresponding to the i-1 th iteration into the initial objective function.
Optionally, the processing module 402 is further configured to update the annealing temperature according to the initial annealing temperature and a preset cooling rate; taking an objective function solution corresponding to the kth iteration as an initial objective function solution, taking coordinates of each microphone array unit corresponding to the kth iteration as initial coordinates, changing the position of at least one microphone array unit for k times on a spiral arm in an equal-area-distribution spiral array where the microphone array units are located again, and carrying out k times of iterations on the initial objective function solution and the initial coordinates based on the change of the position of the k times; judging whether the current annealing temperature reaches the termination temperature; if not, updating the annealing temperature again according to the current annealing temperature and the preset cooling rate.
Optionally, the obtaining module 401 is further configured to obtain a detection target frequency band of the spiral array distributed in an equal area;
when the detected target frequency band is larger than 1000Hz, determining the first function as a target function; and when the detection target frequency band is less than 1000Hz, determining the second function as the target function.
Optionally, the processing module 402 is specifically configured to determine, according to a difference between a candidate objective function solution corresponding to the ith iteration and an objective function solution corresponding to the i-1 st iteration and a preset rule, coordinates and an objective function solution of each microphone array unit corresponding to the ith iteration based on the ith coordinate, the candidate objective function solution corresponding to the ith iteration, the objective function solution corresponding to the i-1 st iteration, and coordinates of each microphone array unit.
Optionally, the number of microphone array elements per repositioning differs.
Optionally, the determining module 403 is further configured to determine the position of each microphone array element according to the target coordinates of each microphone array element.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus may refer to the corresponding process of the method described in the foregoing method embodiment, and is not described in detail herein.
It should be understood that the above-described embodiments of the apparatus are merely exemplary, and that the apparatus and method disclosed in the embodiments of the present invention may be implemented in other ways. For example, the division of the modules into only one logical functional division may be implemented in other ways, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing an electronic device to perform all or part of the steps of the method according to the embodiments of the present invention.
That is, those skilled in the art will appreciate that embodiments of the present invention may be implemented in any form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
Based on this, the embodiment of the present invention further provides a program product, which may be a storage medium such as a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and a computer program may be stored on the storage medium, and when the computer program is executed by a processor, the steps of the method as described in the foregoing method embodiment are performed. The specific implementation and technical effects are similar, and are not described herein again.
In addition, an electronic device is further provided in the embodiment of the present invention, and fig. 5 shows a schematic structural diagram of the electronic device provided in the embodiment of the present invention.
As shown in fig. 5, the electronic device may include: a processor 510, a storage medium 520 and a bus 530, the storage medium 520 storing machine-readable instructions executable by the processor 510, the processor 510 communicating with the storage medium 520 via the bus when the electronic device is operating, the processor 510 executing the machine-readable instructions to perform the steps of the method as described in the previous embodiments when executed. The specific implementation manner and the technical effect are similar, and are not described herein again.
For ease of illustration, only one processor is described in the above electronic device. However, it should be noted that in some embodiments, the electronic device in the present invention may further include multiple processors, and thus, the steps performed by one processor described in the present invention may also be performed by multiple processors in combination or individually.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of determining coordinates of elements of a microphone array, comprising:
determining an initial objective function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the equal-area distributed spiral array and a preset objective function;
performing k-times position change on at least one microphone array unit on a spiral arm in the equal-area distributed spiral array where the microphone array unit is located; the changed position of the microphone array unit is positioned between the innermost ring and the outermost ring of the spiral array with equal area distribution;
based on the change of the k times of positions, performing k times of iterations on the initial objective function solution and the initial coordinates, and determining an objective function solution corresponding to the k times of iterations and coordinates of each microphone array unit; when the k is not smaller than a preset threshold value, stopping iteration of the initial objective function solution and the initial coordinate;
determining target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration; k is an integer greater than 0.
2. The method of claim 1, wherein for an ith iteration of the k iterations, i is an integer greater than 0 and less than or equal to k, determining a solution to an objective function corresponding to the ith iteration comprises:
acquiring an ith coordinate of each microphone array unit after the ith position change;
obtaining a candidate objective function solution corresponding to the ith iteration according to the ith coordinate and the objective function;
obtaining a target function solution corresponding to the ith iteration and coordinates of each microphone array unit according to the candidate target function solution corresponding to the ith iteration and a target function solution corresponding to the (i-1) th iteration; and when i is equal to 1, solving the objective function corresponding to the i-1 th iteration into the initial objective function.
3. A method as claimed in claim 1, wherein prior to determining the target coordinates of the respective microphone array elements from the coordinates of the respective microphone array elements corresponding to the kth iteration, the method further comprises:
updating the annealing temperature according to the initial annealing temperature and a preset cooling rate;
taking an objective function solution corresponding to the kth iteration as an initial objective function solution, taking coordinates of each microphone array unit corresponding to the kth iteration as initial coordinates, changing the position of at least one microphone array unit for k times on a spiral arm in the spiral array with equal area distribution where the microphone array units are located again, and carrying out iteration for k times on the initial objective function solution and the initial coordinates based on the change of the position for k times;
judging whether the current annealing temperature reaches the termination temperature;
if not, updating the annealing temperature again according to the current annealing temperature and the preset cooling rate.
4. The method of any one of claims 1 to 3, wherein the objective function comprises a first function and a second function; before determining an initial objective function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the equal-area distributed spiral array and a preset objective function, the method further includes:
acquiring a detection target frequency band of the spiral array with equal area distribution;
when the detection target frequency band is larger than 1000Hz, determining the first function as the target function;
and when the detection target frequency range is less than 1000Hz, determining the second function as the target function.
5. The method according to claim 2, wherein obtaining the objective function solution corresponding to the ith iteration and the coordinates of each microphone array unit according to the candidate objective function solution corresponding to the ith iteration and the objective function solution corresponding to the (i-1) th iteration comprises:
and determining the coordinates and the objective function solution of each microphone array unit corresponding to the ith iteration based on the ith coordinate, the candidate objective function solution corresponding to the ith iteration, the objective function solution corresponding to the (i-1) th iteration and the coordinates of each microphone array unit according to the difference between the candidate objective function solution corresponding to the ith iteration and the objective function solution corresponding to the (i-1) th iteration and a preset rule.
6. A method according to claim 1, characterized in that the number of microphone array elements per repositioning differs.
7. A method according to claim 1, wherein after determining the target coordinates of the respective microphone array elements according to the coordinates of the respective microphone array elements corresponding to the k-th iteration, the method further comprises:
and determining the position of each microphone array unit according to the target coordinates of each microphone array unit.
8. An apparatus for determining coordinates of elements of a microphone array, comprising:
the acquisition module is used for determining an initial objective function solution corresponding to initial coordinates according to the initial coordinates of each microphone array unit in the equal-area distributed spiral array and a preset objective function;
a processing module, configured to perform k-time position changes on at least one of the microphone array units on a spiral arm in the equal-area distributed spiral array where the microphone array unit is located; the changed position of the microphone array unit is positioned between the innermost ring and the outermost ring of the spiral array with equal area distribution; based on the change of the k times of positions, performing k times of iterations on the initial objective function solution and the initial coordinates, and determining an objective function solution corresponding to the k times of iterations and coordinates of each microphone array unit; stopping iteration of the initial objective function solution when the k is not less than a preset threshold value;
the determining module is used for determining target coordinates of each microphone array unit according to the coordinates of each microphone array unit corresponding to the kth iteration; k is an integer greater than 0.
9. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the method of any one of claims 1 to 7 when executed.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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