CN115278464A - Echo cancellation method, device and communication equipment - Google Patents
Echo cancellation method, device and communication equipment 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
- H04R3/00—Circuits for transducers, loudspeakers or microphones
- H04R3/02—Circuits for transducers, loudspeakers or microphones for preventing acoustic reaction, i.e. acoustic oscillatory feedback
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- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
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- G10L21/0208—Noise filtering
- G10L2021/02082—Noise filtering the noise being echo, reverberation of the speech
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- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
- G10L21/0216—Noise filtering characterised by the method used for estimating noise
- G10L2021/02161—Number of inputs available containing the signal or the noise to be suppressed
- G10L2021/02165—Two microphones, one receiving mainly the noise signal and the other one mainly the speech signal
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Abstract
The invention relates to an echo cancellation method, an echo cancellation device and communication equipment, wherein a reference microphone arranged close to a loudspeaker is used for receiving a second signal, a vibration sensor close to the receiving microphone is used for receiving a third signal, a nonlinear signal is obtained according to a first signal, a far-end signal and the second signal, the nonlinear signal and the third signal are spliced to obtain a dual-channel reference signal which combines the nonlinear characteristic of the loudspeaker and an equipment vibration signal caused by the loudspeaker, a propagation path of the signal is obtained based on the dual-channel reference signal and the first signal, an echo interference signal received in the far-end signal transmission process is obtained by carrying out convolution on the dual-channel reference signal and an equivalent propagation path, the echo interference signal is eliminated from the first signal, the problem of incomplete echo cancellation caused by loudspeaker distortion and receiving distortion caused by microphone vibration is avoided, and the audio transmission quality is improved.
Description
Technical Field
The present invention relates to the field of echo cancellation, and in particular, to an echo cancellation method, apparatus, and communication device.
Background
In a communication system, a common speaker generates sound pressure waves and broadcasts the sound pressure waves, a microphone receives the sound pressure waves and converts the sound pressure waves into output signals, and the sound pressure waves are influenced by the surrounding environment in the transmission process, so that echoes are easily generated, and the communication quality is influenced.
The existing echo cancellation method generally models an acoustic propagation path of a room by using a linear adaptive filter, estimates an echo signal by using the model and a reference signal, and subtracts the estimated echo signal from a microphone received signal, thereby achieving an echo cancellation effect.
In practical applications, a reference microphone is usually placed beside a speaker to obtain the nonlinear characteristics of the speaker for compensation, but the sound waves emitted by the speaker also easily cause vibration of structural members on a communication loop, which affects the accuracy of the received signal.
Disclosure of Invention
The embodiment of the application provides an echo cancellation method, an echo cancellation device and communication equipment, and the method and the device can improve audio transmission quality. The technical scheme is as follows:
in a first aspect, an embodiment of the present application provides an echo cancellation method, including the following steps:
broadcasting a far-end signal by using a loudspeaker;
acquiring a first signal of a receiving microphone, a second signal of a reference microphone and a third signal of a vibration sensor; wherein the reference microphone is disposed proximate the speaker and the vibration sensor is disposed proximate the receive microphone;
constructing a nonlinear model of the loudspeaker and acquiring nonlinear parameters of the nonlinear model based on the far-end signal and the second signal;
multiplying the nonlinear parameter and the far-end signal to obtain a nonlinear signal;
splicing the nonlinear signal and the third signal to obtain a dual-channel reference signal;
acquiring a propagation path of a signal based on the two-channel reference signal and the first signal;
convolving the dual-channel reference signal and the equivalent propagation path to obtain an echo interference signal;
and eliminating the echo interference signal from the first signal to obtain an echo elimination signal.
Optionally, the step of acquiring an echo interference signal includes:
convolving the dual-channel reference signal and the equivalent propagation path to obtain an echo interference signal according to the following mode:
wherein, echoI(n) echo interference signal at time n, XI(n-k) denotes the (n-k) th two-channel reference signal,
denotes the kth equivalent propagation path, and K denotes the number of K.
