WO2019000680A1 - Sound source positioning method based on high-precision gps and implementation system thereof - Google Patents

Sound source positioning method based on high-precision gps and implementation system thereof Download PDF

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WO2019000680A1
WO2019000680A1 PCT/CN2017/104201 CN2017104201W WO2019000680A1 WO 2019000680 A1 WO2019000680 A1 WO 2019000680A1 CN 2017104201 W CN2017104201 W CN 2017104201W WO 2019000680 A1 WO2019000680 A1 WO 2019000680A1
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signal
sound
sound source
positioning
microphone
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PCT/CN2017/104201
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French (fr)
Chinese (zh)
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王永
郭晓宇
徐辉
崔浩
倪暹
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山东大学
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Publication of WO2019000680A1 publication Critical patent/WO2019000680A1/en

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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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Definitions

  • the invention relates to a sound source localization method based on high-precision GPS and an implementation system thereof, and belongs to the technical field of sound source localization.
  • Sound is the carrier of information.
  • the sound contains the voice information with the actual content.
  • the sound due to the propagation characteristics of the sound wave, the sound also indirectly contains the information about the sound source and the propagation environment. Based on the above two characteristics, the acquisition of sound information has an irreplaceable role in the fields of security monitoring, area detection, and location search.
  • the detection and location of unknown targets were mostly carried out by means of radio, ultrasound, laser, etc., with the advantages of high precision and anti-interference.
  • the active mode also requires high power consumption and exposure to its own position due to the need to transmit signals.
  • the sound source is based on a passive principle, which is more concealed and unaffected by visibility. It can work during the day and night. Sound source localization has high precision in near-field detection applications. It can be used as a system alone or as an auxiliary information for other monitoring and positioning systems, and thus has received extensive attention and application.
  • the algorithms for sound source localization mainly include Angle of Arrival (AOA), Time of Arrival (TOA), Time Difference of Arrival (TDOA), and reception.
  • AOA Angle of Arrival
  • TOA Time of Arrival
  • TDOA Time Difference of Arrival
  • RSSI Signaled Signal Strength Indication
  • the algorithm has requirements for the placement of the microphone array position, and can only solve the relative position of the sound source and the microphone array, which brings a lot of inconvenience to the actual application process.
  • Carrier Phase Measurement Carrier Phase Measurement, also known as Real Time Kinematic, RTK
  • RTK Real Time Kinematic
  • Chinese patent document CN106019232A discloses a sound source localization system and method, the system comprising an omnidirectional microphone, a pointing microphone and a positioning unit.
  • the omnidirectional microphone is used to acquire the first sound information.
  • the pointing microphone is used to collect the second sound information.
  • the locating unit is configured to locate two suspected positions of the sound source in the predetermined first plane according to the first sound information and the second sound information, and determine the position of the sound source in the two suspected positions according to the amplitude information of the second sound information.
  • the omnidirectional microphone and the pointing microphone are located on the first straight line, and the pointing microphone does not point to the second plane perpendicular to the first plane where the first straight line is located.
  • the patent has the following defects: 1. Using two different types of microphones, the difference in the collected sound signals is easy to introduce a large error; 2. The sound source position estimation and screening is required by the amplitude of the sound signal, and the sound is collected. Environmental requirements and amplifier accuracy requirements are high.
  • Chinese patent document CN104181506A discloses a sound source localization method based on improved PHAT weighted time delay estimation
  • the wind image array collects 4 channels of sound signals, converts them into digital signals through A/D sampling circuit, and performs time delay estimation algorithm processing through improved PHAT weighted generalized cross-correlation function method to obtain delay estimation values, and then combines the placed microphone array.
  • the spatial position is solved by an iterative method to obtain the relative position of the sound source.
  • the patent has the following defects: 1.
  • the sound source is positioned based on a fixed microphone array, and the coordinate position of the microphone needs to be predicted in advance; 2.
  • the calculated position coordinates are coordinate values based on the microphone array to establish a coordinate system, and some maps are needed.
  • the displayed application scenario is very inconvenient.
  • the present invention proposes a sound source localization method based on high precision GPS
  • the invention also provides an implementation system of the above sound source localization method.
  • the invention obtains the position coordinates of the microphone by means of the high-precision GPS system, and solves the latitude and longitude and the height of the sound source through the TDOA sound source localization algorithm. Since the general latitude and longitude coordinates are obtained, it can be used directly for map display or interface with other systems.
  • the invention configures the GPS on the microphone for collecting the sound signal, and can solve the position coordinates of the microphone in real time, and the microphone array can be no longer limited to the static position, and there is no need for a fixed relative position between each other.
  • the three-dimensional position coordinate information of the sound source can be calculated as long as any four sound signals are collected.
  • RTK Real-time kinematic carrier phase difference technology is a differential method for real-time processing of carrier phase observations of two measurement stations.
  • the carrier phase acquired by the base station is sent to the user receiver to perform the difference calculation coordinate.
  • the geodetic coordinate system is the coordinate system with the reference ellipsoid as the reference plane in geodetic survey.
  • the position of the ground point P is represented by the earth longitude L, the earth latitude B, and the earth height H.
  • ECEF coordinate system Earth-Centered, Earth-Fixed Earth as the center
  • Cartesian coordinate system also known as the "ordinary surface” system, (0,0,0) points represent the Earth's centroid.
  • a sound source localization method based on high precision GPS including the following steps:
  • each microphone in the microphone array is equipped with a GPS positioning module, and at least four microphones in the microphone array are in a working state at the same time and an effective sound signal is collected;
  • the microphone in the working state of the microphone array acquires the sound signal in real time
  • the GPS positioning module installed on the microphone in the working state of the microphone array acquires the position signal in real time
  • the captured position signal is in the NMEA-0183 format, and is extracted from the position signal.
  • the time signal and the positioning signal can be used to calculate the time and place of the sound signals collected by each microphone, and convert the obtained sound signal, time signal and positioning signal into a digital signal of a unified format;
  • step (3) storing the sound signal, the time signal, and the positioning signal obtained in step (2);
  • step (3) calculate the delay by the TDOA sound localization algorithm, and list the equations to solve the sound source position, including the longitude, latitude and height of the sound source;
  • the delay is calculated by the TDOA sound localization algorithm, that is, the delay calculation is performed by using the generalized autocorrelation function method in the TDOA sound localization algorithm, and the steps are as follows:
  • the 4-way sound signal is windowed and pre-filtered to eliminate noise and transform into the frequency domain by Fourier transform, namely: X 1 (k), X 2 (k), X 3 (k), X 4 (k), k
  • the serial number of the sampling point in the digital signal corresponding to n, n and k are integers;
  • the first path sound signal x 1 (n) is used as a reference signal to calculate X 1 (k) and X 2 (k), X 1 (k) and X 3 (k), X 1 (k) and X 4 respectively.
  • the delay corresponding to n is 3 channels of sound signals x 2 (n), x 3 (n), x 4 (n) the time delay estimates t 12 , t 13 , t 14 with the reference signal x 1 (n); the value of n when R 12 (n) takes the maximum value is n 12 , and the number of points of the sound signal taken is N,
  • the sampling frequency is Fs, if n 12 >N/2, then If n 12 ⁇ N/2, then It is consistent with the calculation method of t 14 and t 12 .
  • the sound source position is solved, including the following steps:
  • the positioning signals of the corresponding four microphones calculated by the GPS positioning module including the longitude, latitude and altitude, are converted from the geodetic coordinate system to the Cartesian coordinates in the coordinates of the ECEF rectangular coordinate system, and the conversion formula is as shown in formula (IV). Shown as follows:
  • ⁇ i longitude
  • h i height
  • a the ellipsoid long radius
  • e the first eccentricity of the ellipsoid
  • the ECEF Cartesian coordinate system parameters are used to calculate the geodetic height, the geodetic latitude and the geodetic longitude.
  • the sound source is calculated according to the angle between the sound source coordinates measured in the xy plane and the x-axis.
  • p and u are the required variables in the iterative algorithm, a is the ellipsoid long radius, and b is the ellipsoid short radius;
  • the latitude and longitude coordinates of the sound source in the geodetic coordinate system can be obtained.
  • the GPS positioning module acquires the time signal and the positioning signal in real time through the RTK technology.
  • the GPS positioning module uses RTK technology, and the positioning accuracy can reach millimeters.
  • the time and position information obtained by the GPS positioning module is a digital signal and is transmitted through the serial port.
  • the GPS positioning position coordinate is used as the reference coordinate for calculating the sound source, and the positioning accuracy of the GPS positioning module will directly affect the accuracy of the sound source position. According to the calculation, the positioning error of the centimeter level of the GPS positioning module in the positioning range of 200 meters will only result in the displacement of the sound source of the meter level.
  • the positioning accuracy and data update speed of the GPS positioning module will affect the accuracy of the sound source positioning. Therefore, the system needs to adopt the satellite positioning system with RTK technology to obtain better positioning accuracy.
  • the implementation system of the sound source localization method includes at least four MIC and GPS positioning modules, a storage module, an algorithm calculation and a system control module, and a display module, and at least four of the MIC and GPS positioning modules are respectively connected to the storage module.
  • the storage module, the algorithm calculation and system control module, and the display module are sequentially connected.
  • the MIC and GPS positioning module comprises a microphone and a GPS positioning module for positioning, the microphone acquires a sound signal in real time, and the GPS positioning module acquires a time signal and a position signal in real time;
  • the storage module is used for storing and acquiring a sound signal, a time signal, and a positioning signal;
  • the algorithm calculation and system control module calculates a time delay by using a TDOA sound localization algorithm, and lists the equations to solve the sound source position, including the earth longitude, the earth latitude, and the earth height of the sound source;
  • the display module is used to display the sound source location.
  • the algorithm processing and system control module is an STM32 development platform
  • the display module is a liquid crystal display
  • the GPS positioning module is a Big Dipper UM332.
  • the present invention combines a high-precision GPS positioning module with a passive sound source localization method.
  • the GPS positioning module measures the position information of the microphone that collects the sound signal, and the microphone array used for collecting the sound signal is no longer limited by the fixed. Relative position.
  • the positioning coordinate acquired by the GPS positioning module is used as the reference coordinate of the sound source positioning, and the latitude and longitude coordinates and height of the sound source can be directly obtained.
