WO2022111516A1 - 一种信号定向方法、装置及计算机可读存储介质 - Google Patents

一种信号定向方法、装置及计算机可读存储介质 Download PDF

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WO2022111516A1
WO2022111516A1 PCT/CN2021/132738 CN2021132738W WO2022111516A1 WO 2022111516 A1 WO2022111516 A1 WO 2022111516A1 CN 2021132738 W CN2021132738 W CN 2021132738W WO 2022111516 A1 WO2022111516 A1 WO 2022111516A1
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signal
value
preset
preset direction
difference
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PCT/CN2021/132738
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English (en)
French (fr)
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高威特
张楠赓
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嘉楠明芯(北京)科技有限公司
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Publication of WO2022111516A1 publication Critical patent/WO2022111516A1/zh

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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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/803—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from receiving transducers or transducer systems having differently-oriented directivity characteristics
    • 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

Definitions

  • the present invention belongs to the field of signals, and in particular relates to a signal orientation method, a device and a computer-readable storage medium.
  • Beamforming is a method of using sensor arrays to achieve spatially directional reception of signals.
  • a microphone array is used as a sensor array to receive sound signals and achieve sound source orientation.
  • a "delay-and-sum” technique is typically used to process signals in sensor arrays. That is, for each preset signal source direction, the signal received by each sensor is delayed according to the delay value corresponding to the sensor in the preset signal source direction, and then these time-delayed signals are accumulated to Accumulated signals of the preset directions are obtained, and finally, a signal with the largest amplitude is found among the accumulated signals, and the preset direction corresponding to the signal with the largest amplitude is determined as the signal source direction.
  • the present invention provides the following solutions.
  • a signal orientation method comprising: acquiring a multi-channel signal to be oriented by using a sensor array, and the sensor array includes a plurality of sensors that are centrally symmetric; for each preset direction in a plurality of preset directions, Performing the following steps: determining the first signal characteristic of the multi-channel signal in each preset direction, and the second signal characteristic in each of the described;
  • the first signal feature and the second signal feature are signal strength information.
  • processing the multi-channel signals based on a delay accumulation algorithm includes: calculating, based on each preset direction, a plurality of first delay values corresponding to the multi-channel signals respectively; performing delay compensation and accumulation on the multi-channel signals with the delay value; and determining the first signal characteristics according to the first signal strength information obtained after the accumulation; and/or, acquiring the multi-channel signals based on the opposite direction of each preset direction multiple second delay values corresponding respectively; delay compensation and accumulation are performed on the multi-channel signals according to the multiple second delay values; and second signal characteristics are determined according to the second signal strength information obtained after the accumulation.
  • the multiple preset directions are centrally symmetric
  • the method further includes: acquiring a first signal feature corresponding to another preset direction where each preset direction is centrally symmetric, as each preset direction The opposite direction of the direction corresponds to the second signal characteristic.
  • the method further includes: adjusting the value of the coefficient C based on ambient signal noise.
  • the multi-channel signals to be directed are multi-channel sound signals obtained through a microphone array.
  • a signal orientation device comprising: an acquisition module for acquiring multi-channel signals to be oriented by using a sensor array, the sensor array including a plurality of sensors that are centrally symmetric; a calculation module for For each of the preset directions, the following steps are performed: determining a first signal characteristic of the multi-channel signal based on each predetermined direction, and determining a second signal characteristic of the multi-channel signal based on the opposite direction of each predetermined direction , and determine the difference degree value between the first signal feature and the second signal feature; the determining module is configured to compare the size of the difference degree value corresponding to the plurality of preset directions, and determine from the plurality of preset directions The preset direction corresponding to the maximum difference degree value is used as the target signal direction.
  • the calculation module is further configured to: process the multi-channel signal based on a time delay accumulation algorithm to determine the first signal characteristic and the second signal characteristic of the multi-channel signal; wherein the first signal characteristic and The second signal characteristic is signal strength information.
  • the calculation module is further configured to: based on each preset direction, calculate a plurality of first delay values corresponding to the multi-channel signals respectively; Time delay compensation and accumulation; and, determining the first signal characteristics according to the first signal strength information obtained after accumulation; and/or, based on the opposite direction of each preset direction, acquiring a plurality of second time corresponding to the multi-channel signal respectively delay value; perform delay compensation and accumulation on the multi-channel signal according to the plurality of second delay values; and determine the second signal characteristic according to the second signal strength information obtained after the accumulation.
  • the plurality of preset directions are centrally symmetric
  • the computing unit is further configured to: acquire a first signal feature corresponding to another preset direction that is centrally symmetric with each preset direction, as a value based on each preset direction.
  • the second signal characteristic determined by the opposite direction of the preset directions.
  • the calculation module is further configured to: obtain the difference value D between the first signal feature and the second signal feature, and at least determine the difference degree value based on the difference value; or, obtain the first signal feature and the second signal feature
  • the calculation module is further configured to: adjust the value of the coefficient C based on the ambient signal noise.
  • the multi-channel signals to be directed are multi-channel sound signals obtained through a microphone array.