Optionally, the step of constructing a non-linear model of the loudspeaker based on the far-end signal and the second signal comprises:
a non-linear model of the loudspeaker is constructed in the following way:
where h denotes the echo path coefficient between the loudspeaker and the reference microphone, aiRepresenting the model coefficient of the ith order, wherein N is the order of the linear filter;
the step of obtaining the non-linear parameters of the non-linear model comprises the following steps:
constructing an N-path linear filter to obtain an echo path coefficient h1,...,hN；
Substituting the echo path coefficient into a nonlinear model of the loudspeaker, and acquiring nonlinear parameters of the nonlinear model according to the following modes:
wherein i =1iRepresenting the non-linearity parameter of the ith order.
Optionally, the step of acquiring a nonlinear signal includes:
the nonlinear signal is acquired in the following way:
wherein XNRepresenting a non-linear signal, piRepresents the i-th order non-linear parameter, X represents the far-end signal, and N represents the order of the linear filter.
Optionally, the speaker is connected with a power amplifier;
before the step of broadcasting the far-end signal by using the loudspeaker, the method further comprises the following steps:
and receiving a far-end signal and outputting the far-end signal to the power amplifier.
Optionally, the step of splicing the nonlinear signal and the third signal to obtain a dual-channel reference signal includes:
and extracting characteristic vectors from the nonlinear signal and the third signal and carrying out vector splicing to obtain a double-channel reference signal.
Optionally, the step of acquiring a propagation path of the signal includes:
the propagation path estimation value at the time n is obtained according to the following mode:
wherein XI(n-k) represents the double pass at time nThe track reference signal is used to track the reference signal,
indicates the propagation path estimation value at time n,
denotes a propagation path estimation value at the time n-1, mu denotes a coefficient, 0<μ<2；e1(n) represents an echo cancellation signal estimation value at time n, and is obtained as follows:
where K denotes the number of K and y (n) denotes the first signal at time n.
Optionally, the step of removing the echo interference signal from the first signal to obtain an echo removed signal includes:
subtracting the echo interference signal from the first signal to obtain an echo cancellation signal.
In a second aspect, an embodiment of the present application provides an echo cancellation device, including:
a broadcasting module for broadcasting the far-end signal by using a loudspeaker;
the signal acquisition module is used for acquiring a first signal of a receiving microphone, a second signal of a reference microphone and a third signal of the vibration sensor; wherein the reference microphone is disposed proximate the speaker and the vibration sensor is disposed proximate the receive microphone;
a nonlinear parameter obtaining module, configured to construct a nonlinear model of the speaker and obtain nonlinear parameters of the nonlinear model based on the far-end signal and the second signal;
a nonlinear signal obtaining module, configured to multiply the nonlinear parameter with the far-end signal to obtain a nonlinear signal;
the dual-channel reference signal acquisition module is used for splicing the nonlinear signal and the third signal to obtain a dual-channel reference signal;
the equivalent propagation path acquisition module is used for acquiring a propagation path of a signal based on the dual-channel reference signal and the first signal;
the echo interference signal acquisition module is used for carrying out convolution on the dual-channel reference signal and the equivalent propagation path to acquire an echo interference signal;
and the echo cancellation module is used for canceling the echo interference signal from the first signal to obtain an echo cancellation signal.
In a third aspect, an embodiment of the present application provides a communication device, including: a loudspeaker, a reference microphone, a receiving microphone, a vibration sensor, a memory, a processor, and a computer program stored in the memory and executable by the processor, the reference microphone being located proximate to the loudspeaker, the vibration sensor being located proximate to the receiving microphone, the processor implementing the steps of the echo cancellation method as described in any one of the above when the computer program is executed.
