WO2019178802A1 - Procédé et dispositif d'estimation de direction du point d'origine, et appareil électronique - Google Patents

Procédé et dispositif d'estimation de direction du point d'origine, et appareil électronique Download PDF

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Publication number
WO2019178802A1
WO2019178802A1 PCT/CN2018/079993 CN2018079993W WO2019178802A1 WO 2019178802 A1 WO2019178802 A1 WO 2019178802A1 CN 2018079993 W CN2018079993 W CN 2018079993W WO 2019178802 A1 WO2019178802 A1 WO 2019178802A1
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WIPO (PCT)
Prior art keywords
microphones
arrival
bands
pair
sub
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PCT/CN2018/079993
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English (en)
Inventor
Sebastien CURDY
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Goertek Inc.
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Publication date
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Priority to PCT/CN2018/079993 priority Critical patent/WO2019178802A1/fr
Priority to CN201880000943.0A priority patent/CN108702558B/zh
Publication of WO2019178802A1 publication Critical patent/WO2019178802A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
    • H04R1/32—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only
    • H04R1/40—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers
    • H04R1/406—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired directional characteristic only by combining a number of identical transducers microphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R3/00—Circuits for transducers, loudspeakers or microphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R3/00—Circuits for transducers, loudspeakers or microphones
    • H04R3/005—Circuits for transducers, loudspeakers or microphones for combining the signals of two or more microphones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/08—Mouthpieces; Microphones; Attachments therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/10—Earpieces; Attachments therefor ; Earphones; Monophonic headphones
    • H04R1/1041—Mechanical or electronic switches, or control elements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2430/00—Signal processing covered by H04R, not provided for in its groups
    • H04R2430/20—Processing of the output signals of the acoustic transducers of an array for obtaining a desired directivity characteristic
    • H04R2430/21—Direction finding using differential microphone array [DMA]

Definitions

  • the present invention relates to the technical field of microphone, and more specifically, to a method for estimating direction of arrival, a device for estimating direction of arrival and an electronics apparatus.
  • Estimation of direction of arrival is widely used in microphone technology. For example, it can be used for uplink noise cancellation.
  • the aim of estimating direction of arrival is to determine from which angular direction a single audio point source is located relative to a microphone array.
  • the direction of arrival is represented by an angle of arrival, which is an angle between an impinging direction and a normal direction of the plane of the microphones.
  • One object of an embodiment is to provide a new technical solution for estimating direction of arrival.
  • a method for estimating direction of arrival comprising: digitalizing input audio signals from a pair of microphones in a microphone array within a certain time frame; buffering the digitalized signals; extracting multiple sub-bands from each of the buffered signals, which covers a predefined bandwidth; calculating phrase shift in each of the multiple sub-bands for the pair of microphones; performing linear regression according to the phrase shifts and frequencies of the sub-bands, to estimate an estimated relationship coefficient between the phrase shifts and the frequencies of the sub-bands corresponding to the pair of microphones; and calculating the direction of arrival through the estimated relationship coefficient for the pair of microphones.
  • a device for estimating direction of arrival comprising: an A/D converter, which converts input audio signals from a pair of microphones in a microphone array within a certain time frame into digitalized signals; a buffer, which buffers the digitalized signals; and a processing device, which performs the following processes: extracting multiple sub-bands from each of the buffered signals, which covers a predefined bandwidth; calculating phrase shift in each of the multiple sub-bands for the pair of microphones; performing linear regression according to the phrase shifts and frequencies of the sub-bands, to estimate an estimated relationship coefficient between the phrase shifts and the frequencies of the sub-bands corresponding to the pair of microphones; and calculating the direction of arrival through the estimated relationship coefficient for the pair of microphones.
  • an electronics apparatus including a device for estimating direction of arrival according to an embodiment.
  • computing resources for estimating direction of arrival can be reduced.
  • Fig. 1 is a schematic diagram showing time difference of arrival from a sound source to a microphone array.
