CN118091541A - Automobile noise source positioning method and system - Google Patents
Automobile noise source positioning method and system Download PDFInfo
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Abstract
The application discloses a method and a system for positioning an automobile noise source. The method comprises the following steps: collecting sound signals and optical images in an automobile; preprocessing the collected sound signals; generating a sound field distribution diagram of an automobile noise source; forming an acoustic image for the sound field profile and initially locating the noise source location; superposing the acoustic image and the optical image to obtain a noise source positioning visual image; and synthesizing an in-vehicle noise spectrum by using a transmission path method according to the noise source positioning visual map, comparing the in-vehicle noise spectrum with a noise spectrum near the ear of a driver collected under a normal working condition, determining to accurately position the noise source if the error does not exceed a preset threshold, and otherwise, returning to repositioning. The technical scheme provided by the application reduces the number of the sensors arranged on the automobile, thereby reducing the workload of analysis of the transmission path and being capable of positioning the noise source on the automobile in fewer paths.
Description
Technical Field
The invention relates to the technical field of automobile sound source positioning, in particular to an automobile noise source positioning method and system.
Background
Noise problems in automobiles are important factors affecting the riding experience of users and are also an important part of the quality of automobile manufacture. The main systems of the automobile, such as an engine, a steering system and a suspension system, can generate severe vibration due to factors such as uneven pavement, speed change and the like in the running process of the automobile, so that noise is generated. In addition, there are other noises such as wind noise during high-speed running, noises generated when tires rub against the ground, and noises generated from other parts of the automobile. If the noise exists for a long time, a driver can feel tired easily, the working efficiency is influenced, the performance of the automobile is also influenced, the failure frequency of the automobile is improved, the cost of automobile maintenance is increased, and the economical efficiency of the automobile is reduced.
The key to reducing car noise is to accurately detect noise sources. Currently, common methods for noise source identification include spectrum analysis, sound intensity measurement, near-field acoustic holography, and transmission path methods. The spectrum analysis method is to convert a time domain signal into a frequency domain signal by using Fourier transformation for processing, and the method can only provide a transformation relation between signal energy and time or frequency and cannot consider the whole and local characteristics of two domains at the same time. Sound intensity measurements are typically performed in laboratory or engineering settings and can be used to measure sound intensity, noise level, sound propagation distance, etc. In the test, a sound intensity meter or a sound level meter is placed near a sound source to be measured, and the energy of the sound is measured. This approach works well for single sound sources, but does not recognize for complex composite sound sources. The near-field acoustic holographic technology can reconstruct and analyze the sound field by utilizing radiation field information far away from the sound source, but requires a large number of sensors to be arranged, requires near-field arrangement, and has complex measurement work. The transmission path method is based on the vibration transmission principle, analyzes the contributions of different vibration paths to the vibration of the target position by measuring the vibration response data of each position, thereby determining the position of the noise source, and can identify a plurality of noise sources in a complex mechanical system, but takes a lot of time when measuring the frequency response function.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method and a system for positioning a noise source of an automobile.
In order to achieve the purpose of the invention, the technical scheme provided by the invention is as follows:
the first aspect of the invention provides an automobile noise source positioning method, which comprises the following steps:
Step S1: collecting sound signals and optical images in an automobile;
step S2: preprocessing the collected sound signals, and denoising and amplifying the sound signals;
Step S3: analyzing and processing the preprocessed sound signals by adopting an acoustic algorithm to obtain sound field distribution intensity and spatial distribution characteristics of the sound signals, and generating a sound field distribution map of an automobile noise source;
Step S4: aiming at a sound field distribution diagram, representing the intensity of sound in the sound field by utilizing different colors and brightness, forming an acoustic image, and primarily positioning the position of a noise source;
Step S5: the acoustic image and the optical image are overlapped, the sound field intensity and the spatial distribution of an automobile noise source are intuitively presented, and a noise source positioning visual image is obtained;
Step S6: and synthesizing an in-vehicle noise spectrum by using a transmission path method according to the noise source positioning visual map, comparing the in-vehicle noise spectrum with a noise spectrum near the ear of a driver collected under a normal working condition, determining to accurately position the noise source if the error does not exceed a preset threshold, otherwise, returning to the step S1, and repositioning.