In the embodiment of the application, the reference microphone arranged close to the loudspeaker is used for receiving the second signal, the vibration sensor close to the receiving microphone is used for receiving the third signal, the nonlinear signal used for reflecting the nonlinear characteristic of the loudspeaker is obtained according to the far-end signal and the second signal, the nonlinear signal and the third signal are spliced to obtain the dual-channel reference signal combining the nonlinear characteristic of the loudspeaker and the equipment vibration signal caused by the loudspeaker, the propagation path of the signal is obtained based on the dual-channel reference signal and the first signal, the dual-channel reference signal and the equivalent propagation path are convolved to obtain the echo interference signal, the echo interference signal can effectively reflect echo interference received in the transmission process of the far-end signal, the problem that echo cancellation is incomplete due to loudspeaker distortion and receiving distortion caused by vibration of the receiving microphone is solved by eliminating the echo interference signal from the first signal, the echo cancellation can be effectively carried out, and the audio transmission quality is improved.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a diagram illustrating an application scenario of an echo cancellation method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an echo cancellation method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an echo cancellation device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a communication device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be understood that the embodiments described are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims. In the description of the present application, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The embodiment of the present application can be applied to a communication device as shown in fig. 1, the communication device includes a speaker 1, a reference microphone 2, a receiving microphone 3, a vibration sensor 4 and a power amplifier 5, a far-end signal is amplified by the power amplifier 5 and then propagates to the receiving microphone 3 through the speaker 1, and the reference microphone 2 is disposed adjacent to the speaker 1 and is used for sensing the far-end signal broadcast from the speaker 1; the receiving microphone 3 is disposed at a distance farther from the speaker 1 than the reference microphone 2; the vibration sensor 4 is arranged next to the receiving microphone 3 for acquiring a third signal of the receiving microphone 3.
The loudspeaker 1 may be replaced by any instrument or device that can convert electrical signals into sound energy.
The vibration sensor 4 may be a piezoelectric sensor or other instrument or device that converts a vibration signal into an electrical signal.
In one embodiment, "immediately adjacent" refers to a distance of less than 5 mm. In other embodiments, "close proximity" may also be other distances that may satisfy the characteristics of the audio signal to be picked up by embodiments of the present application.
As shown in the figure, the far-end signal, the second signal received by the reference microphone and the third signal received by the vibration sensor are used as reference signals for adjusting the output of the first signal, and according to the far-end signal, the second signal and the third signal, echo interference in the first signal is eliminated and an echo elimination signal is output, so that the audio transmission quality is improved.
As shown in fig. 2, an embodiment of the present application provides an echo cancellation method, including the following steps:
step S1: broadcasting a far-end signal by using a loudspeaker;
the far-end signal is an audio signal to be sent to the far end by the loudspeaker, and the loudspeaker receives and broadcasts the far-end signal.
Step S2: acquiring a first signal of a receiving microphone, a second signal of a reference microphone and a third signal of a vibration sensor;
the first signal is an audio signal received by a receiving microphone and including a broadcast signal of a loudspeaker and background noise, the second signal is an audio signal received by a reference microphone,
the receiving microphone receives the sound wave signal of the loudspeaker to generate vibration, and the vibration sensor is used for detecting the vibration signal of the receiving microphone.
And step S3: constructing a nonlinear model of the loudspeaker and acquiring nonlinear parameters of the nonlinear model based on the far-end signal and the second signal;
the nonlinear characteristic of the loudspeaker means that under the action of a large signal, the loudspeaker generates nonlinear vibration, and a reproduced signal of the loudspeaker generates harmonic distortion and modulation distortion to influence the audio quality.
The non-linearity parameter may be used to determine a non-linear vibration condition of the loudspeaker. In one embodiment, the non-linearity parameters of the loudspeaker may be obtained by constructing a non-linear model based on the far-end signal and the second signal. In particular, the step of constructing a non-linear model of the loudspeaker based on the far-end signal and the second signal comprises:
a non-linear model of the loudspeaker is constructed in the following way:
where h denotes the echo path coefficient between the loudspeaker and the reference microphone, aiModel coefficients representing the ith order, N being the order of the linear filter；
The step of obtaining the non-linear parameters of the non-linear model comprises the following steps:
constructing an N-path linear filter to obtain an echo path coefficient h1,...,hN；
Substituting the echo path coefficient into a nonlinear model of the loudspeaker, and acquiring nonlinear parameters of the nonlinear model according to the following modes:
wherein i =1iRepresenting the non-linearity parameter of the ith order.