  • Fig. 2 is a schematic graph showing the relationship between frequency components and the phase differences.
  • Fig. 3 is a schematic flow chart of a method for estimating direction of arrival according to an embodiment.
  • Fig. 4. is a schematic graph showing the relationship coefficients between frequency components and the phase differences.
  • Fig. 5 is a schematic diagram showing an exemplary processing of estimating direction of arrival.
  • Fig. 6 is a schematic block diagram of a device for estimating direction of arrival according to another embodiment.
  • Fig. 7 is a schematic diagram of an electronics apparatus to which the solution of an embodiment can be applied.
  • the waves impinging the microphone array are considered as parallel.
  • the frequency content of the impinging signal is assumed to be wideband (in the sense of the superposition of several frequencies covering a wide spectrum range) .
  • the micro array can be a linear microphone array.
  • the time difference of arrival between two microphones of the microphone array is directly correlated to a phase shift with respect to each frequency component of the impinging signal.
  • Fig 1 the sound source S emits sound waves, which impinge the microphone array.
  • the microphone array includes microphones mic1, mic2, ..., micN.
  • the angle of arrival at time t is ⁇ (t) .
  • D is the distance between the sound source S and a microphone array
  • d is the distance between two consecutive microphones of the microphone array.
  • the time difference of arrival ⁇ between two consecutive microphones can be expressed as follow:
  • the time difference of arrival ⁇ can be expressed as a phase shift difference. Let be the phase of the frequency component ⁇ at the time t of the sound signal input from the k-th microphone and let be the phase of the frequency component ⁇ at the time t of the sound signal input from the k+1-th microphone.
  • the first order phase difference can be then expressed as:
  • Fig. 3 is a schematic flow chart of a method for estimating direction of arrival between a sound source and a microphone array according to an embodiment.
  • Step S1100 digitalizing input audio signals from a pair of microphones in a microphone array within a certain time frame
  • Step S1200 buffering the digitalized signals
  • Step S1300 extracting multiple sub-bands from each of the buffered signals, which covers a predefined bandwidth
  • Step S1400 calculating phrase shift in each of the multiple sub-bands for the pair of microphones
  • Step S1500 performing linear regression according to the phrase shifts and the frequencies of the sub-bands to estimate an estimated relationship coefficient between the phrase shifts and the frequencies of the sub-bands corresponding to the pair of microphones;
  • Step S1600 calculating the direction of arrival through the estimated relationship coefficient for the pair of microphones in a microphone array.
  • the solution in this embodiment provides a new solution for calculating an angle of arrival.
  • a signal from a pair of microphones in a microphone array is divided into multiple sub-bands.
  • the obtained from respective sub-bands are linearly fitted, to obtain a fitted relationship coefficient.
  • the angle of arrival for the microphone can directly be derived form one single inverse sine transform, without performing inverse sine transforms for every sub-bands and taking mean of the obtained angles of them as an optimized angle of arrival.
  • This approach is relatively simple in computation and has a relatively low amount of data processing. The efficiency of this approach is relatively high.
  • step S1100 input audio signals from a pair of microphones in a microphone array within a certain time frame are digitalized.
  • the two microphones of the pair of microphones are consecutive.
  • the certain time frame may be in a range of 10 ⁇ 20 ms.
  • step S1200 the digitalized signals are buffered.
  • step S1300 multiple sub-bands are extracted from each of the buffered signals, which covers a predefined bandwidth.
  • a filter-bank may be used to extract the N sub-bands.
  • the filter-bank is a well-known overlap-adding FFT based method, for example, with 40%, 50%or 60%overlapping.
  • the filter-bank is an array of band-pass filters that that separates the input signal into multiple components, each one carrying a single frequency sub-band of the original signal.
  • N is a power of 2.
  • N can be chosen to be a value of the closest power of 2 (e.g. 2, 4, 8, 16, 32%) that will cover the 10-20 milliseconds time frame.