  • a signal directing apparatus comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are processed by the at least one processor The processor executes to enable at least one processor to execute: the method of the first aspect.
  • a computer-readable storage medium where a program is stored in the computer-readable storage medium, and when the program is executed by a multi-core processor, the multi-core processor executes the method of the first aspect.
  • the first signal characteristics formed in each predetermined direction by using the to-be-directed multi-channel signals are opposite to those in each predetermined direction.
  • the difference value of the second signal feature formed in the direction is used as the discrimination value of the signal orientation, which can reduce the orientation error caused by the sensor response distortion, has better adaptive anti-noise ability, and can achieve more accurate signal orientation.
  • 1 is a schematic diagram according to a sensor array
  • FIG. 2 is a schematic flowchart of a signal orientation method according to an embodiment of the present invention.
  • FIG. 3 is a schematic working diagram of a microphone array according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of signal strength information corresponding to each preset direction in FIG. 3 according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a signal directing apparatus according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a signal directing apparatus according to another embodiment of the present invention.
  • An embodiment of the present invention provides a signal orientation method.
  • the inventive concept of the method is first introduced.
  • FIG. 1 shows a sensor array, which includes 16 sensors that are centrally symmetric.
  • the sensor array is sensitive to different directions.
  • the signal response of the sensor may be different.
  • the working parts of the sensor are usually installed in the housing.
  • the physical shape of the housing will cause the sensor to respond differently to signals from different directions.
  • the signal strength will be changed to varying degrees. weakened, eventually resulting in errors in directional judgment.
  • an embodiment of the present invention provides a signal orientation method. For example, first, multiple signals to be oriented can be obtained through the sensor array shown in FIG. 1 , wherein one sensor receives one signal; Setting directions, assuming that each preset direction is a signal incident direction in turn, and performing the following steps: determining the first signal feature of the multi-channel signal based on each preset direction, and determining the multi-channel signal based on the opposite direction of each preset direction. For the second signal feature, a difference degree value between the first signal feature and the second signal feature is determined; wherein the first signal feature and the second signal feature may be feature values such as signal strength information, energy information, and the like.
  • the preset direction corresponding to the maximum difference value is determined from the multiple preset directions as the target signal direction, that is, as the target signal direction.
  • the final signal orientation result According to the present invention, the distortion degree corresponding to the sensor in the center-symmetrical direction of the sensor array has the characteristic of symmetry, and the second signal characteristic corresponding to the opposite direction of each preset direction is used to offset the first signal corresponding to the preset direction.
  • the characteristic distortion factor not only has better adaptive anti-noise ability, but also achieves more accurate signal orientation.
  • FIG. 2 is a schematic flowchart of a signal orientation method 200 according to an embodiment of the present application, which is used to implement signal orientation.
  • the execution subject may be one or more electronic devices; from a program perspective, In other words, the execution body may be a program mounted on these electronic devices accordingly.
  • the method may include:
  • Step 201 using a sensor array to acquire the multi-channel signal to be oriented
  • the sensor array includes a plurality of sensors with center symmetry, which are used for receiving signals from the signal source.
  • the sensor array includes a plurality of sensors that are symmetrical about the center. Specifically, it can be understood that there is a center point in space, and any sensor in the sensor array has another sensor at a position rotated 180 degrees around the center point.
  • Figure 1 a schematic diagram of a possible sensor array is shown, which consists of several pairs of sensors that are centrosymmetric relative to the center point, such as sensor A in the upper left corner and sensor B in the lower right corner relative to the center point Centrally symmetrical.
  • the arrangement of the plurality of sensors included in the sensor array may be a three-dimensional space array, a plane array or a linear array, which is not specifically limited in this application, as long as it consists of several pairs of sensors that are centrally symmetric with respect to the center point.
  • the sensor array is a microphone array
  • the to-be-directed multi-channel signal is a multi-channel sound signal acquired by the microphone array.
  • the multi-channel sound signal can be acquired through a center-symmetric microphone array.
  • the microphone array may be composed of two or more microphones, and the arrangement of the microphones may be any one of a three-dimensional space array, a planar array, and a linear array, as long as it includes a plurality of microphones that are centrally symmetric.
  • the sound signals collected by the plurality of microphones in the microphone array are aggregated into multi-channel sound signals, and the sound signals are digital sound signals after analog-to-digital conversion.
  • the sound signal obtained by the microphone array is used as the multi-channel signal for description.
  • the to-be-directed multi-channel signal may also be other types of signals, such as ultrasonic signals, radio frequency signals, etc. , and other types of multi-channel signals can also be signal-oriented through the technical solutions provided in the present disclosure.
  • Step 202 For each preset direction in the plurality of preset directions, perform the following sub-steps a-c to obtain the degree of difference value corresponding to each preset direction:
  • sub-step a determine the first signal feature of the multi-channel signal based on each preset direction
  • sub-step b determine the second signal feature of the multi-channel signal based on the opposite direction of each preset direction
  • sub-step c determine a difference degree value between the first signal feature and the second signal feature
  • the multiple preset directions are assumed signal incident directions.