  • the present invention can be directly interfaced with other systems that require positioning data.
  • the invention uses the same microphone device to collect sound, greatly reduces the error brought by the sound collector, and uses the TDOA algorithm with small calculation amount to calculate the time delay to obtain the sound source position, and does not require the amplitude of the sound signal.
  • the invention adopts a high-precision satellite positioning chip to locate the microphone, obtains high-precision latitude and longitude coordinates when the microphone collects sound, and can obtain the latitude and longitude coordinates of the sound source, which can be directly used for map display.
  • the microphone position does not need to be fixed, and thus can be applied to a motion detection scene.
  • FIG. 1 is a structural block diagram of an implementation system of a sound source localization method based on high precision GPS according to the present invention
  • a sound source localization method based on high precision GPS including the following steps:
  • each microphone in the microphone array is equipped with a GPS positioning module, and four microphones in the microphone array are in a working state at the same time and an effective sound signal is collected;
  • the microphone in the working state of the microphone array acquires the sound signal in real time
  • the GPS positioning module installed on the microphone in the working state of the microphone array acquires the position signal in real time
  • the captured position signal is in the NMEA-0183 format, and is extracted from the position signal.
  • the time signal and the positioning signal can be used to calculate the time and place of the sound signals collected by each microphone, and convert the obtained sound signal, time signal and positioning signal into a digital signal of a unified format;
  • step (3) storing the sound signal, the time signal, and the positioning signal obtained in step (2);
  • step (3) calculate the delay by the TDOA sound localization algorithm, and list the equations to solve the sound source position, including the longitude, latitude and height of the sound source;
  • the delay is calculated by the TDOA sound localization algorithm, including the following steps:
  • the 4-way sound signal is windowed and pre-filtered to eliminate noise and transform into the frequency domain by Fourier transform, namely: X 1 (k), X 2 (k), X 3 (k), X 4 (k), k
  • the serial number of the sampling point in the digital signal corresponding to n, n and k are integers;
  • the first path sound signal x 1 (n) is used as a reference signal to calculate X 1 (k) and X 2 (k), X 1 (k) and X 3 (k), X 1 (k) and X 4 respectively.
  • the delay corresponding to n is 3 channels of sound signals x 2 (n), x 3 (n), x 4 (n)
  • the sampling frequency is Fs, if n 12 >N/2, then If n 12 ⁇ N/2, then It is consistent with the calculation method of t 14 and t 12 .
  • the positioning signals of the corresponding four microphones calculated by the GPS positioning module including the longitude, latitude and altitude, are converted from the geodetic coordinate system to the Cartesian coordinates in the coordinates of the ECEF rectangular coordinate system, and the conversion formula is as shown in formula (IV). Shown as follows:
  • ⁇ i longitude
  • h i height
  • a the ellipsoid long radius
  • e the first eccentricity of the ellipsoid
  • the ECEF Cartesian coordinate system parameters are used to calculate the geodetic height, the geodetic latitude and the geodetic longitude.
  • the sound source is calculated according to the angle between the sound source coordinates measured in the xy plane and the x-axis.
  • p and u are the required variables in the iterative algorithm, a is the ellipsoid long radius, and b is the ellipsoid short radius;
  • the latitude and longitude coordinates of the sound source in the geodetic coordinate system can be obtained.
  • the GPS positioning module acquires time signals and positioning signals in real time through RTK technology.
  • the GPS positioning module uses RTK technology, and the positioning accuracy can reach millimeters.
  • the time and position information obtained by the GPS positioning module is a digital signal and is transmitted through the serial port.
  • the GPS positioning position coordinate is used as the reference coordinate for calculating the sound source, and the positioning accuracy of the GPS positioning module will directly affect the accuracy of the sound source position. According to the calculation, the positioning error of the centimeter level of the GPS positioning module in the positioning range of 200 meters will only result in the displacement of the sound source of the meter level.
  • the positioning accuracy and data update speed of the GPS positioning module will affect the accuracy of the sound source positioning. Therefore, the system needs to adopt the satellite positioning system with RTK technology to obtain better positioning accuracy.
  • the implementation system of the sound source localization method described in Embodiment 1, as shown in FIG. 1 includes four MIC and GPS positioning modules, a storage module, an algorithm calculation and a system control module, a display module, and four MIC and GPS positioning modules respectively.
  • the storage module is connected, and the storage module, the algorithm calculation, the system control module, and the display module are sequentially connected.
  • the MIC and GPS positioning module comprises a microphone and a GPS positioning module for positioning, the microphone acquires a sound signal in real time, the GPS positioning module acquires a time signal and a position signal in real time; the storage module is configured to store the acquired sound signal, time signal and positioning signal; The calculation and system control module calculates the delay by the TDOA sound localization algorithm, and lists the equations to solve the sound source position, including the geodesic longitude, the earth latitude and the earth height; the display module is used to display the sound source position.
  • the algorithm processing and system control module is a STM32 development platform
  • the display module is a liquid crystal display
  • the GPS positioning module is a Big Dipper UM332.
  • the difference is that a relatively fixed microphone array is formed in the monitoring area of the sound source localization, and a single sound source is positioned, and the microphone array includes four MICs.
  • the microphone for collecting sound is an analog MEMS MIC, which specifically includes the following steps:
  • Four-way MIC collects four channels of sound signals, and uses a two-stage amplifier circuit to perform 50-fold amplification of the analog signals, and a DC pad. Up to 1.28v, the ADC performs AD sampling at 40kHz. The satellite positioning system performs positioning and derives the location information through the serial port.
  • the sound signal, the position signal, and the time signal are transmitted to the storage module.
  • every 4MB is a storage file.
  • the coordinates are the coordinates of the WGS-84 geodetic coordinate system, and the distance under this coordinate system is converted into the coordinates of the ECEF geocentric coordinate system.
  • the linear equations are listed.
  • the difference is that a relatively fixed microphone array is formed in the monitoring area of the sound source localization, and a single sound source is positioned, and the microphone array includes four MICs.
  • the microphone for collecting sound is an analog MEMS MIC, which specifically includes the following steps:
  • the four-way MIC collects four channels of sound signals.
  • the digital MIC clock is set to 1.024MHz, and the output is a PDM signal.
  • the voice processing chip FM34-395 is sampled and replaced with a 16-bit PCM signal.
  • the satellite positioning system performs positioning and derives the location information through the serial port.
  • the sound signal, the position signal, and the time signal are transmitted to the storage module.
  • every 4MB is a storage file.
  • the difference is that the digital MIC clock of the four-way MIC is set to 2.475 MHz, and the target sound source is positioned.
  • the difference is that a six-way sound collection module is set, and any four paths are used for networking, and an average value is obtained for the target sound source.
  • the accuracy of the sound collection module based on the fixed microphone array or the random placement of the sound source is small, which greatly ensures the flexibility of the sound source localization system.
  • the noise introduced by the amplifier and the ADC is too large, and the positioning accuracy is not as good as that of the sound source positioning system using the digital MIC.
  • Increasing the sampling frequency of the sound does improve the accuracy of the sound source positioning to a certain extent, but also increases the amount of data storage and the amount of calculation.

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Abstract

A sound source positioning method based on a high-precision GPS and an implementation system thereof. The method comprises the following steps: (1) disposing a microphone array in an arbitrary position in a monitored area, wherein GPS modules are disposed on microphones, and at least four microphones operate simultaneously; (2) the microphones acquiring a sound signal in real time, and the GPS modules acquiring a time signal and a positioning signal in real time; (3) storing the sound signal, the time signal, and the positioning signal; (4) obtaining corresponding data according to an instruction, and calculating a time delay with a TDOA sound positioning algorithm, to solve a sound source position, that is, latitude, longitude and altitude of the sound source; and (5) displaying the sound source position. A high-precision GPS module is combined with a passive sound source positioning method, and the GPS module measures position information of microphones acquiring a sound signal, such that a microphone array used to acquire a sound signal is no longer limited to a fixed relative position.

Description

一种基于高精度GPS的声源定位方法及其实现系统Sound source localization method based on high precision GPS and implementation system thereof 技术领域Technical field
本发明涉及一种基于高精度GPS的声源定位方法及其实现系统，属于声源定位技术领域。The invention relates to a sound source localization method based on high-precision GPS and an implementation system thereof, and belongs to the technical field of sound source localization.
背景技术Background technique
声音是信息的载体。一方面，声音中包含具有实际内容的语音信息，另一方面，由于声波的传播特性，声音中也间接包含了声源和传播环境的相关信息。基于上述的两种特性，声音信息的获取在安全监控、区域探测、定位搜寻等领域具有不可替代的作用。Sound is the carrier of information. On the one hand, the sound contains the voice information with the actual content. On the other hand, due to the propagation characteristics of the sound wave, the sound also indirectly contains the information about the sound source and the propagation environment. Based on the above two characteristics, the acquisition of sound information has an irreplaceable role in the fields of security monitoring, area detection, and location search.
早先对于未知目标的探测定位多是通过无线电、超声、激光等主动式方式进行，具有高精度抗干扰的优点。但主动方式由于需要发射信号，也有功耗高、暴露自身位置等使用限制。而声源定位采用被动式原理，隐蔽性较强，且不受能见度的影响，白天晚上都可以进行工作。声源定位在近场探测应用中有较高的精度，既可以单独构成系统使用，也可以为其它监控定位系统提供辅助信息，因而得到了广泛的关注和应用。Previously, the detection and location of unknown targets were mostly carried out by means of radio, ultrasound, laser, etc., with the advantages of high precision and anti-interference. However, the active mode also requires high power consumption and exposure to its own position due to the need to transmit signals. The sound source is based on a passive principle, which is more concealed and unaffected by visibility. It can work during the day and night. Sound source localization has high precision in near-field detection applications. It can be used as a system alone or as an auxiliary information for other monitoring and positioning systems, and thus has received extensive attention and application.