  • the FFT algorithm will be more efficient if N is a power of 2.
  • the phase can be derived, where k ⁇ [0, M-1] , M is the number of microphones in the microphone array, ⁇ [ ⁇ 0 , ⁇ N-1 ] covering a predefined bandwidth, and N is the number of sub-bands. It will be appreciated by a person skilled in the art that the sub-bands are narrow enough so that frequencies ⁇ can be used to represent them, respectively, in practice.
  • the selection of the predefined bandwidth may depend on the application of the solution and on the microphone array topology such as the number of microphones, inter-element distance and so on.
  • the application of the solution is speech.
  • a speech is contained in the bandwidth from 150Hz to 7000Hz for a high intelligibility.
  • Most of the speech energy is in the low-frequency part of this bandwidth.
  • low frequencies are less directional than high frequencies. In other words, it is more difficult to find out from which direction the low frequencies are coming than the high frequencies.
  • the plane waves propagating to adjacent microphones create delays in the microphone’s channels. These delays are translated into phase shifts for every individual frequencies of which the signals of interest are composed.
  • the distance between two microphones determines the lowest frequency whose phase shift can be measured. The closer is the distance, the smaller is the phase shift.
  • the predefined bandwidth is selected so that the distance d between the two microphones of the pair of microphones is less than half of the wavelength of the highest frequency in the N sub-bands, i.e. d ⁇ 0.5*wavelength of the highest frequency measured.
  • the distance between the two microphone is then a trade-off between the lowest frequency and highest frequency which the signal of interest contains.
  • phase shift ⁇ 1 sample time Ts 1/Fs, where Fs is the sampling rate.
  • the selection of the predefined bandwidth shall be a trade-off between microphone distance and sampling rate.
  • the predefined bandwidth is a relatively high part of the effective bandwidth of the input audio signals.
  • the effective bandwidth of the input audio signals contains effective energy of the signal, and the relatively high part is used to make the detection of the direction of arrival more accurate.
  • the effective bandwidth is in a range from 150 Hz to 7000 Hz.
  • phrase shift in each of the multiple sub-bands for the pair of microphones is calculated.
  • two adjacent microphones may be selected to derive for each of the N sub-bands.
  • This phase shift may also be called as a 1st order phase difference.
  • the phrase shifts of the N sub-bands produce a scatter of points in the plane of and ⁇ .
  • the and ⁇ are in a linear relationship.
  • the regression line between the axis and ⁇ axis is an ideal distribution of the phase shifts, and the derived are around the regression line.
  • step S1500 linear regression is performed according to the phrase shifts and frequencies of the sub-bands, to estimate an estimated relationship coefficient between the phrase shifts and the frequencies of the sub-bands corresponding to the pair of microphones.
  • the linear regression is performed according to the phrase shifts and frequencies of the sub-bands based on Least Mean Square LMS or Normalized Least Mean Square NLMS, to estimate the estimated relationship coefficient.
  • the linear regression is performed to estimate the estimated relationship coefficient based on the following relationships:
  • phase shift of each of the N sub-bands is the frequency of each of the N sub-bands is and the estimated relationship coefficient is
  • a linear regression algorithm based on a LMS or NLMS regulation control is used here in order to estimate the relationship coefficient such that the estimation will minimize the variance of the scattered points along the regression line (the line surrounded by the points in Fig. 4) .
  • an estimated relationship coefficient between frequency component and the phase shift may be obtained.
  • the estimated relationship coefficient can be deemed as the slope of the regression line.
  • the direction of arrival is calculated through the estimated relationship coefficient for the pair of microphones.
  • the direction of arrival is calculated based on the speed of sound in the air, the distance between the two microphones of the pair of microphones and the estimated relationship coefficient.
  • the direction of arrival is an estimated angle of arrival which is an angle between an impinging direction and a normal direction of the plane of the pair of microphones.
  • the direction of arrival can be calculated through the following relationship:
  • C is the speed of sound in the air
  • d is the distance between the two microphones of the pair of microphones
  • the sign of will determine whether is a positive or a negative angle.
