JP2014211370A - Method of estimating position of acoustic source - Google Patents

Method of estimating position of acoustic source Download PDF

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JP2014211370A
JP2014211370A JP2013087991A JP2013087991A JP2014211370A JP 2014211370 A JP2014211370 A JP 2014211370A JP 2013087991 A JP2013087991 A JP 2013087991A JP 2013087991 A JP2013087991 A JP 2013087991A JP 2014211370 A JP2014211370 A JP 2014211370A
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sound
sound source
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acoustic
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米生 秋田
Yoneo Akita
米生 秋田
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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

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

Abstract

PROBLEM TO BE SOLVED: To estimate, in a field of acoustic survey, a position of an acoustic source having unknown acoustic output by reception using a single non-directional acoustic sensor with a small number of observation points.SOLUTION: A single non-directional acoustic sensor connected with an acoustic wave signal receiver is used to determine evaluation values from a data series collected from a plurality of observation points, so as to estimate a position of an acoustic source that is a relative position lattice point on an image having the minimum evaluation value.

Description

本発明は、音響探査の分野で音圧レベル観測点の数が限られていても音源の位置を高い尤度で推定することを可能とする技術に関する。   The present invention relates to a technique capable of estimating the position of a sound source with high likelihood even if the number of sound pressure level observation points is limited in the field of acoustic exploration.

従来 音響探査の分野では機械装置等が発する騒音の音源位置推定には、指向性を有するマイクロフォン等の複数の音響センサを複数入力チャネルを具備する受信装置に接続して、各指向性センサから得られた音圧信号を入力とする信号波形演算処理を行うことにより最尤度位置の推定が行われてきた。 Conventionally, in the field of acoustic exploration, sound source position estimation of noise emitted by mechanical devices is obtained from each directional sensor by connecting a plurality of acoustic sensors such as microphones with directivity to a receiving device having a plurality of input channels. The maximum likelihood position has been estimated by performing signal waveform calculation processing using the received sound pressure signal as an input.

無指向性音響センサを単独で受信装置に接続して用いる場合、一つの観測点からの測定では方角の探知を行うことは出来ないが、音源の音響出力が既知の場合については移動して複数の観測点から得られる音圧レベル測定値を伝播損モデルに当てはめて距離を逆算し、各々の観測点の位置と共に多元の連立方程式を立式して最小二乗法等の算法を用いて解を得ることにより音源の位置推定を行なうことは可能である。 When an omnidirectional acoustic sensor is connected to a receiving device alone, it is impossible to detect the direction by measurement from one observation point. The sound pressure level measurement value obtained from each observation point is applied to the propagation loss model, the distance is calculated backward, and a multi-dimensional simultaneous equation is formed together with the position of each observation point, and the solution is calculated using a method such as the least square method. It is possible to estimate the position of the sound source.

特願２０１１−１３２９８９Japanese Patent Application No. 2011-132989

指向性音響センサを同時に複数用いる方法をとる装置は方向探知を行うことを前提としているため探査対象によっては音源探査を行う装置全体が構造的規模が大きくなりがちであり、音響探査活動における軽便性を確保することが困難である。 Devices that use multiple directional acoustic sensors at the same time are premised on direction detection, so depending on the search target, the entire sound source search device tends to be structurally large. It is difficult to ensure.

無指向性音響センサの単独使用による軽便性重視の音響探査では、音源の音響出力が未知であると音圧レベル測定から距離を算出することができないため多元連立方程式の立式が出来ず、最小二乗法等の算法による位置推定演算は行えない。一般に音源の音響出力は音響探査活動を実施する側には未知であることが多い。 In acoustic exploration with an emphasis on lightness by using an omnidirectional acoustic sensor alone, if the sound output of the sound source is unknown, the distance cannot be calculated from the sound pressure level measurement, so the multi-dimensional simultaneous equations cannot be formulated and the minimum Position estimation calculation by a method such as the square method cannot be performed. In general, the sound output of a sound source is often unknown to the side performing acoustic exploration activities.