现阶段声源定位的算法主要有信号到达角度测量算法(Angle of Arrival，AOA)、信号到达时间测量算法(Time of Arrival，TOA)、信号到达时间差测量算法(Time Difference of Arrival，TDOA)、接收信号强度指示算法(Received Signal Strength Indication，RSSI)。现阶段的算法对麦克风阵列位置的放置均有所要求，并且只能求解出声源和麦克风阵列的相对位置，给实际应用过程带来了诸多的不便。At present, the algorithms for sound source localization mainly include Angle of Arrival (AOA), Time of Arrival (TOA), Time Difference of Arrival (TDOA), and reception. Signaled Signal Strength Indication (RSSI). At present, the algorithm has requirements for the placement of the microphone array position, and can only solve the relative position of the sound source and the microphone array, which brings a lot of inconvenience to the actual application process.
卫星定位技术自1958年美国建立子午卫星系统以来，60年间获得了蓬勃的发展。GPS、GLONASS、Galileo及中国北斗的建立，使得卫星定位在现代社会中发挥着越来越大的作用。随着技术的不断革新，定位系统的精度也逐步提高，采用载波相位差分技术(Carrier Phase Measurement，又称Real Time Kinematic，RTK)的定位系统可以达到毫米级的定位精度。Since the establishment of the Meridian satellite system in the United States in 1958, satellite positioning technology has experienced vigorous development in 60 years. The establishment of GPS, GLONASS, Galileo and China Beidou has made satellite positioning play an increasingly important role in modern society. With the continuous innovation of technology, the accuracy of the positioning system is gradually improved. The positioning system using Carrier Phase Measurement (Carrier Phase Measurement, also known as Real Time Kinematic, RTK) can achieve millimeter-level positioning accuracy.
中国专利文献CN106019232A公开了一种声源定位系统和方法，所述系统包括全向麦克风、指向麦克风和定位单元。全向麦克风用于采集第一声音信息。指向麦克风用于采集第二声音信息。定位单元用于根据第一声音信息和第二声音信息定位声源在预定的第一平面中的两处疑似位置，并根据第二声音信息的幅度信息在两处疑似位置中确定声源的位置。其中，全向麦克风和指向麦克风位于第一直线上，指向麦克风不指向第一直线所在的、垂直于第一平面的第二平面。该专利存在以下缺陷：1.采用两种不同类型的麦克风，采集声音信号的差异容易引入较大的误差；2.需要通过声音信号的幅度来进行声源位置预估和筛选，对采集声音的环境要求和放大器的精度要求较高。Chinese patent document CN106019232A discloses a sound source localization system and method, the system comprising an omnidirectional microphone, a pointing microphone and a positioning unit. The omnidirectional microphone is used to acquire the first sound information. The pointing microphone is used to collect the second sound information. The locating unit is configured to locate two suspected positions of the sound source in the predetermined first plane according to the first sound information and the second sound information, and determine the position of the sound source in the two suspected positions according to the amplitude information of the second sound information. . Wherein, the omnidirectional microphone and the pointing microphone are located on the first straight line, and the pointing microphone does not point to the second plane perpendicular to the first plane where the first straight line is located. The patent has the following defects: 1. Using two different types of microphones, the difference in the collected sound signals is easy to introduce a large error; 2. The sound source position estimation and screening is required by the amplitude of the sound signal, and the sound is collected. Environmental requirements and amplifier accuracy requirements are high.
中国专利文献CN104181506A公开了一种基于改进PHAT加权时延估计的声源定位方法，由麦 克风阵列采集4路声音信号，通过A/D采样电路转化为数字信号，并通过改进的PHAT加权广义互相关函数法进行时延估计算法处理，获得时延估计值，再结合放置的麦克风阵列空间位置，利用迭代法解非线性方程组，从而得到声源的相对位置。该专利存在以下缺陷：1.声源定位要基于固定的麦克风阵列，需提前预知麦克风所在坐标位置；2.计算出的位置坐标为基于麦克风阵列建立坐标系下的坐标值，在某些需要地图显示的应用场景中十分不便。Chinese patent document CN104181506A discloses a sound source localization method based on improved PHAT weighted time delay estimation, The wind image array collects 4 channels of sound signals, converts them into digital signals through A/D sampling circuit, and performs time delay estimation algorithm processing through improved PHAT weighted generalized cross-correlation function method to obtain delay estimation values, and then combines the placed microphone array. The spatial position is solved by an iterative method to obtain the relative position of the sound source. The patent has the following defects: 1. The sound source is positioned based on a fixed microphone array, and the coordinate position of the microphone needs to be predicted in advance; 2. The calculated position coordinates are coordinate values based on the microphone array to establish a coordinate system, and some maps are needed. The displayed application scenario is very inconvenient.
发明内容Summary of the invention
为了克服现有声源定位方案中麦克风阵列相对固定，只能计算声源基于自建坐标系下相对位置的不足，本发明提出了一种基于高精度GPS的声源定位方法；In order to overcome the relative shortage of the microphone array in the existing sound source localization scheme, only the lack of relative position of the sound source based on the self-built coordinate system can be calculated. The present invention proposes a sound source localization method based on high precision GPS;
本发明还提供了上述声源定位方法的实现系统。The invention also provides an implementation system of the above sound source localization method.
发明概述Summary of invention
本发明借助于高精度GPS系统得到麦克风的位置坐标，通过TDOA声源定位算法，求解出声源的经纬度与高度。由于得出的是通用的经纬度坐标，可以直接用于地图显示，或与其他系统衔接。The invention obtains the position coordinates of the microphone by means of the high-precision GPS system, and solves the latitude and longitude and the height of the sound source through the TDOA sound source localization algorithm. Since the general latitude and longitude coordinates are obtained, it can be used directly for map display or interface with other systems.
本发明在采集声音信号的麦克风上配置了GPS，可以实时解算麦克风的位置坐标，麦克风阵列可以不再局限于静态位置，彼此之间也不需要有固定的相对位置。在声波传播的范围内，只要有任意四路声音信号被采集到即可计算出声源的三维位置坐标信息。The invention configures the GPS on the microphone for collecting the sound signal, and can solve the position coordinates of the microphone in real time, and the microphone array can be no longer limited to the static position, and there is no need for a fixed relative position between each other. In the range of sound wave propagation, the three-dimensional position coordinate information of the sound source can be calculated as long as any four sound signals are collected.
术语解释：Explanation of terms:
1、RTK(Real-time kinematic)载波相位差分技术，是实时处理两个测量站载波相位观测量的差分方法，将基准站采集的载波相位发给用户接收机，进行求差解算坐标。1. RTK (Real-time kinematic) carrier phase difference technology is a differential method for real-time processing of carrier phase observations of two measurement stations. The carrier phase acquired by the base station is sent to the user receiver to perform the difference calculation coordinate.
2、大地坐标系，是大地测量中以参考椭球面为基准面的坐标系。地面点P的位置用大地经度L、大地纬度B和大地高度H表示。2. The geodetic coordinate system is the coordinate system with the reference ellipsoid as the reference plane in geodetic survey. The position of the ground point P is represented by the earth longitude L, the earth latitude B, and the earth height H.
3、ECEF坐标系，ECEF(Earth-Centered,Earth-Fixed)地球为中心，是一个笛卡尔坐标系，也称为“普通地表”系统，(0，0，0)点表示地球质心。3, ECEF coordinate system, ECEF (Earth-Centered, Earth-Fixed) Earth as the center, is a Cartesian coordinate system, also known as the "ordinary surface" system, (0,0,0) points represent the Earth's centroid.
本发明的技术方案为：The technical solution of the present invention is:
一种基于高精度GPS的声源定位方法，包括步骤如下：A sound source localization method based on high precision GPS, including the following steps:
(1)在声源定位的监控区域随意放置麦克风组成麦克风阵列，麦克风阵列中的每个麦克风上安装有GPS定位模块，麦克风阵列中至少4个麦克风处于同时工作状态且采集到有效的声音信号；(1) arbitrarily placing a microphone in the monitoring area of the sound source to form a microphone array, and each microphone in the microphone array is equipped with a GPS positioning module, and at least four microphones in the microphone array are in a working state at the same time and an effective sound signal is collected;
(2)麦克风阵列中处于工作状态的麦克风实时获取声音信号，麦克风阵列中处于工作状态的麦克风上安装的GPS定位模块实时获取位置信号，捕获的位置信号为NMEA-0183格式，从位置信号中提取出时间信号与定位信号即可计算各个麦克风采集声音信号的时间和地点，将获取的声音信号、时间信号和定位信号转换为统一格式的数字信号； (2) The microphone in the working state of the microphone array acquires the sound signal in real time, and the GPS positioning module installed on the microphone in the working state of the microphone array acquires the position signal in real time, and the captured position signal is in the NMEA-0183 format, and is extracted from the position signal. The time signal and the positioning signal can be used to calculate the time and place of the sound signals collected by each microphone, and convert the obtained sound signal, time signal and positioning signal into a digital signal of a unified format;
(3)将步骤(2)获取的声音信号、时间信号和定位信号进行存储；(3) storing the sound signal, the time signal, and the positioning signal obtained in step (2);
(4)根据指令获取步骤(3)中存储的对应的数据，通过TDOA声音定位算法计算时延，列出方程组求解声源位置，包括声源的经度、纬度和高度；(4) According to the instruction to obtain the corresponding data stored in step (3), calculate the delay by the TDOA sound localization algorithm, and list the equations to solve the sound source position, including the longitude, latitude and height of the sound source;
(5)将步骤(4)中计算的声源位置进行显示。(5) Display the position of the sound source calculated in the step (4).