  • the estimated relationship coefficient contains the angle information inherently, many other approaches, other than the angle of arrival, may be used to represent the direction of arrival based on the relationship coefficient.
  • a linear regression is used to take advantage of the linear relationship between the phase shift and the frequency.
  • the proportionality coefficient is first estimated and optimized and then only one single inverse sine transform is made to obtain an estimated angle of arrival Compared with the prior art, this embodiment is computationally more optimal and is also more robust to diffuse noise as explained above.
  • the microphone array includes at least two pairs of microphones.
  • Angles of arrival of the at least two pairs of microphones can be estimated as above and are The estimated angles of arrival are placed into a histogram to obtain an optimized estimated angle of arrival.
  • the histogram can be used for statistical analysis in order to ensure an angular region whose resolution is to be defined by the application and the microphone array characteristics.
  • the estimated angles of arrival obtained from the pairs of microphones are statistically processed to select the most likely angle of arrival or a scope for angle of arrival, as the direction of arrival with respect to the microphone array.
  • Fig. 5 is a schematic diagram showing an exemplary processing of estimating direction of arrival.
  • the microphone array includes three microphones mic1, mic2 and mic3.
  • the impinging waves are received by the three microphones and then are passed as input signal to the processing unit A1, A2 and A3, in which they are digitalized and buffered.
  • N sub-bands are extracted from the input signals in A1, A2 and A3.
  • phases of the N sub-bands are calculated. Based on the phases of the N sub-bands, phase shifts of the two corresponding sub-bands for mic1 and mic2, of the N sub-bands are obtained.
  • phase shifts of consecutive microphones are obtained, it will be appreciated by a person skilled in the art that phase shift of other microphones is also possible, for example, the phase shift between the first microphone mic1 and the third microphone mic3.
  • an estimated relationship coefficient is obtained through linear regression based on LMS or NLMS. Likewise, an estimated relationship coefficient is also obtained.
  • Estimated angles of arrival can be derived from the coefficients
  • Fig. 6 is a schematic block diagram of a device for estimating direction of arrival according to another embodiment. As shown in Fig. 6, the device 20 for estimating direction of arrival is connected to a microphone array 10 and receives input audio signals from the microphone array 10.
  • the device 20 for estimating direction of arrival comprises: an A/D converter 21, a buffer 22, and a processing device 23.
  • the A/D converter 21 receives input audio signals from a pair of microphones in a microphone array within a certain time frame and converts them into digitalized signals.
  • the buffer 22 buffers the digitalized signals.
  • the pair of microphones includes two adjacent microphones in the microphone array.
  • the certain time frame may be in a range of 10 ⁇ 20 ms.
  • the processing device 23 extracts multiple sub-bands from each of the buffered signals, which covers a predefined bandwidth.
  • the predefined bandwidth is a relatively high part of the effective bandwidth of the input audio signals and the effective bandwidth is in a range from 150 Hz to 7000 Hz.
  • the predefined bandwidth is selected so that the distance d between the two microphones of the pair of microphones is less than half of the wavelength of the highest frequency in the N sub-bands.
  • the predefined bandwidth may be a relatively high part of the effective bandwidth of the input audio signals.
  • N may be a power of 2..
  • the processing device 23 calculates phrase shift in each of the multiple sub-bands for the pair of microphones.
  • the processing device 23 performs linear regression according to the phrase shifts and frequencies of the sub-bands, to estimate an estimated relationship coefficient between the phrase shifts and the frequencies of the sub-bands corresponding to the pair of microphones.
  • the linear regression is performed according to the phrase shifts and frequencies of the sub-bands based on Least Mean Square LMS or Normalized Least Mean Square NLMS, to estimate the estimated relationship coefficient.