  • the preset direction may be set as a plane direction or a space direction according to the actual situation.
  • the setting of the preset direction as the spatial direction means that the set preset direction is not limited to the same plane.
  • the arrangement of the microphones in the microphone array may not be limited to a plane, for example, a plurality of microphones are fixedly placed on a spherical microphone array chassis.
  • the multiple preset directions may be distributed in a center-symmetric manner, so that the opposite direction of each preset direction is also included in the multiple preset directions.
  • the first signal feature corresponding to another preset direction whose direction is centrally symmetric can be used as the second signal feature of the multi-channel signal determined based on the opposite direction of each preset direction, and it is not necessary to additionally calculate the second signal feature.
  • the signal direction is pre-defined within a certain angle range, for example, when the microphone array is placed on the wall of the room, only one side direction may transmit sound signals.
  • the above-mentioned preset directions can also be further defined and divided, and only preset directions directed to the microphone array from the side space range are preset.
  • the present embodiment takes a disc-shaped microphone array as an example.
  • the disc-shaped microphone includes five microphones A, B, C, D, and E, and preset directions are set equally in the microphone array plane. 1 to 8, wherein each preset direction is an assumed sound signal direction, and the preset direction groups (1, 5), (2, 6), (3, 7), (4, 8) are mutually opposite directions Group.
  • the direction of the straight line arrow in FIG. 3 represents the actual sound signal incident direction.
  • the sound signal is incident on each microphone in parallel.
  • the above-mentioned shapes, number of microphones, microphone fixing methods and microphone fixing positions are not specifically limited.
  • the above-mentioned microphone array chassis can adopt any shape such as linear, triangular, spherical, hemispherical, etc.
  • the number of the above-mentioned microphones is any number greater than 1
  • the above-mentioned multiple microphones can be fixedly installed or movably installed in any arrangement except for overlapping placement.
  • the present invention takes the above-mentioned microphone in FIG. 3 as an example, but Not limited to this.
  • the setting manner of the above-mentioned preset direction is not specifically limited, and it may be any combination of directions in a plane or space whose number is greater than 1.
  • the preset directions 1 to 8 in the above-mentioned FIG. Not limited to this.
  • the above-mentioned first signal characteristic and second signal characteristic may be signal strength information.
  • the above sub-step a and sub-step b may further include: processing the multi-channel signal based on a time delay accumulation algorithm to determine the above-mentioned first signal characteristic and second signal characteristic.
  • the delay accumulation algorithm can be divided into three steps: delay estimation, delay compensation and signal accumulation.
  • the delay estimation specifically includes: the microphone A can be set as the reference microphone, first, assuming that the preset direction 1 is the signal incident direction, find out the other microphones (B, C, D, E) and the reference microphone A in the preset direction 1
  • the estimated delay value is the theoretical delay time of the other microphones (B, C, D, E) with respect to the signal received by the reference microphone A when the signal is incident from the preset direction 1.
  • the estimated time delay is proportional to the microphone spacing and sampling frequency, and inversely proportional to the speed of sound propagation.
  • the delay compensation specifically includes: the received multi-channel sound signals include sound signals corresponding to each microphone, and when it is assumed that the preset direction 1 is the signal incident direction, based on the other microphones (B, C, D, E, E) ) and the estimated time delay of the reference microphone A in the preset direction 1, and offset several audio channels corresponding to other microphones (B, C, D, E) in the time domain according to their corresponding time delay estimates, Also known as time delay compensation.
  • the signal accumulation specifically includes: accumulating the above-mentioned multi-channel time-delay-compensated sound signals, so as to obtain the maximum energy value of the time-domain signal of the accumulated sound signals as the signal strength information in the preset direction 1.
  • the preset directions 2, 3, .
  • the maximum energy value after accumulation It can be understood that under the condition of other factors being the same, the closer the selected preset direction is to the actual audio direction, the more accurate the delay estimation value corresponding to the preset direction is. Higher energy, that is, the highest signal strength, can be obtained only after time delay compensation and accumulation are performed.
  • the first signal feature is the signal strength information for each preset direction
  • the second signal feature is a signal obtained by time delay accumulation based on the opposite direction of each preset direction strength information.
  • the corresponding first signal feature is the signal strength information for the preset direction 1
  • the corresponding second signal feature is the signal strength information for the preset direction 5.
  • the above-mentioned energy may be the energy of a preset frequency band instead of the energy of the whole frequency band.
  • the selection of the preset frequency domain range is not specifically limited, and different frequency domain ranges can be selected according to actual application scenarios.
  • the specific sound frequency range of a specific animal is selected as the A preset frequency domain range
  • a human voice frequency band is selected as the preset frequency band in a human voice detection application scenario.
  • the above-mentioned processing of multi-channel signals based on the delay accumulation algorithm may specifically include:
  • a plurality of first delay values corresponding to the multi-channel signals may be calculated based on each preset direction; performing time delay compensation and accumulation; and determining the first signal characteristic according to the first signal strength information obtained after accumulation;
  • a plurality of second delay values corresponding to the multi-channel signals may be obtained based on the opposite direction of each preset direction; according to the plurality of second delay value pairs Delay compensation and accumulation are performed on the multi-channel signals; and second signal characteristics are determined according to the second signal strength information obtained after accumulation.