根据本发明所优选的，所述步骤(4)中，通过TDOA声音定位算法计算时延，即采用TDOA声音定位算法中的广义自相关函数法进行时延计算，包括步骤如下：According to the preferred method of the present invention, in the step (4), the delay is calculated by the TDOA sound localization algorithm, that is, the delay calculation is performed by using the generalized autocorrelation function method in the TDOA sound localization algorithm, and the steps are as follows:
A、分别取出同一时间段内的4路声音信号，即：x1(n)、x2(n)、x3(n)、x4(n)，n为数字信号中采样点的序号，将4路声音信号进行加窗预滤波处理，消除噪声，经傅立叶变换到频域，即：X1(k)，X2(k)，X3(k)，X4(k)，k为与n对应的数字信号中采样点的序号，n与k皆为整数；A. Take out 4 channels of sound signals in the same time period, namely: x 1 (n), x 2 (n), x 3 (n), x 4 (n), where n is the serial number of the sampling point in the digital signal. The 4-way sound signal is windowed and pre-filtered to eliminate noise and transform into the frequency domain by Fourier transform, namely: X 1 (k), X 2 (k), X 3 (k), X 4 (k), k The serial number of the sampling point in the digital signal corresponding to n, n and k are integers;
B、第一路声音信号x1(n)作为基准信号，分别计算X1(k)与X2(k)、X1(k)与X3(k)、X1(k)与X4(k)的互功率谱，即G12(k)、G13(k)、G14(k)，对互功率谱G12(k)、G13(k)、G14(k)进行PHAT加权操作，如式(Ⅰ)、(Ⅱ)、(Ⅲ)所示：B. The first path sound signal x 1 (n) is used as a reference signal to calculate X 1 (k) and X 2 (k), X 1 (k) and X 3 (k), X 1 (k) and X 4 respectively. (k) cross-power spectrum, ie G 12 (k), G 13 (k), G 14 (k), PHAT for the mutual power spectrum G 12 (k), G 13 (k), G 14 (k) Weighted operations, as shown in equations (I), (II), (III):
Figure PCTCN2017104201-appb-000001
Figure PCTCN2017104201-appb-000001
Figure PCTCN2017104201-appb-000002
Figure PCTCN2017104201-appb-000002
Figure PCTCN2017104201-appb-000003
Figure PCTCN2017104201-appb-000003
式(Ⅰ)、(Ⅱ)、(Ⅲ)中，
Figure PCTCN2017104201-appb-000004
为X1(k)的共轭，
Figure PCTCN2017104201-appb-000005
为式(Ⅰ)的PHAT加权函数；In formula (I), (II), (III),
Figure PCTCN2017104201-appb-000004
For the conjugate of X 1 (k),
Figure PCTCN2017104201-appb-000005
Is the PHAT weighting function of formula (I);
C、将互功率谱G12(k)、G13(k)、G14(k)逆变换到频域，得到对应的广义互相关函数R12(n),R13(n),R14(n)；C. Inversely transform the cross power spectra G 12 (k), G 13 (k), and G 14 (k) into the frequency domain to obtain a corresponding generalized cross-correlation function R 12 (n), R 13 (n), R 14 (n);
D、R12(n),R13(n),R14(n)分别取最大值时n所对应的时延即为3路声音信号x2(n)、x3(n)、x4(n)与基准信号x1(n)的时延估计t12、t13、t14；设R12(n)取最大值时的n值为n12，所取声音信号的点数为N，采样频率为Fs，若n12>N/2,则
Figure PCTCN2017104201-appb-000006
若n12≤N/2，则
Figure PCTCN2017104201-appb-000007
和t14与t12计算方法一致。When D, R 12 (n), R 13 (n), and R 14 (n) take the maximum value respectively, the delay corresponding to n is 3 channels of sound signals x 2 (n), x 3 (n), x 4 (n) the time delay estimates t 12 , t 13 , t 14 with the reference signal x 1 (n); the value of n when R 12 (n) takes the maximum value is n 12 , and the number of points of the sound signal taken is N, The sampling frequency is Fs, if n 12 >N/2, then
Figure PCTCN2017104201-appb-000006
If n 12 ≤ N/2, then
Figure PCTCN2017104201-appb-000007
It is consistent with the calculation method of t 14 and t 12 .
根据本发明所优选的，所述步骤(4)中，求解声源位置，包括步骤如下：According to the preferred method of the present invention, in the step (4), the sound source position is solved, including the following steps:
a、将GPS定位模块计算的对应的四个麦克风的定位信号，包括经度、纬度、高度，从大地坐标系坐标转换到ECEF直角坐标系下坐标中的笛卡尔坐标，转换公式如式(Ⅳ)所示： a. The positioning signals of the corresponding four microphones calculated by the GPS positioning module, including the longitude, latitude and altitude, are converted from the geodetic coordinate system to the Cartesian coordinates in the coordinates of the ECEF rectangular coordinate system, and the conversion formula is as shown in formula (IV). Shown as follows:
Figure PCTCN2017104201-appb-000008
Figure PCTCN2017104201-appb-000008
式(Ⅳ)中，
Figure PCTCN2017104201-appb-000009
为ECEF直角坐标系下坐标值(xi,yi,zi)，
Figure PCTCN2017104201-appb-000010
为大地坐标系坐标，
Figure PCTCN2017104201-appb-000011
为纬度，λi为经度，hi为高度，a为椭球长半径，e为椭球第一偏心率；In formula (IV),
Figure PCTCN2017104201-appb-000009
Is the coordinate value (x i , y i , z i ) in the ECEF Cartesian coordinate system,
Figure PCTCN2017104201-appb-000010
For the coordinates of the geodetic coordinate system,
Figure PCTCN2017104201-appb-000011
For latitude, λ i is longitude, h i is height, a is the ellipsoid long radius, and e is the first eccentricity of the ellipsoid;
根据式(Ⅳ)获取对应的四个麦克风的转换后的ECEF坐标系中的笛卡尔坐标，即(x1,y1,z1)(x2,y2,z2)(x3,y3,z3)(x4,y4,z4)；Obtain the Cartesian coordinates in the converted ECEF coordinate system of the corresponding four microphones according to the formula (IV), that is, (x 1 , y 1 , z 1 ) (x 2 , y 2 , z 2 ) (x 3 , y 3 , z 3 )(x 4 , y 4 , z 4 );
b、根据广义自相关函数法计算出的时延t12、t13、t14与步骤a获取的四个麦克风的坐标(x1,y1,z1)(x2,y2,z2)(x3,y3,z3)(x4,y4,z4)，列出非线性方程组，如式(Ⅴ)所示：b. The time delays t 12 , t 13 , t 14 calculated according to the generalized autocorrelation function method and the coordinates (x 1 , y 1 , z 1 ) of the four microphones obtained in step a (x 2 , y 2 , z 2 ) ) (x 3 , y 3 , z 3 )(x 4 , y 4 , z 4 ), listing the system of nonlinear equations, as shown in equation (V):
Figure PCTCN2017104201-appb-000012
Figure PCTCN2017104201-appb-000012
式(Ⅴ)中，(x,y,z)为声源坐标；v为声音在空气中传播的速度；In the formula (V), (x, y, z) is the sound source coordinate; v is the speed at which the sound propagates in the air;
用牛顿迭代法求解声源坐标(x,y,z)；Solving the sound source coordinates (x, y, z) by Newton iteration method;
c、采用ECEF直角坐标系参数来计算声源的大地高度、大地纬度和大地经度，ECEF直角坐标系下根据在xy平面中测量的声源坐标与x轴之间的角度计算出声源的大地经度λ：当x≥0时，
Figure PCTCN2017104201-appb-000013
当x<0且y≥0时，
Figure PCTCN2017104201-appb-000014
当x<0且y<0时，
Figure PCTCN2017104201-appb-000015
(x,y,z)是指声源坐标；c. The ECEF Cartesian coordinate system parameters are used to calculate the geodetic height, the geodetic latitude and the geodetic longitude. In the ECEF Cartesian coordinate system, the sound source is calculated according to the angle between the sound source coordinates measured in the xy plane and the x-axis. Longitude λ: When x≥0,
Figure PCTCN2017104201-appb-000013
When x<0 and y≥0,
Figure PCTCN2017104201-appb-000014
When x<0 and y<0,
Figure PCTCN2017104201-appb-000015
(x, y, z) refers to the sound source coordinates;
采用由Bowring提出的一种流行且高度收敛的迭代方法Bowring演算法，求取声源的大地纬度，Using the popular and highly convergent iterative method Bowring algorithm proposed by Bowring, the geodetic latitude of the sound source is obtained.
Figure PCTCN2017104201-appb-000016
Figure PCTCN2017104201-appb-000016
式(Ⅵ)中，p、u均为迭代算法中所需变量，a为椭球长半径，b为椭球短半径；In formula (VI), p and u are the required variables in the iterative algorithm, a is the ellipsoid long radius, and b is the ellipsoid short radius;
迭代循环：Iterative loop:
Figure PCTCN2017104201-appb-000017
Figure PCTCN2017104201-appb-000017
Figure PCTCN2017104201-appb-000018
Figure PCTCN2017104201-appb-000018
直到tanu收敛，求得大地纬度
Figure PCTCN2017104201-appb-000019
Until the tanu converges, find the earth latitude
Figure PCTCN2017104201-appb-000019
求取大地高度h：当
Figure PCTCN2017104201-appb-000020
否则，
Figure PCTCN2017104201-appb-000021
上式中e′为椭球第二偏心率。 Find the height of the earth h: when
Figure PCTCN2017104201-appb-000020
otherwise,
Figure PCTCN2017104201-appb-000021
In the above formula, e' is the second eccentricity of the ellipsoid.
通过以上计算则可得出声源的在大地坐标系下的经纬度坐标
Figure PCTCN2017104201-appb-000022
Through the above calculation, the latitude and longitude coordinates of the sound source in the geodetic coordinate system can be obtained.
Figure PCTCN2017104201-appb-000022
根据本发明优选的，所述GPS定位模块通过RTK技术实时获取时间信号和定位信号。According to the preferred embodiment of the present invention, the GPS positioning module acquires the time signal and the positioning signal in real time through the RTK technology.
GPS定位模块采用RTK技术，定位的精度可以达到毫米级。GPS定位模块得到的时间和位置信息为数字信号，通过串口传输。GPS定位位置坐标作为计算声源的参考坐标，GPS定位模块的定位精度将直接影响声源位置的精度。根据计算，GPS定位模块厘米级的定位误差在200米的定位范围只会导致米级的声源定位偏移。此外，麦克风处于动态运动过程中时，GPS定位模块的定位精度和数据更新速度会影响声源定位的精度，所以本系统需采用经RTK技术的卫星定位系统，以得到更好的定位精度。The GPS positioning module uses RTK technology, and the positioning accuracy can reach millimeters. The time and position information obtained by the GPS positioning module is a digital signal and is transmitted through the serial port. The GPS positioning position coordinate is used as the reference coordinate for calculating the sound source, and the positioning accuracy of the GPS positioning module will directly affect the accuracy of the sound source position. According to the calculation, the positioning error of the centimeter level of the GPS positioning module in the positioning range of 200 meters will only result in the displacement of the sound source of the meter level. In addition, when the microphone is in the process of dynamic motion, the positioning accuracy and data update speed of the GPS positioning module will affect the accuracy of the sound source positioning. Therefore, the system needs to adopt the satellite positioning system with RTK technology to obtain better positioning accuracy.