The second aspect of the invention provides an automobile noise source positioning system, which comprises a sound signal and optical image acquisition unit, a preprocessing unit, a sound field distribution diagram generation unit, a noise source position preliminary positioning unit, a noise source positioning visual diagram acquisition unit and a comparison and confirmation unit;
the sound signal and optical image acquisition unit is used for acquiring sound signals and optical images in the automobile;
The preprocessing unit is used for preprocessing the collected sound signals and carrying out denoising and amplifying treatment;
The sound field distribution diagram generating unit is used for analyzing and processing the preprocessed sound signals by adopting an acoustic algorithm to obtain sound field distribution intensity and spatial distribution characteristics of the sound signals and generate a sound field distribution diagram of an automobile noise source;
the noise source position preliminary positioning unit is used for representing the intensity of sound in a sound field by utilizing different colors and brightness aiming at a sound field distribution diagram to form an acoustic image and preliminarily positioning the noise source position;
The noise source positioning visual image acquisition unit is used for superposing the acoustic image and the optical image, visually presenting the sound field intensity and the spatial distribution of the automobile noise source, and obtaining a noise source positioning visual image;
The comparison and confirmation unit is used for synthesizing an in-vehicle noise spectrum by using a transmission path method according to the noise source positioning visual map, comparing the in-vehicle noise spectrum with a noise spectrum beside the ear of a driver collected under a normal working condition, determining that the noise source is accurately positioned if the error does not exceed a preset threshold, and otherwise, returning to execute the sound signal and the optical image collection unit again for repositioning.
Compared with the prior art, the invention has the following beneficial effects:
(1) Compared with the traditional transmission path analysis method, the technical scheme provided by the application reduces the number of the sensors arranged on the automobile, thereby reducing the workload of transmission path analysis and being capable of positioning noise sources on the automobile in fewer paths.
(2) The technical scheme provided by the application adopts a method of combining an MVDR algorithm and a transmission path, so that the problem of noise source omission in the single path positioning process can be effectively solved, and the noise source positioning accuracy is greatly improved.
Drawings
FIG. 1 is a schematic flow chart of the method provided by the application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, the embodiment provides a method for positioning an automobile noise source, which includes the following steps:
Step S1: collecting sound signals and optical images in an automobile;
In a preferred embodiment, for convenience of collection, a handheld microphone array may be used to measure where noise sources may be located in the vehicle, and a camera is mounted in the center of the microphone array to record the image in the vehicle and form an optical image.
It should be noted that the collection of the audio signal and the optical image may be performed by a device that is fixedly installed.
Step S2: preprocessing the collected sound signals, and denoising and amplifying the sound signals;
It should be noted that this step is mainly used to enhance the feature information.
In a preferred embodiment, the step S2 specifically includes:
Step S2.1: fourier transforming the collected sound signal to obtain corresponding amplitude And phase α (k);
Step S2.2: a section of low-frequency signal is obtained from the sound signal before transformation, the corresponding frequency width is NIS, and the average spectrum value of the low-frequency signal section is obtained ；
Step S2.3: to be calculatedAnd/>The value of the spectrum subtraction output is obtained by bringing the value into a spectrum subtraction formula and is the square/>, of the signal amplitude after the spectrum subtractionWherein, the formula of the spectral subtraction is:
；
wherein: a, b are constants, a is called an over-subtraction factor, and b is called a gain compensation factor;
Step S2.4: based on the obtained And alpha (k), and the preprocessed sound signal Y (n) can be obtained by inverse fast fourier transform.