And step S4: multiplying the nonlinear parameter by the far-end signal to obtain a nonlinear signal;
the nonlinear signal is an echo signal generated due to the nonlinear characteristic of the loudspeaker in the signal transmission process, and can be obtained by utilizing the nonlinear parameter of the loudspeaker.
By eliminating the nonlinear signal from the first signal, the transmission quality of the output signal can be effectively improved. In one embodiment, the step of acquiring a nonlinear signal comprises:
the nonlinear signal is acquired in the following way:
wherein XNRepresenting a non-linear signal, piRepresents the i-th order non-linear parameter, X represents the far-end signal, and N represents the order of the linear filter.
Step S5: splicing the nonlinear signal and the third signal to obtain a dual-channel reference signal;
the dual channel reference signal refers to a reference signal formed by the combination of an echo signal describing the nonlinear characteristics of a speaker and an echo signal of the receive microphone vibration caused by the speaker.
In one embodiment, the splicing the nonlinear signal and the third signal may be a signal superposition of the nonlinear signal and the third signal. In another embodiment, the step of constructing a two-channel reference signal from the nonlinear signal and the third signal comprises: and extracting characteristic vectors from the nonlinear signal and the third signal and carrying out vector splicing to obtain a double-channel reference signal.
Step S6: acquiring a propagation path of a signal based on the two-channel reference signal and the first signal;
the propagation path of the signal may be derived by using a linear adaptive filter based on the first signal and the two-channel signal. In one embodiment, the step of acquiring a propagation path of the signal comprises:
acquiring a propagation path estimated value at n time according to the following mode:
wherein, XI(n-k) represents the two-channel reference signal at time n,
indicates the propagation path estimation value at time n,
denotes a propagation path estimation value at the time n-1, mu denotes a coefficient, 0<μ<2；e1(n) represents an echo cancellation signal estimation value at time n, and is obtained as follows:
where K denotes the number of K and y (n) denotes the first signal at time n.
Step S7: convolving the dual-channel reference signal and the equivalent propagation path to obtain an echo interference signal;
by convolving the dual-channel reference signal and the propagation path of the propagation process, the echo interference signal in the first signal can be obtained. Specifically, an echo interference signal is acquired as follows:
wherein, echoI(n) echo interference signal at time n, XI(n-k) denotes the (n-k) th two-channel reference signal,
denotes the kth equivalent propagation path, and K denotes the number of K.
Step S8: eliminating the echo interference signal from the first signal to obtain an echo eliminated signal
In one embodiment, the echo interference signal in the first signal may be cancelled by inverting the echo interference signal and superimposing the inverted echo interference signal with the first signal. In another embodiment, the echo cancellation signal may be obtained by subtracting the echo interference signal from the first signal.
The echo cancellation signal can be transmitted to a computer, a tablet computer, a mobile phone, an interactive intelligent tablet or other instruments or equipment capable of converting an electric signal into sound energy to carry out audio playing or voice communication, and the communication quality is improved.
In the embodiment of the application, the reference microphone arranged close to the loudspeaker is used for receiving the second signal, the vibration sensor close to the receiving microphone is used for receiving the third signal, the nonlinear signal used for reflecting the nonlinear characteristic of the loudspeaker is obtained according to the far-end signal and the second signal, the nonlinear signal and the third signal are spliced to obtain the dual-channel reference signal combining the nonlinear characteristic of the loudspeaker and the equipment vibration signal caused by the loudspeaker, the dual-channel reference signal and the equivalent propagation path are convoluted on the basis of the propagation path of the dual-channel reference signal and the propagation path of the first signal obtained signal to obtain the echo interference signal, the echo interference signal can effectively reflect echo interference received in the far-end signal transmission process, the problem of incomplete echo cancellation caused by loudspeaker distortion and receiving distortion caused by receiving microphone vibration is avoided by canceling the echo interference signal from the first signal, the echo cancellation can be effectively carried out, and the audio transmission quality can be improved.