上述声源定位方法的实现系统，包括至少4个MIC与GPS定位模块、存储模块、算法计算和系统控制模块、显示模块，至少4个所述MIC与GPS定位模块分别连接所述存储模块，所述存储模块、所述算法计算和系统控制模块、所述显示模块依次连接。The implementation system of the sound source localization method includes at least four MIC and GPS positioning modules, a storage module, an algorithm calculation and a system control module, and a display module, and at least four of the MIC and GPS positioning modules are respectively connected to the storage module. The storage module, the algorithm calculation and system control module, and the display module are sequentially connected.
根据本发明优选的，所述MIC与GPS定位模块包括麦克风及用于定位的GPS定位模块，麦克风实时获取声音信号，GPS定位模块实时获取时间信号和位置信号；所述存储模块用于存储获取的声音信号、时间信号和定位信号；所述算法计算和系统控制模块通过TDOA声音定位算法计算时延，列出方程组求解声源位置，包括声源的大地经度、大地纬度和大地高度；所述显示模块用于显示声源位置。According to the preferred embodiment of the present invention, the MIC and GPS positioning module comprises a microphone and a GPS positioning module for positioning, the microphone acquires a sound signal in real time, and the GPS positioning module acquires a time signal and a position signal in real time; the storage module is used for storing and acquiring a sound signal, a time signal, and a positioning signal; the algorithm calculation and system control module calculates a time delay by using a TDOA sound localization algorithm, and lists the equations to solve the sound source position, including the earth longitude, the earth latitude, and the earth height of the sound source; The display module is used to display the sound source location.
根据本发明优选的，所述算法处理和系统控制模块为STM32开发平台，所述显示模块为液晶显示屏，所述GPS定位模块为北斗星通UM332。According to the preferred embodiment of the present invention, the algorithm processing and system control module is an STM32 development platform, the display module is a liquid crystal display, and the GPS positioning module is a Big Dipper UM332.
本发明的有益效果为：The beneficial effects of the invention are:
1、本发明将高精度GPS定位模块与无源的声源定位方法结合起来，GPS定位模块来测得采集声音信号的麦克风的位置信息，使用于采集声音信号的麦克风阵列不再受限于固定的相对位置。1. The present invention combines a high-precision GPS positioning module with a passive sound source localization method. The GPS positioning module measures the position information of the microphone that collects the sound signal, and the microphone array used for collecting the sound signal is no longer limited by the fixed. Relative position.
2、本发明将GPS定位模块获取的定位坐标作为声源定位的参考坐标，可以直接求得声源的经纬度坐标和高度。2. The positioning coordinate acquired by the GPS positioning module is used as the reference coordinate of the sound source positioning, and the latitude and longitude coordinates and height of the sound source can be directly obtained.
3、本发明可以直接与其它需要定位数据的系统衔接。3. The present invention can be directly interfaced with other systems that require positioning data.
4、本发明采用相同的麦克风器件采集声音，极大减少声音采集器带来的误差，并且采用运算量较小的TDOA算法计算时延得到声源位置，对声音信号的幅度大小不作要求。4. The invention uses the same microphone device to collect sound, greatly reduces the error brought by the sound collector, and uses the TDOA algorithm with small calculation amount to calculate the time delay to obtain the sound source position, and does not require the amplitude of the sound signal.
5、本发明采用高精度卫星定位芯片对麦克风进行定位，得到麦克风采集声音时的高精度经纬度坐标，进而可以求得声源的经纬度坐标，可以直接用于地图显示。另外此方案中，麦克风位置不需要固定，因而可以应用于移动探测场景。5. The invention adopts a high-precision satellite positioning chip to locate the microphone, obtains high-precision latitude and longitude coordinates when the microphone collects sound, and can obtain the latitude and longitude coordinates of the sound source, which can be directly used for map display. In addition, in this scheme, the microphone position does not need to be fixed, and thus can be applied to a motion detection scene.
附图说明 DRAWINGS
图1为本发明基于高精度GPS的声源定位方法的实现系统的结构框图；1 is a structural block diagram of an implementation system of a sound source localization method based on high precision GPS according to the present invention;
具体实施方式Detailed ways
下面结合说明书附图和实施例对本发明作进一步限定，但不限于此。The present invention is further limited by the following description of the drawings and the embodiments, but is not limited thereto.
实施例1Example 1
一种基于高精度GPS的声源定位方法，包括步骤如下：A sound source localization method based on high precision GPS, including the following steps:
(1)在声源定位的监控区域随意放置麦克风组成麦克风阵列，麦克风阵列中的每个麦克风上安装有GPS定位模块，麦克风阵列中4个麦克风处于同时工作状态且采集到有效的声音信号；(1) arbitrarily placing the microphones in the monitoring area of the sound source to form a microphone array, and each microphone in the microphone array is equipped with a GPS positioning module, and four microphones in the microphone array are in a working state at the same time and an effective sound signal is collected;
(2)麦克风阵列中处于工作状态的麦克风实时获取声音信号，麦克风阵列中处于工作状态的麦克风上安装的GPS定位模块实时获取位置信号，捕获的位置信号为NMEA-0183格式，从位置信号中提取出时间信号与定位信号即可计算各个麦克风采集声音信号的时间和地点，将获取的声音信号、时间信号和定位信号转换为统一格式的数字信号；(2) The microphone in the working state of the microphone array acquires the sound signal in real time, and the GPS positioning module installed on the microphone in the working state of the microphone array acquires the position signal in real time, and the captured position signal is in the NMEA-0183 format, and is extracted from the position signal. The time signal and the positioning signal can be used to calculate the time and place of the sound signals collected by each microphone, and convert the obtained sound signal, time signal and positioning signal into a digital signal of a unified format;
(3)将步骤(2)获取的声音信号、时间信号和定位信号进行存储；(3) storing the sound signal, the time signal, and the positioning signal obtained in step (2);
(4)根据指令获取步骤(3)中存储的对应的数据，通过TDOA声音定位算法计算时延，列出方程组求解声源位置，包括声源的经度、纬度和高度；(4) According to the instruction to obtain the corresponding data stored in step (3), calculate the delay by the TDOA sound localization algorithm, and list the equations to solve the sound source position, including the longitude, latitude and height of the sound source;
通过TDOA声音定位算法计算时延，包括步骤如下：The delay is calculated by the TDOA sound localization algorithm, including the following steps:
A、分别取出同一时间段内的4路声音信号，即：x1(n)、x2(n)、x3(n)、x4(n)，n为数字信号中采样点的序号，将4路声音信号进行加窗预滤波处理，消除噪声，经傅立叶变换到频域，即：X1(k)，X2(k)，X3(k)，X4(k)，k为与n对应的数字信号中采样点的序号，n与k皆为整数；A. Take out 4 channels of sound signals in the same time period, namely: x 1 (n), x 2 (n), x 3 (n), x 4 (n), where n is the serial number of the sampling point in the digital signal. The 4-way sound signal is windowed and pre-filtered to eliminate noise and transform into the frequency domain by Fourier transform, namely: X 1 (k), X 2 (k), X 3 (k), X 4 (k), k The serial number of the sampling point in the digital signal corresponding to n, n and k are integers;
B、第一路声音信号x1(n)作为基准信号，分别计算X1(k)与X2(k)、X1(k)与X3(k)、X1(k)与X4(k)的互功率谱，即G12(k)、G13(k)、G14(k)，对互功率谱G12(k)、G13(k)、G14(k)进行PHAT加权操作，如式(Ⅰ)、(Ⅱ)、(Ⅲ)所示：B. The first path sound signal x 1 (n) is used as a reference signal to calculate X 1 (k) and X 2 (k), X 1 (k) and X 3 (k), X 1 (k) and X 4 respectively. (k) cross-power spectrum, ie G 12 (k), G 13 (k), G 14 (k), PHAT for the mutual power spectrum G 12 (k), G 13 (k), G 14 (k) Weighted operations, as shown in equations (I), (II), (III):
Figure PCTCN2017104201-appb-000023
Figure PCTCN2017104201-appb-000023
Figure PCTCN2017104201-appb-000024
Figure PCTCN2017104201-appb-000024
Figure PCTCN2017104201-appb-000025
Figure PCTCN2017104201-appb-000025
式(Ⅰ)、(Ⅱ)、(Ⅲ)中，
Figure PCTCN2017104201-appb-000026
为X1(k)的共轭，
Figure PCTCN2017104201-appb-000027
为式(Ⅰ)的PHAT加权函数；In formula (I), (II), (III),
Figure PCTCN2017104201-appb-000026
For the conjugate of X 1 (k),
Figure PCTCN2017104201-appb-000027
Is the PHAT weighting function of formula (I);
C、将互功率谱G12(k)、G13(k)、G14(k)逆变换到频域，得到对应的广义互相关函数R12(n),R13(n),R14(n)；C. Inversely transform the cross power spectra G 12 (k), G 13 (k), and G 14 (k) into the frequency domain to obtain a corresponding generalized cross-correlation function R 12 (n), R 13 (n), R 14 (n);
D、R12(n),R13(n),R14(n)分别取最大值时n所对应的时延即为3路声音信号x2(n)、x3(n)、x4(n) 与基准信号x1(n)的时延估计t12、t13、t14；设R12(n)取最大值时的n值为n12，所取声音信号的点数为N，采样频率为Fs，若n12>N/2,则
Figure PCTCN2017104201-appb-000028
若n12≤N/2，则
Figure PCTCN2017104201-appb-000029
和t14与t12计算方法一致。When D, R 12 (n), R 13 (n), and R 14 (n) take the maximum value respectively, the delay corresponding to n is 3 channels of sound signals x 2 (n), x 3 (n), x 4 (n) The time delay estimates t 12 , t 13 , t 14 with the reference signal x 1 (n); the value of n when R 12 (n) takes the maximum value is n 12 , and the number of points of the sound signal taken is N, The sampling frequency is Fs, if n 12 >N/2, then
Figure PCTCN2017104201-appb-000028
If n 12 ≤ N/2, then
Figure PCTCN2017104201-appb-000029
It is consistent with the calculation method of t 14 and t 12 .