Step S3: analyzing and processing the preprocessed sound signals by adopting an acoustic algorithm to obtain sound field distribution intensity and spatial distribution characteristics of the sound signals, and generating a sound field distribution map of an automobile noise source;
in a preferred embodiment, the step S3 specifically includes:
step S3.1: determining a scan surface in a sound field according to the size of a space in an automobile The range is calculated by the following formula:
；
Wherein: for scanning the coordinates of the scanning points in the plane,/> For a range of directions on the x-coordinate,Is the range of directions on the y-coordinate;
Step S3.2: calculating covariance matrix using preprocessed sound signal Y (n) The calculation formula is as follows:
；
Wherein: m is the number of microphone arrays, Representing the transpose conjugate of Y (n), h representing the h microphone array;
Step S3.3: fourier transforming the preprocessed sound signal Y (n) to obtain frequency f of the sound signal, and calculating a direction matrix of the sound signal received by the microphone array The formula is as follows:
；
Wherein: Is the time delay of the received signal between the ith microphone sensor and the (i+1) th microphone sensor, j is the imaginary unit,/> Is the time delay of the received signal between the M-1 th and M-th microphone sensors;
step S3.4: calculating MVDR azimuth spectrum to obtain current scanning point Corresponding sound source power/>The calculation formula is as follows:
；
In the method, in the process of the invention, Representation/>Transposed conjugate of matrix,/>Representing covariance matrix/>Is the transpose conjugate of the inverse matrix of (a);
And calculating the sound source power of each scanning part point in the scanning surface, and traversing the whole scanning surface to obtain a sound field distribution diagram of the automobile noise source.
Step S4: aiming at a sound field distribution diagram, representing the intensity of sound in the sound field by utilizing different colors and brightness, forming an acoustic image, and primarily positioning the position of a noise source;
it should be noted that, the manner of initially locating the noise source position is as follows: in the sound field distribution diagram, the corresponding coordinate of the maximum power of the sound source is obtained through scanning and searching and is used as the noise source position of preliminary positioning.
Step S5: the acoustic image and the optical image are overlapped, the sound field intensity and the spatial distribution of an automobile noise source are intuitively presented, and a noise source positioning visual image is obtained;
Step S6: and synthesizing an in-vehicle noise spectrum by using a transmission path method according to the noise source positioning visual map, comparing the in-vehicle noise spectrum with a noise spectrum near the ear of a driver collected under a normal working condition, determining to accurately position the noise source if the error does not exceed a preset threshold, otherwise, returning to the step S1, and repositioning.
In a preferred embodiment, the step S6 specifically includes:
Step S6.1: taking the position of the noise source which is initially positioned as a reference point, and taking the position of the right ear of the driver as a target point; exciting an excitation point arranged near the reference point through a force hammer, acquiring acceleration response of the reference point, and calculating a transfer function from the excitation point to the reference point; finally, inverting the transfer function by an inverse matrix method, and solving the exciting force of each reference point by combining the obtained acceleration response ; The calculation formula of the inverse matrix method is as follows:
；
Wherein: for acceleration response/> With force hammer excitation input/>A n is acceleration response, n is the number of excitation points, i represents the i-th row excitation point in the matrix, and u represents the u-th column excitation point in the matrix;
the measuring point is selected, the sensor is arranged at the corresponding position, the initially set noise source position is set as the reference point, the target point in the vehicle is selected, and the right ear of the driver is selected as the target point. And arranging an excitation point near the position of the noise source, and beating the excitation point by a forceful hammer to excite the excitation point to acquire the acceleration response of the reference point.
Step S6.2: calculating near-field sound pressure; the calculation method of the near-field sound pressure is consistent with the calculation of the exciting force.