  • the multiple preset directions may not have a center-symmetrical direction combination.
  • the multiple preset directions may only include the preset directions 1, 2, 3, and 4 shown in FIG. 3 . , 5, at this time, it is necessary to additionally determine the opposite direction of each preset direction, and also determine the second signal characteristic based on the above delay accumulation algorithm.
  • sub-step c when the difference degree value between the first signal feature and the second signal feature is determined, the following steps may be performed:
  • the difference value D between the first signal characteristic and the second signal characteristic may be acquired, and the difference degree value is determined based on at least the difference value.
  • the obtained signal strength information for the eight preset directions shown in FIG. 3 is shown.
  • the preset direction 1 is the signal incident direction
  • the obtained signal strength is E[1].
  • the preset direction 2 is the signal incident direction
  • the obtained signal strength is E[2], ..., and so on.
  • the first signal feature corresponding to the preset direction 1 is E[1]
  • the second signal feature is E[5]
  • a difference degree value corresponding to each preset direction may be determined based on the difference value, for example, the difference value may be directly used as the difference degree value.
  • the signal bias parameter which is the difference between the first signal feature and the second signal feature
  • the difference value will fluctuate simultaneously with the volume and directivity. In other words, the volume It has a great influence on the difference degree value, and the above difference degree value may be inaccurately measured.
  • the use of the ratio parameter of the signal bias parameter to the total signal strength ie, the first ratio
  • the difference values D_1 to D_8 corresponding to the preset directions 1 to 8 respectively, and the accumulated values S_1 to S_8 corresponding to the preset directions 1 to 8 respectively can be obtained.
  • the difference degree value used to indicate the direction may be randomly jittered with the change of noise.
  • the value of the coefficient C may be adjusted based on ambient signal noise. It can be understood that when the ambient noise is large, if a smaller value of the coefficient C is used, it may not be able to resist the random jitter effect caused by the noise. Therefore, the coefficient C can be adjusted based on the detected noise value, so that when there is no real signal, it can be Better to reduce directional jitter caused by tiny noise.
  • Step 203 Compare the magnitudes of the difference degree values corresponding to the plurality of preset directions, and determine the preset direction corresponding to the maximum difference degree value as the target signal direction.
  • the preset direction 6 is the target signal direction, that is, the calculated signal incident direction, which is different from the actual direction. The deviation between the signal incident directions is small.
  • FIG. 5 is a schematic structural diagram of a signal directing apparatus according to an embodiment of the present invention.
  • the apparatus 500 includes:
  • an acquisition module 501 configured to acquire multi-channel signals to be oriented by using a sensor array, and the sensor array includes a plurality of sensors that are symmetrical in the center;
  • the calculation module 502 is configured to perform the following steps for each preset direction in the plurality of preset directions: determine the first signal characteristic of the multi-channel signal based on each preset direction, and determine the first signal feature of the multi-channel signal based on each preset direction, and determine the opposite direction of each preset direction. the second signal feature of the multi-channel signal, and determining the difference degree value between the first signal feature and the second signal feature;
  • a determination module 503 configured to compare the magnitudes of the difference degree values corresponding to the plurality of preset directions, and determine the preset direction corresponding to the maximum difference degree value from the plurality of preset directions as the target signal direction .
  • the calculation module is further configured to: process the multi-channel signal based on a time delay accumulation algorithm to determine the first signal characteristic and the second signal characteristic of the multi-channel signal; wherein the first signal characteristic and The second signal characteristic is signal strength information.
  • the calculation module is further configured to: based on each preset direction, calculate a plurality of first delay values corresponding to the multi-channel signals respectively; Time delay compensation and accumulation; and, determining the first signal characteristics according to the first signal strength information obtained after accumulation; and/or, based on the opposite direction of each preset direction, acquiring a plurality of second time corresponding to the multi-channel signal respectively delay value; perform delay compensation and accumulation on the multi-channel signal according to the plurality of second delay values; and determine the second signal characteristic according to the second signal strength information obtained after the accumulation.
  • the plurality of preset directions are centrally symmetric
  • the computing unit is further configured to: acquire a first signal feature corresponding to another preset direction that is centrally symmetric with each preset direction, as a value based on each preset direction.
  • the second signal characteristic determined by the opposite direction of the preset directions.
  • the calculation module is further configured to: obtain the difference value D between the first signal feature and the second signal feature, and at least determine the difference degree value based on the difference value; or, obtain the first signal feature and the second signal feature
  • the calculation module is further configured to: adjust the value of the coefficient C based on the ambient signal noise.
  • the multi-channel signals to be directed are multi-channel sound signals obtained through a microphone array.
  • the signal orientation apparatus in the embodiment of the present application can implement each process of the foregoing embodiment of the signal orientation method, and achieve the same effects and functions, which will not be repeated here.