位置推定すべき対象音源を明確に含む２次元画像を撮影し原点を定め、また撮影画像に対して半自由空間音場の矩形閉領域として格子を適用して画像上で分割し、音波観測点の相対位置が判別できる手だてを講じる。音波受信機には無指向性音響センサを単独使用で接続する。複数の音波観測点から収集される音圧レベル測定値および画像上で判定した相対位置の情報からなるデータ系列を作成する。 Take a two-dimensional image that clearly contains the target sound source to be located, determine the origin, apply a grid as a rectangular closed region of the semi-free space sound field to the captured image, and divide it on the image, Take measures to determine the relative position of. An omnidirectional acoustic sensor is connected to the acoustic wave receiver alone. A data series composed of sound pressure level measurement values collected from a plurality of sound wave observation points and relative position information determined on the image is created.

作成したデータ系列を用いて上述で適用したすべての格子点について評価値を演算して求める。評価値が小さいほど音源の位置する確率が高いとして、確率分布状態が示せるよう各点に色を決めて画像上に重ねて表示する。 Using the created data series, evaluation values are calculated for all the grid points applied above. As the evaluation value is smaller, the probability that the sound source is located is higher, and the color is determined for each point so that the probability distribution state can be shown and displayed on the image.

本発明は、半自由空間音場における音源から発せられる音波を受信する信号受信機に軽便性に富んだ単一の無指向性音響センサを接続して、方向探知は行わずかつ音源の音響出力が未知であっても少ない観測点データで音源位置推定が高尤度で行える画像表示機能を含む装置である。 The present invention connects a single omnidirectional acoustic sensor with excellent convenience to a signal receiver that receives sound waves emitted from a sound source in a semi-free space sound field, does not perform direction detection, and outputs sound from the sound source. This is a device including an image display function that can perform sound source position estimation with a high likelihood with a small number of observation point data even if is unknown.

また音響出力以外で、点状の地点からエネルギーが放射される現象についてそのエネルギー強度を無指向性で測定する手段とその観測点の位置情報取得手段を講じることにより、本発明の方式はエネルギー発射源位置推定にも適用することが可能である。 In addition to the acoustic output, the method of the present invention can be used to measure the energy intensity of a phenomenon in which energy is radiated from a point-like point, and the position information acquisition means for the observation point. It can also be applied to source position estimation.

位置情報の構成が水平面内の縦横方向のみの場合は２次元空間での適用であるが、「高度」の情報も得られる測量系である場合は、本発明は３次元空間でのエネルギー発射源位置推定に適用することが可能である。 When the configuration of the position information is only in the vertical and horizontal directions in the horizontal plane, it is applied in a two-dimensional space. However, in the case of a surveying system that can also obtain “altitude” information, the present invention provides an energy emission source in a three-dimensional space. It can be applied to position estimation.

図１は本発明を実現する音源位置推定装置の構成図である。FIG. 1 is a block diagram of a sound source position estimating apparatus for realizing the present invention. 図２は観測点の評価対象点の位置座標関係の説明図である。FIG. 2 is an explanatory diagram of the positional coordinate relationship between the evaluation target points of the observation points. 図３は画像上に評価値に基づいた色を重ねて表示する例である。FIG. 3 shows an example in which a color based on the evaluation value is displayed over the image.