Step S6.3: calculating structural transfer function by reciprocal methodAnd air noise transfer function/>; For the structural transfer function/>Data of an acceleration sensor of a reference point are obtained through a volume sound source placed on the right ear of a driver, and a structure transfer function/>, is calculated; For air noise transfer function/>By arranging a loudspeaker at the right ear of the driver and arranging microphones at reference points, obtaining data of the microphones, and calculating air noise transfer functions of the paths;
step S6.4: the calculated structure transfer function, air noise transfer function, exciting force and incoming sound pressure are synthesized according to the following formula, so that a synthesized noise spectrum in the vehicle can be obtained ：
；
Wherein: for the structural transfer function of the si-th path,/> Air transfer function for the si-th path,/>For the excitation force of the si-th path,/>The near-field sound pressure of the sound source of the aj path is represented by m, the number of the structural transmission paths is represented by n, and the number of the air transmission paths is represented by n;
Step S6.5: to be combined in-car noise spectrum Comparing with the noise spectrum collected by the driver beside the ear under the normal working condition, if the error does not exceed the preset threshold, determining to accurately locate the noise source position, otherwise, re-executing the sound signal and the optical image collection unit, and re-locating.
The comparison method can determine that the noise source is accurately located if the main peak value and the frequency thereof are in one-to-one correspondence, and re-collect and analyze if the peak value frequency is absent.
Example 2
The embodiment provides an automobile noise source positioning system, which comprises a sound signal and optical image acquisition unit, a preprocessing unit, a sound field distribution diagram generation unit, a noise source position preliminary positioning unit, a noise source positioning visual image acquisition unit and a comparison and confirmation unit;
the sound signal and optical image acquisition unit is used for acquiring sound signals and optical images in the automobile;
The preprocessing unit is used for preprocessing the collected sound signals and carrying out denoising and amplifying treatment;
In a preferred embodiment, the preprocessing unit specifically performs the following steps:
Step S2.1: fourier transforming the collected sound signal to obtain corresponding amplitude And phase α (k);
Step S2.2: a section of low-frequency signal is obtained from the sound signal before transformation, the corresponding frequency width is NIS, and the average spectrum value of the low-frequency signal section is obtained ；
Step S2.3: to be calculatedAnd/>The value of the spectrum subtraction output is obtained by bringing the value into a spectrum subtraction formula and is the square/>, of the signal amplitude after the spectrum subtractionWherein, the formula of the spectral subtraction is:
；
wherein: a, b are constants, a is called an over-subtraction factor, and b is called a gain compensation factor;
Step S2.4: based on the obtained And alpha (k), and the preprocessed sound signal Y (n) can be obtained by inverse fast fourier transform.
The sound field distribution diagram generating unit is used for analyzing and processing the preprocessed sound signals by adopting an acoustic algorithm to obtain sound field distribution intensity and spatial distribution characteristics of the sound signals and generate a sound field distribution diagram of an automobile noise source;
in a preferred embodiment, the sound field profile generation unit is specifically configured to perform the following steps:
step S3.1: determining a scan surface in a sound field according to the size of a space in an automobile The range is calculated by the following formula:
；
Wherein: for scanning the coordinates of the scanning points in the plane,/> For a range of directions on the x-coordinate,Is the range of directions on the y-coordinate;
Step S3.2: calculating covariance matrix using preprocessed sound signal Y (n) The calculation formula is as follows:
；
Wherein: m is the number of microphone arrays, Representing the transpose conjugate of Y (n), h representing the h microphone array;
Step S3.3: fourier transforming the preprocessed sound signal Y (n) to obtain frequency f of the sound signal, and calculating a direction matrix of the sound signal received by the microphone array The formula is as follows:
；
Wherein: Is the time delay of the received signal between the ith microphone sensor and the (i+1) th microphone sensor, j is the imaginary unit,/> Is the time delay of the received signal between the M-1 th and M-th microphone sensors;
step S3.4: calculating MVDR azimuth spectrum to obtain current scanning point Corresponding sound source power/>The calculation formula is as follows:
；
In the method, in the process of the invention, Representation/>Transposed conjugate of matrix,/>Representing covariance matrix/>Is the transpose conjugate of the inverse matrix of (a);
And calculating the sound source power of each scanning part point in the scanning surface, and traversing the whole scanning surface to obtain a sound field distribution diagram of the automobile noise source.