  • FIG. 6 is a signal directing apparatus according to an embodiment of the present application, for executing the signal directing method shown in FIG. 2 , the apparatus includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the methods described in the above embodiments.
  • a non-volatile computer storage medium of a signal orientation method having computer-executable instructions stored thereon, the computer-executable instructions being configured to be executed when run by a processor: method described.
  • the apparatuses, devices, and computer-readable storage media and methods provided in the embodiments of the present application are in one-to-one correspondence. Therefore, the apparatuses, devices, and computer-readable storage media also have beneficial technical effects similar to those of the corresponding methods.
  • the beneficial technical effects of the method have been described in detail, therefore, the beneficial technical effects of the apparatus, equipment and computer-readable storage medium will not be repeated here.
  • embodiments of the present invention may be provided as a method, system or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include forms of non-persistent memory, random access memory (RAM) and/or non-volatile memory in computer readable media, such as read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology.
  • Information may be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • PRAM phase-change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM Electrically Erasable Programmable Read Only Memory

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Abstract

一种信号定向方法、装置及计算机可读存储介质，该方法包括：利用传感器阵列获取待定向的多路信号（步骤201）；针对多个预设方向中的每个预设方向，执行以下步骤（步骤202）：基于每个预设方向确定多路信号的第一信号特征（a），基于每个预设方向的相反方向确定多路信号的第二信号特征（b），以及确定第一信号特征和第二信号特征的差异度值（c）；比较多个预设方向对应的差异度值的大小，确定对应于最大差异度值的预设方向作为目标信号方向（步骤203）。利用上述方法，能够减小由于传感器响应失真导致的定向误差，具有较好的自适应抗噪能力，可以实现更为准确的信号定向。

Description

一种信号定向方法、装置及计算机可读存储介质
本申请要求于2020年11月24日提交的、申请号为202011327977.6、标题为“一种信号定向方法、装置及计算机可读存储介质”的中国专利申请的优先权，该中国专利申请的公开内容以引用的方式并入本文。
技术领域
本发明属于信号领域，具体涉及一种信号定向方法、装置及计算机可读存储介质。
背景技术
本部分旨在为权利要求书中陈述的本发明的实施方式提供背景或上下文。此处的描述不因为包括在本部分中就承认是现有技术。
波束形成是利用传感器阵列实现空间定向接收信号的方法。比如，在声音信号处理领域，采用麦克风阵列作为传感器阵列接收声音信号并实现声源定向。
传感器阵列中通常采用“延迟后求和”(delay-and-sum)技术对信号进行处理。即针对每一个预设信号源方向，将每个传感器收到的信号按照该传感器在该预设信号源方向上所对应的时延值进行信号延迟，再将这些经过时间延迟的信号进行累加以获得该预设方向的累加信号，最后，在这些累加信号中找出具有最大振幅的信号，将该具有最大振幅的信号所对应的预设方向判断为信号源方向。