求解声源位置，包括步骤如下：Solve the sound source location, including the following steps:
a、将GPS定位模块计算的对应的四个麦克风的定位信号，包括经度、纬度、高度，从大地坐标系坐标转换到ECEF直角坐标系下坐标中的笛卡尔坐标，转换公式如式(Ⅳ)所示：a. The positioning signals of the corresponding four microphones calculated by the GPS positioning module, including the longitude, latitude and altitude, are converted from the geodetic coordinate system to the Cartesian coordinates in the coordinates of the ECEF rectangular coordinate system, and the conversion formula is as shown in formula (IV). Shown as follows:
Figure PCTCN2017104201-appb-000030
Figure PCTCN2017104201-appb-000030
式(Ⅳ)中，
Figure PCTCN2017104201-appb-000031
为ECEF直角坐标系下坐标值(xi,yi,zi)，
Figure PCTCN2017104201-appb-000032
为大地坐标系坐标，
Figure PCTCN2017104201-appb-000033
为纬度，λi为经度，hi为高度，a为椭球长半径，e为椭球第一偏心率；In formula (IV),
Figure PCTCN2017104201-appb-000031
Is the coordinate value (x i , y i , z i ) in the ECEF Cartesian coordinate system,
Figure PCTCN2017104201-appb-000032
For the coordinates of the geodetic coordinate system,
Figure PCTCN2017104201-appb-000033
For latitude, λ i is longitude, h i is height, a is the ellipsoid long radius, and e is the first eccentricity of the ellipsoid;
根据式(Ⅳ)获取对应的四个麦克风的转换后的ECEF坐标系中的笛卡尔坐标，即(x1,y1,z1)(x2,y2,z2)(x3,y3,z3)(x4,y4,z4)；Obtain the Cartesian coordinates in the converted ECEF coordinate system of the corresponding four microphones according to the formula (IV), that is, (x 1 , y 1 , z 1 ) (x 2 , y 2 , z 2 ) (x 3 , y 3 , z 3 )(x 4 , y 4 , z 4 );
b、根据广义自相关函数法计算出的时延t12、t13、t14与步骤a获取的四个麦克风的坐标(x1,y1,z1)(x2,y2,z2)(x3,y3,z3)(x4,y4,z4)，列出非线性方程组，如式(Ⅴ)所示：b. The time delays t 12 , t 13 , t 14 calculated according to the generalized autocorrelation function method and the coordinates (x 1 , y 1 , z 1 ) of the four microphones obtained in step a (x 2 , y 2 , z 2 ) ) (x 3 , y 3 , z 3 )(x 4 , y 4 , z 4 ), listing the system of nonlinear equations, as shown in equation (V):
Figure PCTCN2017104201-appb-000034
Figure PCTCN2017104201-appb-000034
式(Ⅴ)中，(x,y,z)为声源坐标；v为声音在空气中传播的速度；In the formula (V), (x, y, z) is the sound source coordinate; v is the speed at which the sound propagates in the air;
用牛顿迭代法求解声源坐标(x,y,z)；Solving the sound source coordinates (x, y, z) by Newton iteration method;
c、采用ECEF直角坐标系参数来计算声源的大地高度、大地纬度和大地经度，ECEF直角坐标系下根据在xy平面中测量的声源坐标与x轴之间的角度计算出声源的大地经度λ：当x≥0时，
Figure PCTCN2017104201-appb-000035
当x<0且y≥0时，
Figure PCTCN2017104201-appb-000036
当x<0且y<0时，
Figure PCTCN2017104201-appb-000037
(x,y,z)是指声源坐标；c. The ECEF Cartesian coordinate system parameters are used to calculate the geodetic height, the geodetic latitude and the geodetic longitude. In the ECEF Cartesian coordinate system, the sound source is calculated according to the angle between the sound source coordinates measured in the xy plane and the x-axis. Longitude λ: When x≥0,
Figure PCTCN2017104201-appb-000035
When x<0 and y≥0,
Figure PCTCN2017104201-appb-000036
When x<0 and y<0,
Figure PCTCN2017104201-appb-000037
(x, y, z) refers to the sound source coordinates;
采用由Bowring提出的一种流行且高度收敛的迭代方法Bowring演算法，求取声源的大地纬度，Using the popular and highly convergent iterative method Bowring algorithm proposed by Bowring, the geodetic latitude of the sound source is obtained.
Figure PCTCN2017104201-appb-000038
Figure PCTCN2017104201-appb-000038
式(Ⅵ)中，p、u均为迭代算法中所需变量，a为椭球长半径，b为椭球短半径；In formula (VI), p and u are the required variables in the iterative algorithm, a is the ellipsoid long radius, and b is the ellipsoid short radius;
迭代循环： Iterative loop:
Figure PCTCN2017104201-appb-000039
Figure PCTCN2017104201-appb-000039
Figure PCTCN2017104201-appb-000040
Figure PCTCN2017104201-appb-000040
直到tan u收敛，求得大地纬度
Figure PCTCN2017104201-appb-000041
Until the tan u converges, find the earth latitude
Figure PCTCN2017104201-appb-000041
求取大地高度h：当
Figure PCTCN2017104201-appb-000042
否则，
Figure PCTCN2017104201-appb-000043
上式中e′为椭球第二偏心率。Find the height of the earth h: when
Figure PCTCN2017104201-appb-000042
otherwise,
Figure PCTCN2017104201-appb-000043
In the above formula, e' is the second eccentricity of the ellipsoid.
通过以上计算则可得出声源的在大地坐标系下的经纬度坐标
Figure PCTCN2017104201-appb-000044
Through the above calculation, the latitude and longitude coordinates of the sound source in the geodetic coordinate system can be obtained.
Figure PCTCN2017104201-appb-000044
(5)将步骤(4)中计算的声源位置进行显示。(5) Display the position of the sound source calculated in the step (4).
GPS定位模块通过RTK技术实时获取时间信号和定位信号。The GPS positioning module acquires time signals and positioning signals in real time through RTK technology.
GPS定位模块采用RTK技术，定位的精度可以达到毫米级。GPS定位模块得到的时间和位置信息为数字信号，通过串口传输。GPS定位位置坐标作为计算声源的参考坐标，GPS定位模块的定位精度将直接影响声源位置的精度。根据计算，GPS定位模块厘米级的定位误差在200米的定位范围只会导致米级的声源定位偏移。此外，麦克风处于动态运动过程中时，GPS定位模块的定位精度和数据更新速度会影响声源定位的精度，所以本系统需采用经RTK技术的卫星定位系统，以得到更好的定位精度。The GPS positioning module uses RTK technology, and the positioning accuracy can reach millimeters. The time and position information obtained by the GPS positioning module is a digital signal and is transmitted through the serial port. The GPS positioning position coordinate is used as the reference coordinate for calculating the sound source, and the positioning accuracy of the GPS positioning module will directly affect the accuracy of the sound source position. According to the calculation, the positioning error of the centimeter level of the GPS positioning module in the positioning range of 200 meters will only result in the displacement of the sound source of the meter level. In addition, when the microphone is in the process of dynamic motion, the positioning accuracy and data update speed of the GPS positioning module will affect the accuracy of the sound source positioning. Therefore, the system needs to adopt the satellite positioning system with RTK technology to obtain better positioning accuracy.
实施例2Example 2
实施例1所述的声源定位方法的实现系统，如图1所示，包括4个MIC与GPS定位模块、存储模块、算法计算和系统控制模块、显示模块，4个MIC与GPS定位模块分别连接存储模块，所述存储模块、算法计算和系统控制模块、显示模块依次连接。The implementation system of the sound source localization method described in Embodiment 1, as shown in FIG. 1 , includes four MIC and GPS positioning modules, a storage module, an algorithm calculation and a system control module, a display module, and four MIC and GPS positioning modules respectively. The storage module is connected, and the storage module, the algorithm calculation, the system control module, and the display module are sequentially connected.
MIC与GPS定位模块包括麦克风及用于定位的GPS定位模块，麦克风实时获取声音信号，GPS定位模块实时获取时间信号和位置信号；存储模块用于存储获取的声音信号、时间信号和定位信号；算法计算和系统控制模块通过TDOA声音定位算法计算时延，列出方程组求解声源位置，包括声源的大地经度、大地纬度和大地高度；显示模块用于显示声源位置。The MIC and GPS positioning module comprises a microphone and a GPS positioning module for positioning, the microphone acquires a sound signal in real time, the GPS positioning module acquires a time signal and a position signal in real time; the storage module is configured to store the acquired sound signal, time signal and positioning signal; The calculation and system control module calculates the delay by the TDOA sound localization algorithm, and lists the equations to solve the sound source position, including the geodesic longitude, the earth latitude and the earth height; the display module is used to display the sound source position.
算法处理和系统控制模块为STM32开发平台，所述显示模块为液晶显示屏，所述GPS定位模块为北斗星通UM332。The algorithm processing and system control module is a STM32 development platform, the display module is a liquid crystal display, and the GPS positioning module is a Big Dipper UM332.
对比例1Comparative example 1
根据实施例1所述的一种基于高精度GPS的声源定位方法，其区别在于，在声源定位的监控区域构成相对固定的麦克风阵列，对单一声源进行定位，麦克风阵列包括四路MIC，采集声音的麦克风为模拟MEMS MIC，具体包括以下步骤：According to a high-precision GPS-based sound source localization method according to Embodiment 1, the difference is that a relatively fixed microphone array is formed in the monitoring area of the sound source localization, and a single sound source is positioned, and the microphone array includes four MICs. The microphone for collecting sound is an analog MEMS MIC, which specifically includes the following steps:
(1)四路MIC采集四路声音信号，采用两级放大电路对模拟信号进行50倍放大，并直流垫 高至1.28v，ADC进行40kHz频率的AD采样。卫星定位系统进行定位，通过串口将位置信息导出。(1) Four-way MIC collects four channels of sound signals, and uses a two-stage amplifier circuit to perform 50-fold amplification of the analog signals, and a DC pad. Up to 1.28v, the ADC performs AD sampling at 40kHz. The satellite positioning system performs positioning and derives the location information through the serial port.