The noise source position preliminary positioning unit is used for representing the intensity of sound in a sound field by utilizing different colors and brightness aiming at a sound field distribution diagram, forming an acoustic image and preliminarily positioning the noise source position.
It should be noted that, the manner of performing preliminary positioning of the noise source position by using the noise source position preliminary positioning unit is as follows: in the sound field distribution diagram, the corresponding coordinate of the maximum power of the sound source is obtained through scanning and searching and is used as the noise source position of preliminary positioning.
The noise source positioning visual image acquisition unit is used for superposing the acoustic image and the optical image, visually presenting the sound field intensity and the spatial distribution of the automobile noise source, and obtaining a noise source positioning visual image;
The comparison and confirmation unit is used for synthesizing an in-vehicle noise spectrum by using a transmission path method according to the noise source positioning visual map, comparing the in-vehicle noise spectrum with a noise spectrum beside the ear of a driver collected under a normal working condition, determining that the noise source is accurately positioned if the error does not exceed a preset threshold, and otherwise, returning to execute the sound signal and the optical image collection unit again for repositioning.
In a preferred embodiment, the comparison and confirmation unit is specifically configured to perform the following steps:
Step S6.1: taking the position of the noise source which is initially positioned as a reference point, and taking the position of the right ear of the driver as a target point; exciting an excitation point arranged near the reference point through a force hammer, acquiring acceleration response of the reference point, and calculating a transfer function from the excitation point to the reference point; finally, inverting the transfer function by an inverse matrix method, and solving the exciting force of each reference point by combining the obtained acceleration response ; The calculation formula of the inverse matrix method is as follows:
；
Wherein: for acceleration response/> With force hammer excitation input/>A n is acceleration response, n is the number of excitation points, i represents the i-th row excitation point in the matrix, and u represents the u-th column excitation point in the matrix;
the measuring point is selected, the sensor is arranged at the corresponding position, the initially set noise source position is set as the reference point, the target point in the vehicle is selected, and the right ear of the driver is selected as the target point. And arranging an excitation point near the position of the noise source, and beating the excitation point by a forceful hammer to excite the excitation point to acquire the acceleration response of the reference point.
Step S6.2: calculating near-field sound pressure; the calculation method of the near-field sound pressure is consistent with the calculation of the exciting force.
Step S6.3: calculating structural transfer function by reciprocal methodAnd air noise transfer function/>; For the structural transfer function/>Data of an acceleration sensor of a reference point are obtained through a volume sound source placed on the right ear of a driver, and a structure transfer function/>, is calculated; For air noise transfer function/>By arranging a loudspeaker at the right ear of the driver and arranging microphones at reference points, obtaining data of the microphones, and calculating air noise transfer functions of the paths;
step S6.4: the calculated structure transfer function, air noise transfer function, exciting force and incoming sound pressure are synthesized according to the following formula, so that a synthesized noise spectrum in the vehicle can be obtained ：
；
Wherein: for the structural transfer function of the si-th path,/> Air transfer function for the si-th path,/>For the excitation force of the si-th path,/>The near-field sound pressure of the sound source of the aj path is represented by m, the number of the structural transmission paths is represented by n, and the number of the air transmission paths is represented by n;
Step S6.5: to be combined in-car noise spectrum Comparing with the noise spectrum collected by the driver beside the ear under the normal working condition, if the error does not exceed the preset threshold, determining to accurately locate the noise source position, otherwise, re-executing the sound signal and the optical image collection unit, and re-locating.
Finally, it should be noted that: the above-described embodiments are provided for illustration and description of the present invention only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which fall within the scope of the claimed invention.