In one embodiment, before the step of broadcasting the far-end signal using the speaker, the method further comprises: and receiving the far-end signal and outputting the far-end signal to the power amplifier.
The power amplifier is used for amplifying the far-end signal and outputting the amplified far-end signal to the loudspeaker so as to improve the power amplification effect of the loudspeaker.
As shown in fig. 3, an embodiment of the present application further provides an echo cancellation device, including:
a broadcasting module 1 for broadcasting a far-end signal by using a speaker;
the signal acquisition module 2 is used for acquiring a first signal of a receiving microphone, a second signal of a reference microphone and a third signal of a vibration sensor; wherein the reference microphone is disposed proximate the speaker and the vibration sensor is disposed proximate the receive microphone;
a nonlinear parameter obtaining module 3, configured to construct a nonlinear model of the speaker based on the far-end signal and the second signal, and obtain a nonlinear parameter of the nonlinear model;
a nonlinear signal obtaining module 4, configured to multiply the nonlinear parameter and the far-end signal to obtain a nonlinear signal;
the dual-channel reference signal acquisition module 5 is configured to splice the nonlinear signal and the third signal to obtain a dual-channel reference signal;
an equivalent propagation path obtaining module 6, configured to obtain a propagation path of a signal based on the two-channel reference signal and the first signal;
an echo interference signal obtaining module 7, configured to convolve the dual-channel reference signal and the equivalent propagation path, and obtain an echo interference signal;
and the echo cancellation module 8 is configured to cancel the echo interference signal from the first signal to obtain an echo cancellation signal.
It should be noted that, when the echo cancellation device provided in the foregoing embodiment executes the echo cancellation method, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed and completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the echo cancellation device and the echo cancellation method provided in the above embodiments belong to the same concept, and details of implementation processes thereof are referred to in the method embodiments and are not described herein again.
As shown in fig. 4, an embodiment of the present application further provides a communication device, including: a loudspeaker 100, a reference microphone 200, a receiving microphone 300, a vibration sensor 400, a memory 500, a processor 600 and a computer program stored in the memory 500 and executable by the processor 600, the reference microphone 200 being located in close proximity to the loudspeaker 100 and the vibration sensor 400 being located in close proximity to the receiving microphone 300, the processor 600 implementing the steps of the echo cancellation method as described in any of the above when executing the computer program.
The communication device may be a computer, a tablet computer, a mobile phone, an interactive smart tablet, a notebook computer, or a server, and the echo cancellation method is integrated as one of the functions in the communication device.
The speaker 100 may be replaced by any instrument or device that converts electrical signals into sound energy.
The vibration sensor 400 may be a piezoelectric sensor or other instrument or device that converts a vibration signal into an electrical signal.
In one embodiment, the communication device further includes a power amplifier, where the power amplifier is configured to amplify the far-end signal and output the amplified far-end signal to the speaker, so as to improve a power amplification effect of the speaker.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (10)
1. An echo cancellation method, comprising the steps of:
broadcasting a far-end signal by using a loudspeaker;
acquiring a first signal of a receiving microphone, a second signal of a reference microphone and a third signal of a vibration sensor; wherein the reference microphone is disposed proximate the speaker and the vibration sensor is disposed proximate the receive microphone;
constructing a nonlinear model of the loudspeaker and acquiring nonlinear parameters of the nonlinear model based on the far-end signal and the second signal;
multiplying the nonlinear parameter and the far-end signal to obtain a nonlinear signal;
splicing the nonlinear signal and the third signal to obtain a dual-channel reference signal;
acquiring a propagation path of a signal based on the two-channel reference signal and the first signal;
convolving the dual-channel reference signal and the equivalent propagation path to obtain an echo interference signal;
and eliminating the echo interference signal from the first signal to obtain an echo elimination signal.