然而，在信号定向过程中，由于信号的稳定性原因，仅选取对应于最大振幅的预设方向作为实际方向会造成定位准确度较低。此外，由于传感器阵列的物理结构，其对于各个方向的响应系数是不同的，上述原因导致传感器阵列的定向方向与实际信号源方向有偏差，从而造成定向不准确。
因此，信号定向的定位精度较低是一个亟待解决的问题。
发明内容
针对上述现有技术中存在的问题，提出了一种信号定向方法、装置及计算机可读存储介质，利用这种方法、装置及计算机可读存储介质，能够解决上述信号定向的定位精度较低的问题。
本发明提供了以下方案。
第一方面，提供一种信号定向方法，方法包括：利用传感器阵列获取待定向的多路信号，传感器阵列包含呈中心对称的多个传感器；针对多个预设方向中的每个预设方向，执行以下步骤：确定多路信号在每个预设方向上的第一信号特征，以及在每述第二信号特征；
其中，第一信号特征和第二信号特征为信号强度信息。
在一种可能的实施方式中，基于时延累加算法对多路信号进行处理，包括：基于每个预设方向，计算多路信号分别对应的多个第一时延值；根据多个第一时延值对多路信号进行时延补偿和累加；以及，根据累加后获得的第一信号强度信息确定第一信号特征；和/或,基于每个预设方向的相反方向，获取多路信号分别对应的多个第二时延值；根据多个第二时延值对多路信号进行时延补偿和累加；以及，根据累加后获得的第二信号强度信息确定第二信号特征。
在一种可能的实施方式中，多个预设方向呈中心对称，方法还包括：获取与每个预设方向呈中心对称的另一预设方向对应的第一信号特征，作为每个预设方向的相反方向对应的第二信号特征。
在一种可能的实施方式中，确定第一信号特征和第二信号特征的差异度值，包括：获取第一信号特征和第二信号特征的差值D，至少基于差值确定差异度值；或者，获取第一信号特征和第二信号特征的差值D与累加值S，至少基于第一比值确定差异度值，其中，第一比值＝差值D/累加值S；或者，获取系数C，获取第一信号特征和第二信号特征的差值D和累加值S，至少基于第二比值确定差异度值，其中，第二比值＝差值D/(累加值S+系数C)，系数C为正数。
在一种可能的实施方式中，方法还包括：基于环境信号噪音调整系数C的值。
在一种可能的实施方式中，待定向的多路信号为通过麦克风阵列获取的多路声音信号。
第二方面，提供一种信号定向装置，装置包括：获取模块，用于利用传感器阵列获取待定向的多路信号，所述传感器阵列包含呈中心对称的多个传感器；计算模块，用于针对多个预设方向中的每个预设方向，执行以下步骤：基于每个预设方向确定多路信号的第一信号特征，基于每个预设方向的相反方向确定多路信号的第二信号特征，以及确定第一信号特征和第二信号特征的差异度值；确定模块，用于比较所述多个预设方向对应的所述差异度值的大小，从所述多个预设方向中确定对应于最大差异度值的所述预设方向作为目标信号方向。在一种可能的实施方式中，计算模块还用于：基于时延累加算法对多路信号进行处理，以确定多路信号的第一信号特征和第二信号特征；其中，第一信号特征和第二信号特征为信号强度信息。
在一种可能的实施方式中，计算模块还用于：基于每个预设方向，计算多路信号分别对应的多个第一时延值；根据多个第一时延值对多路信号进行时延补偿和累加；以及，根据累加后获得的第一信号强度信息确定第一信号特征；和/或,基于每个预设方向的相反方向，获取多路信号分别对应的多个第二时延值；根据多个第二时延值对多路信号进行时延补偿和累加；以及，根据累加后获得的第二信号强度信息确定第二信号特征。
在一种可能的实施方式中，多个预设方向呈中心对称，计算单元还用于：获取与每个预设方向呈中心对称的另一预设方向对应的第一信号特征，作为基于每个预设方向的相反方向确定的第二信号特征。
在一种可能的实施方式中，计算模块还用于：获取第一信号特征和第二信号特征的差值D，至少基于差值确定差异度值；或者，获取第一信号特征和第二信号特征的差值D与累加值S，至少基于第一比值确定差异度值，其中，第一比值＝差值D/累加值S；或者，获取系数C，获取第一信号特征和第二信号特征的差值D和累加值S，至少基于第二比值确定差异度值，其中，第二比值＝差值D/(累加值S+系数C)，系数C为正数。
在一种可能的实施方式中，计算模块还用于：基于环境信号噪音调整系数C的值。
在一种可能的实施方式中，待定向的多路信号为通过麦克风阵列获取的多路声音信号。
第三方面，提供一种信号定向装置，包括：至少一个处理器；以及，与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行：如第一方面的方法。
第四方面，提供一种计算机可读存储介质，计算机可读存储介质存储有程序，当程序被多核处理器执行时，使得多核处理器执行如第一方面的方法。
本申请实施例采用的上述至少一个技术方案能够达到以下有益效果：本实施例中，通过利用待定向的多路信号在每个预定方向上形成的第一信号特征与在每个预定方向的相反方向上形成的第二信号特征的差异度值作为信号定向的判别值，可以减小由于传感器响应失真导致的定向误差，具有较好的自适应抗噪能力，可以实现更为准确的信号定向。
应当理解，上述说明仅是本发明技术方案的概述，以便能够更清楚地了解本发明的技术手段，从而可依照说明书的内容予以实施。为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举例说明本发明的具体实施方式。
附图说明