  • the linear regression is performed to estimate the estimated relationship coefficient based on the following relationships:
  • phase shift of each of the N sub-bands is the frequency of each of the N sub-bands is and the estimated relationship coefficient is
  • the processing device 23 calculates the direction of arrival through the estimated relationship coefficient for the pair of microphones. For example, the processing device 23 further performs the following process: calculating the direction of arrival based on the speed of sound in the air, the distance between the two microphones of the pair of microphones and the estimated relationship coefficient.
  • the direction of arrival is an estimated angle of arrival which is an angle between an impinging direction and a normal direction of the plane of the pair of microphones, wherein the processing device 23 calculates the direction of arrival based on the following relationship:
  • C is the speed of sound in the air
  • d is the distance between the two microphones of the pair of microphones and is the estimated relationship coefficient
  • the microphone array includes at least two pairs of microphones.
  • the processing device 23 produces estimated angles of arrival of the at least two pairs of microphones, respectively.
  • the device 20 for estimating direction of arrival further comprises a histogram unit, which receives and places them into a histogram to obtain an optimized estimated angle of arrival.
  • the components 21-23 may be implemented along or separately by software, hardware or a combination thereof.
  • a computing unit such as a CPU or a MPU and a memory storing instructions for controlling the computing unit to implement the respective functions during the running thereof.
  • a computing unit such as a CPU or a MPU and a memory storing instructions for controlling the computing unit to implement the respective functions during the running thereof.
  • they can be implemented in a programmable logic circuitry, field-programmable gate arrays (FPGA) , programmable logic arrays (PLA) , or an application-specific integrated circuit (ASIC) .
  • FPGA field-programmable gate arrays
  • PLA programmable logic arrays
  • ASIC application-specific integrated circuit
  • Fig. 7 is a schematic diagram of an electronics apparatus to which the solution of an embodiment can be applied.
  • the electronics apparatus 30 includes a device for estimating direction of arrival as above.
  • an earphone 30 is shown, and it includes a control box 31.
  • the device for estimating direction of arrival may be placed in the control box 31.
  • the electronics apparatus can be any type of electronic apparatus, such as an ear-bud, a headphone, a smart phone, a tablet, a laptop and so on.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Otolaryngology (AREA)
  • General Health & Medical Sciences (AREA)
  • Circuit For Audible Band Transducer (AREA)
  • Obtaining Desirable Characteristics In Audible-Bandwidth Transducers (AREA)

Abstract

La présente invention concerne un procédé et un dispositif d'estimation de direction du point d'origine, et un appareil électronique. Le procédé comprend les étapes consistant : à numériser des signaux audio d'entrée provenant d'une paire de microphones dans un réseau de microphones au cours d'un certain intervalle de temps ; à mettre en mémoire tampon les signaux numérisés ; à extraire de multiples sous-bandes de chacun des signaux mis en mémoire tampon, lesdites sous-bandes couvrant une bande passante prédéfinie ; à calculer des décalages de phase dans chacune des multiples sous-bandes pour la paire de microphones ; à effectuer une régression linéaire selon les décalages de phase et les fréquences des sous-bandes, afin d'estimer un coefficient de relation estimé entre les décalages de phase et les fréquences des sous-bandes correspondant à la paire de microphones ; et à calculer la direction du point d'origine au moyen du coefficient de relation estimé pour la paire de microphones.
PCT/CN2018/079993 2018-03-22 2018-03-22 Procédé et dispositif d'estimation de direction du point d'origine, et appareil électronique WO2019178802A1 (fr)

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PCT/CN2018/079993 WO2019178802A1 (fr) 2018-03-22 2018-03-22 Procédé et dispositif d'estimation de direction du point d'origine, et appareil électronique
CN201880000943.0A CN108702558B (zh) 2018-03-22 2018-03-22 用于估计到达方向的方法和装置及电子设备

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EP3267697A1 (fr) * 2016-07-06 2018-01-10 Oticon A/s Estimation de la direction d'arrivée dans des dispositifs miniatures à l'aide d'un réseau de capteurs acoustiques
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