Claims (10)
1. The automobile noise source positioning method is characterized by comprising the following steps of:
Step S1: collecting sound signals and optical images in an automobile;
step S2: preprocessing the collected sound signals, and denoising and amplifying the sound signals;
Step S3: analyzing and processing the preprocessed sound signals by adopting an acoustic algorithm to obtain sound field distribution intensity and spatial distribution characteristics of the sound signals, and generating a sound field distribution map of an automobile noise source;
Step S4: aiming at a sound field distribution diagram, representing the intensity of sound in the sound field by utilizing different colors and brightness, forming an acoustic image, and primarily positioning the position of a noise source;
Step S5: the acoustic image and the optical image are overlapped, the sound field intensity and the spatial distribution of an automobile noise source are intuitively presented, and a noise source positioning visual image is obtained;
Step S6: and synthesizing an in-vehicle noise spectrum by using a transmission path method according to the noise source positioning visual map, comparing the in-vehicle noise spectrum with a noise spectrum near the ear of a driver collected under a normal working condition, determining to accurately position the noise source if the error does not exceed a preset threshold, otherwise, returning to the step S1, and repositioning.
2. The method for positioning a noise source of an automobile according to claim 1, wherein the step S2 specifically comprises:
Step S2.1: fourier transforming the collected sound signal to obtain corresponding amplitude And phase α (k);
Step S2.2: a section of low-frequency signal is obtained from the sound signal before transformation, the corresponding frequency width is NIS, and the average spectrum value of the low-frequency signal section is obtained ；
Step S2.3: to be calculatedAnd/>The value of the spectrum subtraction output is obtained by bringing the value into a spectrum subtraction formula and is the square/>, of the signal amplitude after the spectrum subtractionWherein, the formula of the spectral subtraction is:
；
wherein: a, b are constants, a is called an over-subtraction factor, and b is called a gain compensation factor;
Step S2.4: based on the obtained And alpha (k), and the preprocessed sound signal Y (n) can be obtained by inverse fast fourier transform.
3. The method for positioning a noise source of an automobile according to claim 2, wherein the step S3 specifically includes:
step S3.1: determining a scan surface in a sound field according to the size of a space in an automobile The range is calculated by the following formula:
；
Wherein: for scanning the coordinates of the scanning points in the plane,/> For a range of directions on the x-coordinate,Is the range of directions on the y-coordinate;
Step S3.2: calculating covariance matrix using preprocessed sound signal Y (n) The calculation formula is as follows:
；
Wherein: m is the number of microphone arrays, Representing the transpose conjugate of Y (n), h representing the h microphone array;
Step S3.3: fourier transforming the preprocessed sound signal Y (n) to obtain frequency f of the sound signal, and calculating a direction matrix of the sound signal received by the microphone array The formula is as follows:
；
Wherein: Is the time delay of the received signal between the ith microphone sensor and the (i+1) th microphone sensor, j is the imaginary unit,/> Is the time delay of the received signal between the M-1 th and M-th microphone sensors;
step S3.4: calculating MVDR azimuth spectrum to obtain current scanning point Corresponding sound source power/>The calculation formula is as follows:
；
In the method, in the process of the invention, Representation/>Transposed conjugate of matrix,/>Representing covariance matrix/>Is the transpose conjugate of the inverse matrix of (a);
And calculating the sound source power of each scanning part point in the scanning surface, and traversing the whole scanning surface to obtain a sound field distribution diagram of the automobile noise source.
4. A method of locating a noise source of an automobile according to claim 3, wherein in step S4, the noise source is initially located as follows: in the sound field distribution diagram, the corresponding coordinate of the maximum power of the sound source is obtained through scanning and searching and is used as the noise source position of preliminary positioning.