通过阅读下文的示例性实施例的详细描述，本领域普通技术人员将明白本文所述的优点和益处以及其他优点和益处。附图仅用于示出示例性实施例的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的标号表示相同的部件。在附图中：
图1为根据一种传感器阵列的示意图；
图2为根据本发明一实施例的信号定向方法的流程示意图；
图3为根据本发明一实施例的麦克风阵列的工作示意图；
图4为根据本发明一实施例的对应于图3中的各预设方向的信号强度信息示意图；
图5为根据本发明一实施例的信号定向装置的结构示意图；
图6为根据本发明另一实施例的信号定向装置的结构示意图。
在附图中，相同或对应的标号表示相同或对应的部分。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
在本发明中，应理解，诸如“包括”或“具有”等术语旨在指示本说明书中所公开的特征、数字、步骤、行为、部件、部分或其组合的存在，并且不旨在排除一个或多个其他特征、数字、步骤、行为、部件、部分或其组合存在的可能性。
另外还需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
本发明实施例提供一种信号定向方法，下面，首先对方法的发明构思进行介绍。
图1示出一种传感器阵列，该传感器阵列包括呈中心对称的16个传感器，如背景技术中，在波束形成过程中，由于诸如传感器的物理结构特征之类的原因，传感器阵列对于来自不同方向的信号响应可能是不同的，例如，传感器的工作部件通常安装于壳体内，壳体的物理形状会造成传感器对来自不同方向的信号的响应程度不同，进一步地，信号强度就会不同程度地被削弱，最终造成方向判断产生误差。
基于此，本发明实施例提供一种信号定向方法，举例来说，首先可以通过图1所示出的传感器阵列获取待定向的多路信号，其中，一个传感器接收一路信号；预设多个预设方向，依次假设每个预设方向为信号入射方向，并执行以下步骤：基于每个预设方向确定多路信号 的第一信号特征，基于每个预设方向的相反方向确定多路信号的第二信号特征，确定第一信号特征和第二信号特征的差异度值；其中第一信号特征和第二信号特征可以是诸如信号强度信息、能量信息等特征值。最后通过比较所述多个预设方向对应的所述差异度值的大小，从所述多个预设方向中确定对应于最大差异度值的所述预设方向作为目标信号方向，也即作为最终的信号定向结果。本发明针对传感器阵列的呈中心对称方向的传感器所对应的失真程度具有对称性的特点，利用每个预设方向的相反方向对应的第二信号特征来对冲抵消该预设方向对应的第一信号特征的失真因素，不仅具有较好的自适应抗噪声的能力，而且还实现了更为准确的信号定向。
本领域技术人员可以理解，所描述的应用场景仅是本发明的实施方式可以在其中得以实现的一个示例。本发明实施方式的适用范围不受任何限制。在介绍了本发明的基本原理之后，下面具体介绍本发明的各种非限制性实施方式。
图2为根据本申请一实施例的信号定向方法200的流程示意图，用于实现信号定向，在该流程中，从设备角度而言，执行主体可以是一个或者多个电子设备；从程序角度而言，执行主体相应地可以是搭载于这些电子设备上的程序。
如图2所示，该方法可以包括：
步骤201、利用传感器阵列获取待定向的多路信号；
其中，传感器阵列包含呈中心对称的多个传感器，用于接收信号源发来的信号。传感器阵列包含呈中心对称的多个传感器具体可以理解为，空间中存在一个中心点，传感器阵列中任意一个传感器在围绕该中心点转180度的位置处都存在另外一个传感器。参考图1，示出一种可能的传感器阵列的示意图，该传感器阵列由若干对相对于中心点呈中心对称的传感器组成，比如处于左上角的传感器A和处于右下角的传感器B相对于中心点呈中心对称。传感器阵列中包含的多个传感器的排列方式可以为三维空间阵列、平面阵列或直线阵列，本申请对此不作具体限制，只要其由若干对相对于中心点呈中心对称的传感器组成即可。
在一种可能的实施方式中，传感器阵列为麦克风阵列，该待定向的多路信号为通过麦克风阵列获取的多路声音信号。其中，可以通过中心对称的麦克风阵列获取该多路声音信号。麦克风阵列可以由两个以上麦克风组成，麦克风的排列方式为三维空间阵列、平面阵列和直线阵列中的任意一种，只要其包含呈中心对称的多个麦克风即可。上述麦克风阵列中的多个麦克风采集的声音信号集合成为多路声音信号，上述声音信号为经过模数变换之后的数字声音信号。
在本实施例中，以通过麦克风阵列获取的声音信号作为该多路信号为例进行描述，然而应当理解，该待定向的多路信号也可以是其他类型信号，比如超音波信号、射频信号等， 其他类型的多路信号也可以通过本公开给出的技术方案进行信号定向。
步骤202、针对多个预设方向中的每个预设方向，执行以下子步骤a～c，以得到每个预设方向对应的差异度值：
其中，子步骤a：基于每个预设方向确定多路信号的第一信号特征，子步骤b：基于每个预设方向的相反方向确定多路信号的第二信号特征；子步骤c：确定第一信号特征和第二信号特征的差异度值；
其中，多个预设方向为假定的信号入射方向。可选地，该预设方向根据实际情况可以设置为平面方向或者空间方向。其中，将预设方向设置为空间方向是指该设置的预设方向不限于同一平面。举例来说，若预设方向设置为空间方向时，麦克风阵列中的麦克风排布方式也可以不限于一个平面，例如，在圆球型麦克风阵列底盘上固定放置多个麦克风。在一种可能的实施方式中，该多个预设方向可以呈中心对称分布，这样每个预设方向的相反方向同样包含在多个预设方向之中，此时仅需获取与每个预设方向呈中心对称的另一预设方向对应的第一信号特征，作为基于每个预设方向的相反方向而确定的多路信号的第二信号特征即可，而不必额外计算该第二信号特征。可选地，进一步地，当信号方向预先已经限定在了某一角度范围内时，例如，当麦克风阵列放置于房间墙面时，则只有一侧方向可能传来声音信号。此时上述预设方向同样可以进一步进行限定与划分，仅预先设置由该侧空间范围内指向麦克风阵列的预设方向。