位置推定の対象となる閉領域を撮影画像上で格子に分割する。すべての格子点について、評価値Sを求める。Sの値が小さいほど発射源のある確率が高いとして、各点の色を決めて表示する。評価値Sは、図１に示す本発明を適用した装置の03中央演算処理装置上で実行するプログラムにおいて以下の算法を適用して求める。
位置推定の対象となる音源からの音圧レベル測定値は音源と観測点の距離のR乗に反比例するものとし、音源の座標を(X, Y)、1単位距離離れた点での音圧をP、観測点の座標を（x, y）、測定値をpとすると以下の式が成り立つ。
ここで、音源の音響出力が一定であれば、どの測定点(x, y)においてもPは同じ値となる。これは自由伝搬空間の場合に成り立つが、現実の空間ではまずあり得ない。そこで、以下の式によってPの値のばらつき（標準偏差）Sを求め、その値が小さいほど(X, Y)に発射源がある確率が高いと評価する。
N点で測定を行い、i番目（i=0, 1, 2,…, N-1）の観測点の座標を（xi, yi）、音圧レベルをpiとすると
と 導出され、評価値Sが求まる。図３は観測点数が９の場合で画像上に評価値に基づいた色を重ねて表示する例である。 The closed region that is the target of position estimation is divided into grids on the captured image. Evaluation values S are obtained for all grid points. The smaller the value of S, the higher the probability that there is a launch source, and the color of each point is determined and displayed. The evaluation value S is obtained by applying the following calculation method in a program executed on the 03 central processing unit of the device to which the present invention is applied as shown in FIG.
The sound pressure level measurement value from the sound source for position estimation is assumed to be inversely proportional to the R-th power of the distance between the sound source and the observation point, and the sound pressure at the point 1 unit away from the sound source coordinates is (X, Y). Where P is the coordinates of the observation point (x, y), and p is the measured value.
Here, if the sound output of the sound source is constant, P has the same value at any measurement point (x, y). This is true for free-propagation spaces, but is unlikely in real space. Therefore, the variation (standard deviation) S of the value of P is obtained by the following formula, and the smaller the value, the higher the probability that there is a launch source at (X, Y).
Measured at N points, the coordinates of the i-th (i = 0, 1, 2, ..., N-1) observation point are (xi, yi) and the sound pressure level is pi
And the evaluation value S is obtained. FIG. 3 shows an example in which the number of observation points is 9 and the color based on the evaluation value is displayed on the image in an overlapping manner.

０１ 信号増幅部
０２ 信号測定部
０３ 中央演算処理装置
０４ 画像表示部
０５ 映像撮影用カメラ
０６ 映像信号変換部
０７ 外部記憶装置
０８ 無指向性音響センサ 01 Signal amplifier
02 Signal measurement unit
03 Central processing unit
04 Image display
05 Video camera
06 Video signal converter
07 External storage device
08 Omnidirectional acoustic sensor

Claims (5)

音源から到来する音波を受信し、その音圧レベル測定値と観測を行った位置情報からなるデータ系列より高尤度かつ少ない標本数により音源位置推定を行える装置である。 It is a device that receives sound waves coming from a sound source and can estimate the sound source position with a higher likelihood and a smaller number of samples than the data series consisting of the measured sound pressure level and the observed position information. 請求項１において音響センサは無指向性の単一型を使用して音源の位置推定を行う。 According to another aspect of the present invention, the acoustic sensor estimates the position of the sound source using a non-directional single type. 請求項１において音源の音響出力が既知であるか未知であるかには関わらずその位置推定が可能な装置。 The apparatus according to claim 1, wherein the position of the sound source can be estimated regardless of whether the sound output of the sound source is known or unknown. 音圧以外で、点状の位置からエネルギーが放射される現象について、遠隔でそのエネルギー強度を観測する無指向性測定手段及びその観測点の位置情報取得手段を有するエネルギー発射源位置推定が可能な装置。 With regard to the phenomenon of energy being emitted from a point-like position other than sound pressure, it is possible to estimate the energy emission source position having omnidirectional measurement means for remotely observing the energy intensity and position information acquisition means for the observation point apparatus. 請求項１、請求項２、請求項３、請求項４において、位置情報として緯度経度等の二次元測位に加えて、高度（高さ）の測量値もを含む三次元空間を対象にするエネルギー発射源位置推定が可能な装置。 The energy for a three-dimensional space according to claim 1, claim 2, claim 3, or claim 4, wherein the position information includes a survey value of altitude (height) in addition to two-dimensional positioning such as latitude and longitude. A device capable of estimating the launch source position.
JP2013087991A 2013-04-19 2013-04-19 Method of estimating position of acoustic source Pending JP2014211370A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113418512A (en) * 2021-07-22 2021-09-21 中国海洋大学 Wave direction measuring method based on differential pressure method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113418512A (en) * 2021-07-22 2021-09-21 中国海洋大学 Wave direction measuring method based on differential pressure method

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