5. The method for positioning a noise source of an automobile according to claim 3, wherein the step S6 specifically comprises:
Step S6.1: taking the position of the noise source which is initially positioned as a reference point, and taking the position of the right ear of the driver as a target point; exciting an excitation point arranged near the reference point through a force hammer, acquiring acceleration response of the reference point, and calculating a transfer function from the excitation point to the reference point; finally, inverting the transfer function by an inverse matrix method, and solving the exciting force of each reference point by combining the obtained acceleration response ; The calculation formula of the inverse matrix method is as follows:
；
Wherein: for acceleration response/> With force hammer excitation input/>Transfer function of/>For acceleration response, n is the number of excitation points, i represents the i-th row excitation point in the matrix, and u represents the u-th column excitation point in the matrix;
Step S6.2: calculating near-field sound pressure;
Step S6.3: calculating structural transfer function by reciprocal method And air noise transfer function/>; For the structural transfer function/>Data of an acceleration sensor of a reference point are obtained through a volume sound source placed on the right ear of a driver, and a structure transfer function/>, is calculated; For air noise transfer function/>By arranging a loudspeaker at the right ear of the driver and arranging microphones at reference points, obtaining data of the microphones, and calculating air noise transfer functions of the paths;
Step S6.4: the calculated structure transfer function, the air noise transfer function, the exciting force and the near-field sound pressure are synthesized according to the following formula, so that a synthesized noise spectrum in the vehicle can be obtained ：
；
Wherein: for the structural transfer function of the si-th path,/> As an air transfer function of the si-th path,For the excitation force of the si-th path,/>The near-field sound pressure of the sound source of the aj path is represented by m, the number of the structural transmission paths is represented by n, and the number of the air transmission paths is represented by n;
Step S6.5: to be combined in-car noise spectrum Comparing the noise spectrum with the noise spectrum collected by the driver beside the ear under the normal working condition, if the error does not exceed the preset threshold, determining to accurately locate the noise source position, otherwise, returning to the step S1, and repositioning.
6. The automobile noise source positioning system is characterized by comprising a sound signal and optical image acquisition unit, a preprocessing unit, a sound field distribution diagram generation unit, a noise source position preliminary positioning unit, a noise source positioning visual diagram acquisition unit and a comparison and confirmation unit;
the sound signal and optical image acquisition unit is used for acquiring sound signals and optical images in the automobile;
The preprocessing unit is used for preprocessing the collected sound signals and carrying out denoising and amplifying treatment;
The sound field distribution diagram generating unit is used for analyzing and processing the preprocessed sound signals by adopting an acoustic algorithm to obtain sound field distribution intensity and spatial distribution characteristics of the sound signals and generate a sound field distribution diagram of an automobile noise source;
the noise source position preliminary positioning unit is used for representing the intensity of sound in a sound field by utilizing different colors and brightness aiming at a sound field distribution diagram to form an acoustic image and preliminarily positioning the noise source position;
The noise source positioning visual image acquisition unit is used for superposing the acoustic image and the optical image, visually presenting the sound field intensity and the spatial distribution of the automobile noise source, and obtaining a noise source positioning visual image;
The comparison and confirmation unit is used for synthesizing an in-vehicle noise spectrum by using a transmission path method according to the noise source positioning visual map, comparing the in-vehicle noise spectrum with a noise spectrum beside the ear of a driver collected under a normal working condition, determining that the noise source is accurately positioned if the error does not exceed a preset threshold, and otherwise, returning to execute the sound signal and the optical image collection unit again for repositioning.
7. The automobile noise source positioning system according to claim 6, wherein the preprocessing unit specifically performs the steps of:
Step S2.1: fourier transforming the collected sound signal to obtain corresponding amplitude And phase α (k);
Step S2.2: a section of low-frequency signal is obtained from the sound signal before transformation, the corresponding frequency width is NIS, and the average spectrum value of the low-frequency signal section is obtained ；
Step S2.3: to be calculatedAnd/>The value of the spectrum subtraction output is obtained by bringing the value into a spectrum subtraction formula and is the square/>, of the signal amplitude after the spectrum subtractionWherein, the formula of the spectral subtraction is:
；
wherein: a, b are constants, a is called an over-subtraction factor, and b is called a gain compensation factor;
Step S2.4: based on the obtained And alpha (k), and the preprocessed sound signal Y (n) can be obtained by inverse fast fourier transform.