2. The echo cancellation method according to claim 1, wherein said step of obtaining an echo interference signal comprises:
convolving the dual-channel reference signal and the equivalent propagation path to obtain an echo interference signal according to the following mode:
wherein, echoI(n) echo interference signal at time n, XI(n-k) represents the n-k th two-channel reference signal,
denotes the kth equivalent propagation path, and K denotes the number of K.
3. The echo cancellation method of claim 1, wherein the step of constructing a non-linear model of the loudspeaker based on the far-end signal and the second signal comprises:
a nonlinear model of the loudspeaker is constructed in the following manner:
where h denotes the echo path coefficient between the loudspeaker and the reference microphone, aiThe model coefficient of the ith order is represented, N is the order of the linear filter, and K represents the number of K;
the step of obtaining the non-linear parameters of the non-linear model comprises the following steps:
constructing an N-path linear filter to obtain an echo path coefficient h1,...,hN；
Substituting the echo path coefficient into a nonlinear model of the loudspeaker, and acquiring nonlinear parameters of the nonlinear model according to the following modes:
wherein i =1iRepresenting the non-linearity parameter of the ith order.
4. The echo cancellation method of claim 1, wherein the step of obtaining a nonlinear signal comprises:
the nonlinear signal is acquired in the following way:
wherein XNRepresenting a non-linear signal, piRepresents the i-th order non-linear parameter, X represents the far-end signal, and N represents the order of the linear filter.
5. The echo cancellation method of claim 1, wherein the speaker is connected to a power amplifier;
before the step of broadcasting the far-end signal by using the loudspeaker, the method further comprises the following steps:
and receiving a far-end signal and outputting the far-end signal to the power amplifier.
6. The method of claim 1, wherein the step of splicing the nonlinear signal and the third signal to obtain a dual-channel reference signal comprises:
and extracting characteristic vectors from the nonlinear signal and the third signal and carrying out vector splicing to obtain a double-channel reference signal.
7. The echo cancellation method according to claim 1, wherein said step of obtaining a propagation path of a signal comprises:
acquiring a propagation path estimated value at n time according to the following mode:
wherein, XI(n-k) represents the two-channel reference signal at time n,
indicates the propagation path estimation value at time n,
denotes a propagation path estimation value at the time n-1, mu denotes a coefficient, 0<μ<2；e1(n) an echo cancellation signal estimation value at time n is obtained as follows:
where K is the number of vectors K and y (n) represents the first signal at time n.
8. The echo cancellation method of claim 1, wherein the step of canceling the echo interference signal from the first signal to obtain an echo cancellation signal comprises:
subtracting the echo interference signal from the first signal to obtain an echo cancellation signal.
9. An echo cancellation device, comprising:
a broadcasting module for broadcasting the far-end signal by using a loudspeaker;
the signal acquisition module is used for acquiring a first signal of a receiving microphone, a second signal of a reference microphone and a third signal of the vibration sensor; wherein the reference microphone is disposed proximate the speaker and the vibration sensor is disposed proximate the receive microphone;
a nonlinear parameter obtaining module, configured to construct a nonlinear model of the speaker based on the far-end signal and the second signal and obtain a nonlinear parameter of the nonlinear model;
a nonlinear signal obtaining module, configured to multiply the nonlinear parameter with the far-end signal to obtain a nonlinear signal;
the dual-channel reference signal acquisition module is used for splicing the nonlinear signal and the third signal to obtain a dual-channel reference signal;
the equivalent propagation path acquisition module is used for acquiring a propagation path of a signal based on the two-channel reference signal and the first signal;
the echo interference signal acquisition module is used for carrying out convolution on the dual-channel reference signal and the equivalent propagation path to acquire an echo interference signal;
and the echo cancellation module is used for canceling the echo interference signal from the first signal to obtain an echo cancellation signal.
10. A communication device, comprising: a loudspeaker, a reference microphone, a receiving microphone, a vibration sensor, a memory, a processor, and a computer program stored in the memory and executable by the processor, the reference microphone being located in close proximity to the loudspeaker, the vibration sensor being located in close proximity to the receiving microphone, the processor implementing the steps of the echo cancellation method according to any one of claims 1-8 when executing the computer program.
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