(2)将声音信号、位置信号和时间信号传输至存储模块。为了便于对声音信号的存储，每4MB为一个存储文件。(2) The sound signal, the position signal, and the time signal are transmitted to the storage module. In order to facilitate the storage of sound signals, every 4MB is a storage file.
(3)采用STM32作为计算控制模块，将四路所需的声音信号片段取出，通过广义自相关函数法进行时延计算得出t12，t13，t14三个时延估计。(3) Using STM32 as the calculation control module, the four required sound signal segments are taken out, and the time delay is calculated by the generalized autocorrelation function method to obtain three time delay estimates t 12 , t 13 and t 14 .
(4)将MIC的定位坐标信息取出，此时坐标为WGS-84大地坐标系下坐标，将此坐标系下的距离转换为ECEF地心坐标系下坐标。结合4个MIC坐标和三个时延估计，列出线性方程组。(4) Take out the positioning coordinate information of the MIC. At this time, the coordinates are the coordinates of the WGS-84 geodetic coordinate system, and the distance under this coordinate system is converted into the coordinates of the ECEF geocentric coordinate system. Combining 4 MIC coordinates and three delay estimates, the linear equations are listed.
(5)然后采用牛顿迭代法求解三元非线性方程组坐标。(5) Then use Newton iteration method to solve the coordinates of the ternary nonlinear equations.
(6)再将此坐标转回WGS-84坐标，在液晶显示屏下显示。(6) Transfer this coordinate back to the WGS-84 coordinates and display it under the LCD.
对比例2Comparative example 2
根据实施例1所述的一种基于高精度GPS的声源定位方法，其区别在于，在声源定位的监控区域构成相对固定的麦克风阵列，对单一声源进行定位，麦克风阵列包括四路MIC，采集声音的麦克风为模拟MEMS MIC，具体包括以下步骤：According to a high-precision GPS-based sound source localization method according to Embodiment 1, the difference is that a relatively fixed microphone array is formed in the monitoring area of the sound source localization, and a single sound source is positioned, and the microphone array includes four MICs. The microphone for collecting sound is an analog MEMS MIC, which specifically includes the following steps:
(1)四路MIC采集四路声音信号，数字MIC时钟设为1.024MHz，输出为PDM信号，经语音处理芯片FM34-395经采样装换成16位的PCM信号。卫星定位系统进行定位，通过串口将位置信息导出。(1) The four-way MIC collects four channels of sound signals. The digital MIC clock is set to 1.024MHz, and the output is a PDM signal. The voice processing chip FM34-395 is sampled and replaced with a 16-bit PCM signal. The satellite positioning system performs positioning and derives the location information through the serial port.
(2)将声音信号、位置信号和时间信号传输至存储模块。为了便于对声音信号的存储，每4MB为一个存储文件。(2) The sound signal, the position signal, and the time signal are transmitted to the storage module. In order to facilitate the storage of sound signals, every 4MB is a storage file.
(3)采用STM32作为计算控制模块，将四路所需的声音信号片段取出，通过广义自相关函数法进行时延估计计算得出t12，t13，t14三个时延估计；(3) Using STM32 as the calculation control module, take out the four required sound signal segments, and calculate the delay estimates by t = 12 , t 13 and t 14 by the generalized autocorrelation function method.
(4)将MIC的定位坐标信息取出，此时坐标为WGS-84将此坐标系下的距离转换为ECEF地心坐标系下坐标。结合4个MIC坐标和三个时延估计，列出线性方程组。(4) Take out the positioning coordinate information of the MIC. At this time, the coordinate is WGS-84, and the distance under this coordinate system is converted into the coordinate of the ECEF geocentric coordinate system. Combining 4 MIC coordinates and three delay estimates, the linear equations are listed.
(5)然后采用牛顿迭代法求解三元非线性方程组坐标。(5) Then use Newton iteration method to solve the coordinates of the ternary nonlinear equations.
(6)再将此坐标转回大地坐标，在液晶显示屏下显示。(6) Then turn this coordinate back to the geodetic coordinates and display it under the LCD.
对比例3Comparative example 3
根据对比例2所述的一种基于高精度GPS的声源定位方法，其区别在于，四路MIC的数字MIC时钟设为2.475MHz，并对目标声源进行定位。According to a high-precision GPS-based sound source localization method according to the second aspect, the difference is that the digital MIC clock of the four-way MIC is set to 2.475 MHz, and the target sound source is positioned.
对比例4：Comparative example 4:
根据对比例2所述的一种基于高精度GPS的声源定位系统，其区别在于，设定六路声音采集模块，任意四路进行组网，对目标声源的定位估计求取平均值。 According to a high-precision GPS-based sound source localization system according to the second aspect, the difference is that a six-way sound collection module is set, and any four paths are used for networking, and an average value is obtained for the target sound source.
根据实施例1、对比例1-4验证，声音采集模块采集声音时基于固定麦克风阵列还是随意放置声源定位的精度影响不大，极大保证了声源定位系统的灵活性。采用模拟MIC采集声音时，放大器、ADC引入的噪声偏大，定位精度不如采用数字MIC的声源定位系统。提高声音的采样频率，确实能在一定程度上提高声源定位的精度，但也相应增加了数据的存储量和运算量。 According to the first embodiment and the comparative example 1-4, the accuracy of the sound collection module based on the fixed microphone array or the random placement of the sound source is small, which greatly ensures the flexibility of the sound source localization system. When the sound is collected by the analog MIC, the noise introduced by the amplifier and the ADC is too large, and the positioning accuracy is not as good as that of the sound source positioning system using the digital MIC. Increasing the sampling frequency of the sound does improve the accuracy of the sound source positioning to a certain extent, but also increases the amount of data storage and the amount of calculation.

Claims (7)

  1. 一种基于高精度GPS的声源定位方法，其特征在于，包括步骤如下：A sound source localization method based on high-precision GPS, characterized in that the steps are as follows:
    (1)在声源定位的监控区域随意放置麦克风组成麦克风阵列，麦克风阵列中的每个麦克风上安装有GPS定位模块，麦克风阵列中至少4个麦克风处于同时工作状态且采集到有效的声音信号；(1) arbitrarily placing a microphone in the monitoring area of the sound source to form a microphone array, and each microphone in the microphone array is equipped with a GPS positioning module, and at least four microphones in the microphone array are in a working state at the same time and an effective sound signal is collected;
    (2)麦克风阵列中处于工作状态的麦克风实时获取声音信号，麦克风阵列中处于工作状态的麦克风上安装的GPS定位模块实时获取位置信号，捕获的位置信号为NMEA-0183格式，从位置信号中提取出时间信号与定位信号即可计算各个麦克风采集声音信号的时间和地点，将获取的声音信号、时间信号和定位信号转换为统一格式的数字信号；(2) The microphone in the working state of the microphone array acquires the sound signal in real time, and the GPS positioning module installed on the microphone in the working state of the microphone array acquires the position signal in real time, and the captured position signal is in the NMEA-0183 format, and is extracted from the position signal. The time signal and the positioning signal can be used to calculate the time and place of the sound signals collected by each microphone, and convert the obtained sound signal, time signal and positioning signal into a digital signal of a unified format;
    (3)将步骤(2)获取的声音信号、时间信号和定位信号进行存储；(3) storing the sound signal, the time signal, and the positioning signal obtained in step (2);
    (4)根据指令获取步骤(3)中存储的对应的数据，通过TDOA声音定位算法计算时延，列出方程组求解声源位置，包括声源的经度、纬度和高度；(4) According to the instruction to obtain the corresponding data stored in step (3), calculate the delay by the TDOA sound localization algorithm, and list the equations to solve the sound source position, including the longitude, latitude and height of the sound source;
    (5)将步骤(4)中计算的声源位置进行显示。(5) Display the position of the sound source calculated in the step (4).
  2. 根据权利要求1所述的一种基于高精度GPS的声源定位方法，其特征在于，所述步骤(4)中，通过TDOA声音定位算法计算时延，即采用TDOA声音定位算法中的广义自相关函数法进行时延计算，包括步骤如下：The sound source localization method based on high-precision GPS according to claim 1, wherein in the step (4), the delay is calculated by the TDOA sound localization algorithm, that is, the generalized self in the TDOA sound localization algorithm is used. The correlation function method performs delay calculation, including the following steps:
    A、分别取出同一时间段内的4路声音信号，即：x1(n)、x2(n)、x3(n)、x4(n)，n为数字信号中采样点的序号，将4路声音信号进行加窗预滤波处理，消除噪声，经傅立叶变换到频域，即：X1(k)，X2(k)，X3(k)，X4(k)，k为与n对应的数字信号中采样点的序号，n与k皆为整数；A. Take out 4 channels of sound signals in the same time period, namely: x 1 (n), x 2 (n), x 3 (n), x 4 (n), where n is the serial number of the sampling point in the digital signal. The 4-way sound signal is windowed and pre-filtered to eliminate noise and transform into the frequency domain by Fourier transform, namely: X 1 (k), X 2 (k), X 3 (k), X 4 (k), k The serial number of the sampling point in the digital signal corresponding to n, n and k are integers;
    B、第一路声音信号x1(n)作为基准信号，分别计算X1(k)与X2(k)、X1(k)与X3(k)、X1(k)与X4(k)的互功率谱，即G12(k)、G13(k)、G14(k)，对互功率谱G12(k)、G13(k)、G14(k)进行PHAT加权操作，如式(I)、(II)、(III)所示：B. The first path sound signal x 1 (n) is used as a reference signal to calculate X 1 (k) and X 2 (k), X 1 (k) and X 3 (k), X 1 (k) and X 4 respectively. (k) cross-power spectrum, ie G 12 (k), G 13 (k), G 14 (k), PHAT for the mutual power spectrum G 12 (k), G 13 (k), G 14 (k) Weighted operations, as shown in equations (I), (II), (III):
    Figure PCTCN2017104201-appb-100001
    Figure PCTCN2017104201-appb-100001
    Figure PCTCN2017104201-appb-100002
    Figure PCTCN2017104201-appb-100002
    Figure PCTCN2017104201-appb-100003
    Figure PCTCN2017104201-appb-100003
    式(I)、(II)、(III)中，
    Figure PCTCN2017104201-appb-100004
    为X1(k)的共轭，
    Figure PCTCN2017104201-appb-100005
    为式(I)的PHAT加权函数；    In formula (I), (II), (III),
    Figure PCTCN2017104201-appb-100004
    For the conjugate of X 1 (k),
    Figure PCTCN2017104201-appb-100005
    Is the PHAT weighting function of formula (I);
    C、将互功率谱G12(k)、G13(k)、G14(k)逆变换到频域，得到对应的广义互相关函数R12(n)，R13(n)，R14(n)；C. Inversely transform the cross power spectra G 12 (k), G 13 (k), and G 14 (k) into the frequency domain to obtain a corresponding generalized cross-correlation function R 12 (n), R 13 (n), R 14 (n);
    D、R12(n)，R13(n)，R14(n)分别取最大值时n所对应的时延即为3路声音信号x2(n)、x3(n)、x4(n)与基准信号x1(n)的时延估计t12、t13、t14；设R12(n)取最大值时的n值为n12，所取声音信号的点 数为N，采样频率为Fs，若n12＞N/2，则
    Figure PCTCN2017104201-appb-100006
    若n12≤N/2，则
    Figure PCTCN2017104201-appb-100007
    t13和t14与t12计算方法相同。    When D, R 12 (n), R 13 (n), and R 14 (n) take the maximum value respectively, the delay corresponding to n is 3 channels of sound signals x 2 (n), x 3 (n), x 4 (n) the time delay estimates t 12 , t 13 , t 14 with the reference signal x 1 (n); the value of n when R 12 (n) takes the maximum value is n 12 , and the number of points of the sound signal taken is N, The sampling frequency is Fs, if n 12 >N/2, then
    Figure PCTCN2017104201-appb-100006
    If n 12 ≤ N/2, then
    Figure PCTCN2017104201-appb-100007
    t 13 and t 14 are the same as t 12 .