8. The automobile noise source localization system of claim 7, wherein the sound field profile generation unit is specifically configured to perform the steps of:
step S3.1: determining a scan surface in a sound field according to the size of a space in an automobile The range is calculated by the following formula:
；
Wherein: for scanning the coordinates of the scanning points in the plane,/> For a range of directions on the x-coordinate,Is the range of directions on the y-coordinate;
Step S3.2: calculating covariance matrix using preprocessed sound signal Y (n) The calculation formula is as follows:
；
Wherein: m is the number of microphone arrays, Representing the transpose conjugate of Y (n), h representing the h microphone array;
Step S3.3: fourier transforming the preprocessed sound signal Y (n) to obtain frequency f of the sound signal, and calculating a direction matrix of the sound signal received by the microphone array The formula is as follows:
；
Wherein: Is the time delay of the received signal between the ith microphone sensor and the (i+1) th microphone sensor, j is the imaginary unit,/> Is the time delay of the received signal between the M-1 th and M-th microphone sensors;
step S3.4: calculating MVDR azimuth spectrum to obtain current scanning point Corresponding sound source power/>The calculation formula is as follows:
；
In the method, in the process of the invention, Representation/>Transposed conjugate of matrix,/>Representing covariance matrix/>Is the transpose conjugate of the inverse matrix of (a);
And calculating the sound source power of each scanning part point in the scanning surface, and traversing the whole scanning surface to obtain a sound field distribution diagram of the automobile noise source.
9. The noise source positioning system of claim 8, wherein the preliminary positioning of the noise source position is performed by the noise source position preliminary positioning unit in the following manner: in the sound field distribution diagram, the corresponding coordinate of the maximum power of the sound source is obtained through scanning and searching and is used as the noise source position of preliminary positioning.
10. The automobile noise source positioning system according to claim 8, wherein the comparison and confirmation unit is specifically configured to perform the following steps:
Step S6.1: taking the position of the noise source which is initially positioned as a reference point, and taking the position of the right ear of the driver as a target point; exciting an excitation point arranged near the reference point through a force hammer, acquiring acceleration response of the reference point, and calculating a transfer function from the excitation point to the reference point; finally, inverting the transfer function by an inverse matrix method, and solving the exciting force of each reference point by combining the obtained acceleration response ; The calculation formula of the inverse matrix method is as follows:
；
Wherein: for acceleration response/> With force hammer excitation input/>A n is acceleration response, n is the number of excitation points, i represents the i-th row excitation point in the matrix, and u represents the u-th column excitation point in the matrix;
Step S6.2: calculating near-field sound pressure;
Step S6.3: calculating structural transfer function by reciprocal method And air noise transfer function/>; For the structural transfer function/>Data of an acceleration sensor of a reference point are obtained through a volume sound source placed on the right ear of a driver, and a structure transfer function/>, is calculated; For air noise transfer function/>By arranging a loudspeaker at the right ear of the driver and arranging microphones at reference points, obtaining data of the microphones, and calculating air noise transfer functions of the paths;
step S6.4: the calculated structure transfer function, air noise transfer function, exciting force and incoming sound pressure are synthesized according to the following formula, so that a synthesized noise spectrum in the vehicle can be obtained ：
；
Wherein: for the structural transfer function of the si-th path,/> As an air transfer function of the si-th path,For the excitation force of the si-th path,/>The near-field sound pressure of the sound source of the aj path is represented by m, the number of the structural transmission paths is represented by n, and the number of the air transmission paths is represented by n;
Step S6.5: to be combined in-car noise spectrum Comparing with the noise spectrum collected by the driver beside the ear under the normal working condition, if the error does not exceed the preset threshold, determining to accurately locate the noise source position, otherwise, re-executing the sound signal and the optical image collection unit, and re-locating.
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