  3. 根据权利要求2所述的一种基于高精度GPS的声源定位方法，其特征在于，所述步骤(4)中，求解声源位置，包括步骤如下：The sound source localization method based on high precision GPS according to claim 2, wherein in the step (4), the sound source position is solved, including the following steps:
    a、将GPS定位模块计算的对应的四个麦克风的定位信号，包括经度、纬度、高度，从大地坐标系坐标转换到ECEF直角坐标系下坐标中的笛卡尔坐标，转换公式如式(IV)所示：a. The positioning signals of the corresponding four microphones calculated by the GPS positioning module, including the longitude, latitude and altitude, are converted from the geodetic coordinate system to the Cartesian coordinates in the coordinates of the ECEF rectangular coordinate system, and the conversion formula is as shown in formula (IV). Shown as follows:
    Figure PCTCN2017104201-appb-100008
    Figure PCTCN2017104201-appb-100008
    式(IV)中，
    Figure PCTCN2017104201-appb-100009
    为ECEF直角坐标系下坐标值(xi，yi，zi)，
    Figure PCTCN2017104201-appb-100010
    为大地坐标系坐标，
    Figure PCTCN2017104201-appb-100011
    为纬度，λi为经度，hi为高度，a为椭球长半径，e为椭球第一偏心率；    In formula (IV),
    Figure PCTCN2017104201-appb-100009
    Is the coordinate value (x i , y i , z i ) in the ECEF Cartesian coordinate system,
    Figure PCTCN2017104201-appb-100010
    For the coordinates of the geodetic coordinate system,
    Figure PCTCN2017104201-appb-100011
    For latitude, λ i is longitude, h i is height, a is the ellipsoid long radius, and e is the first eccentricity of the ellipsoid;
    根据式(IV)获取对应的四个麦克风的转换后的ECEF坐标系中的笛卡尔坐标，即(x1，y1，z1)(x2，y2，z2)(x3，y3，z3)(x4，y4，z4)；Obtain the Cartesian coordinates in the converted ECEF coordinate system of the corresponding four microphones according to the formula (IV), that is, (x 1 , y 1 , z 1 ) (x 2 , y 2 , z 2 ) (x 3 , y 3 , z 3 )(x 4 , y 4 , z 4 );
    b、根据广义自相关函数法计算出的时延t12、t13、t14与步骤a获取的四个麦克风的坐标(x1，y1，z1)(x2，y2，z2)(x3，y3，z3)(x4，y4，z4)，列出非线性方程组，如式(V)所示：b. The time delays t 12 , t 13 , t 14 calculated according to the generalized autocorrelation function method and the coordinates (x 1 , y 1 , z 1 ) of the four microphones obtained in step a (x 2 , y 2 , z 2 ) ) (x 3 , y 3 , z 3 )(x 4 , y 4 , z 4 ), listing the system of nonlinear equations, as shown in equation (V):
    Figure PCTCN2017104201-appb-100012
    Figure PCTCN2017104201-appb-100012
    式(V)中，(x，y，z)为声源坐标；v为声音在空气中传播的速度；In the formula (V), (x, y, z) is the sound source coordinate; v is the speed at which the sound propagates in the air;
    用牛顿迭代法求解声源坐标(x，y，z)；Solving the sound source coordinates (x, y, z) by Newton iteration method;
    c、采用ECEF直角坐标系参数来计算声源的大地高度、大地纬度和大地经度，ECEF直角坐标系下根据在xy平面中测量的声源坐标与x轴之间的角度计算出声源的大地经度λ：当x≥0时，
    Figure PCTCN2017104201-appb-100013
    当x＜0且y≥0时，
    Figure PCTCN2017104201-appb-100014
    当x＜0且y＜0时，
    Figure PCTCN2017104201-appb-100015
    (x，y，z)是指声源坐标；    c. The ECEF Cartesian coordinate system parameters are used to calculate the geodetic height, the geodetic latitude and the geodetic longitude. In the ECEF Cartesian coordinate system, the sound source is calculated according to the angle between the sound source coordinates measured in the xy plane and the x-axis. Longitude λ: When x≥0,
    Figure PCTCN2017104201-appb-100013
    When x<0 and y≥0,
    Figure PCTCN2017104201-appb-100014
    When x<0 and y<0,
    Figure PCTCN2017104201-appb-100015
    (x, y, z) refers to the sound source coordinates;
    采用Bowring演算法，求取声源的大地纬度，Using the Bowring algorithm to find the geodetic latitude of the sound source,
    Figure PCTCN2017104201-appb-100016
    Figure PCTCN2017104201-appb-100016
    式(VI)中，p、u均为迭代算法中所需变量，a为椭球长半径，b为椭球短半径；In formula (VI), p and u are the required variables in the iterative algorithm, a is the ellipsoid long radius, and b is the ellipsoid short radius;
    迭代循环： Iterative loop:
    Figure PCTCN2017104201-appb-100017
    Figure PCTCN2017104201-appb-100017
    Figure PCTCN2017104201-appb-100018
    Figure PCTCN2017104201-appb-100018
    直到tan u收敛，求得大地纬度
    Figure PCTCN2017104201-appb-100019
    Until the tan u converges, find the earth latitude
    Figure PCTCN2017104201-appb-100019
    求取大地高度h：当
    Figure PCTCN2017104201-appb-100020
    否则，
    Figure PCTCN2017104201-appb-100021
    上式中e′为椭球第二偏心率；    Find the height of the earth h: when
    Figure PCTCN2017104201-appb-100020
    otherwise,
    Figure PCTCN2017104201-appb-100021
    In the above formula, e' is the second eccentricity of the ellipsoid;
    通过以上计算则可得出声源的在大地坐标系下的经纬度坐标
    Figure PCTCN2017104201-appb-100022
    Through the above calculation, the latitude and longitude coordinates of the sound source in the geodetic coordinate system can be obtained.
    Figure PCTCN2017104201-appb-100022
  4. 根据权利要求1所述的一种基于高精度GPS的声源定位方法，其特征在于，所述GPS定位模块通过RTK技术实时获取时间信号和定位信号。The sound source localization method based on high precision GPS according to claim 1, wherein the GPS positioning module acquires a time signal and a positioning signal in real time through an RTK technology.
  5. 权利要求1-4任一所述声源定位方法的实现系统，其特征在于，包括至少4个MIC与GPS定位模块、存储模块、算法计算和系统控制模块、显示模块，至少4个所述MIC与GPS定位模块分别连接所述存储模块，所述存储模块、所述算法计算和系统控制模块、所述显示模块依次连接。The system for implementing a sound source localization method according to any one of claims 1 to 4, comprising at least four MIC and GPS positioning modules, a storage module, an algorithm calculation and system control module, a display module, and at least four of said MICs. The storage module is connected to the GPS positioning module, and the storage module, the algorithm calculation and the system control module, and the display module are sequentially connected.
  6. 根据权利要求5所述的声源定位方法的实现系统，其特征在于，所述MIC与GPS定位模块包括麦克风及用于定位的GPS定位模块，麦克风实时获取声音信号，GPS定位模块实时获取时间信号和位置信号；所述存储模块用于存储获取的声音信号、时间信号和定位信号；所述算法计算和系统控制模块通过TDOA声音定位算法计算时延，列出方程组求解声源位置，包括声源的大地经度、大地纬度和大地高度；所述显示模块用于显示声源位置。The system for realizing a sound source localization method according to claim 5, wherein the MIC and GPS positioning module comprises a microphone and a GPS positioning module for positioning, the microphone acquires a sound signal in real time, and the GPS positioning module acquires a time signal in real time. And a position signal; the storage module is configured to store the acquired sound signal, the time signal, and the positioning signal; the algorithm calculation and the system control module calculate the time delay by using the TDOA sound localization algorithm, and list the equations to solve the sound source position, including the sound The ground longitude, earth latitude and earth height of the source; the display module is used to display the sound source position.
  7. 根据权利要求5所述的声源定位方法的实现系统，其特征在于，所述算法计算和系统控制模块为STM32开发平台，所述显示模块为液晶显示屏，所述GPS定位模块为北斗星通UM332。 The system for implementing a sound source localization method according to claim 5, wherein the algorithm calculation and system control module is an STM32 development platform, the display module is a liquid crystal display, and the GPS positioning module is a Big Dipper UM332. .
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