例如，如图3所示，本实施例以圆盘型麦克风阵列为例，该圆盘型麦克风包括A、B、C、D、E五个麦克风，在麦克风阵列平面中均分设置预设方向1至8，其中，每个预设方向为假定的声音信号方向，预设方向组(1、5)、(2、6)、(3、7)、(4、8)为互相相反的方向组。图3中的直线箭头方向代表实际的声音信号入射方向，对于麦克风阵列中的多个麦克风而言，声音信号平行地入射到每一个麦克风中。在这里，对上述列举的形状、麦克风数量、麦克风固定方式和麦克风固定位置不作具体限定，在实际应用中，上述麦克风阵列底盘可以采用直线型、三角型、圆球型、半圆球型等任意形状，上述麦克风数量为大于1的任意数量，以及上述多个麦克风可以采用除重叠放置外的任意排布方式进行固定式安装或可移动式安装，本发明以上述图3中的麦克风为例，但不限于此。此外，对上述预设方向的设置方式不作具体限定，其可以是平面或空间中的任何数量大于1的方向组合，本发明实施例以上述图3中的预设方向1～8为例，但不限于此。
在一种可能的实施方式中，上述第一信号特征和第二信号特征可以为信号强度信息。上述子步骤a和子步骤b还可以进一步包括：基于时延累加算法对多路信号进行处理，以确定上述第一信号特征以及第二信号特征。
参考图3，详细描述上述基于时延累加算法对多路信号进行处理，时延累加算法可以分为：时延估计、时延补偿以及信号累加三步。其中，时延估计具体包括：可以将麦克风A设置为基准麦克风，首先假设预设方向1为信号入射方向，求出其他麦克风(B、C、D、E)与基准麦克风A在预设方向1上的时延估计值，其中，该时延估计值也即当信号从预设方向1入射时，其他麦克风(B、C、D、E)相对于基准麦克风A接收到信号的理论延迟时间。具体地，该时延估计值与麦克风间距和采样频率成正比，与声音的传播速度成反比。进一步，时延补偿具体包括：接收的多路声音信号中包括对应于各个麦克风的各路声音信号，当假设预设方向1为信号入射方向时，基于上述其他麦克风(B、C、D、E)与基准麦克风A在预设方向1上的时延估计值，将其他麦克风(B、C、D、E)对应的若干路音频在时域中根据各自对应的时延估计值进行偏移，也即时间延迟补偿。进一步地，信号累加具体包括：将上述多路经过时延补偿的声音信号进行累加，即可获取累加后的声音信号的时域信号最大能量值作为预设方向1下的信号强度信息。依次类推，接下来可以依次假设预设方向2、3、…、8作为信号入射方向，并基于时延累加算法获得针对每个预设方向的信号强度信息，该信号强度信息可以是时域信号累加之后的能量最大值。可以理解，在其它的因素相同的情况下，选定的预设方向与实际的音频方向越接近，该预设方向对应的时延估计值就越准确，进一步地，多路声音信号在时域进行时延补偿和累加后才能获得更高的能量，也即最高的信号强度。
基于此，针对每个预设方向，可以确定第一信号特征为针对每个预设方向的信号强度信息，第二信号特征为基于每个预设方向的相反方向进行时延累加而获得的信号强度信息。比如，参考图3，针对预设方向1，对应的第一信号特征为针对预设方向1的信号强度信息，对应的第二信号特征为针对预设方向5的信号强度信息。
可选地，上述能量可以为预设频段的能量，而不必是全频段的能量。本实施例中，对预设频域范围的选定不作具体限定，其可以根据实际应用场景选定不同的频域范围，例如在海洋生物检测应用场景中选定特定动物的特定声音频率范围作为预设频域范围，例如在人声检测应用场景中选定人声频段作为该预设频段。
在一种可能的实施方式中，上述基于时延累加算法对多路信号进行处理，具体可以包括：
针对每个预设方向，当计算第一信号特征时，可以基于每个预设方向，计算多路信号分别对应的多个第一时延值；根据多个第一时延值对多路信号进行时延补偿和累加；以及，根据累加后获得的第一信号强度信息确定第一信号特征；
针对每个预设方向，当计算第二信号特征时，可以基于每个预设方向的相反方向，获取多路信号分别对应的多个第二时延值；根据多个第二时延值对多路信号进行时延补偿和累加；以及，根据累加后获得的第二信号强度信息确定第二信号特征。
举例来说，可以理解，多个预设方向可以并不具有呈中心对称的方向组合，比如，该多个预设方向可以仅包含图3所示出的预设方向1、2、3、4、5，这时需要额外确定每个预设方向的相反方向，并同样基于上述延迟累加算法确定第二信号特征。
在一种可能的实施方式中，在子步骤c中，当确定第一信号特征和第二信号特征的差异度值时，可以执行以下步骤：
可以获取第一信号特征和第二信号特征的差值D，至少基于差值确定差异度值。
参考图4，示出了针对图3所示出的8个预设方向所获取的信号强度信息，当假设预设方向1为信号入射方向时所获得的信号强度为E[1]，当假设预设方向2为信号入射方向时所获得的信号强度为E[2]，…，依次类推。依据上述描述可以得知，对应于预设方向1的第一信号特征为E[1]、第二信号特征为E[5]，对应于预设方向1的第一信号特征和第二信号特征的差值D_1＝E[1]-E[5]，依次类推，可以得到对应于预设方向1～8分别对应的差值D_1～D_8。进一步可以基于该差值确定对应于每个预设方向的差异度值，比如可以直接将该差值作为差异度值。
进一步地，还可以获取第一信号特征和第二信号特征的差值D与累加值S，至少基于第一比值确定差异度值，其中，第一比值＝差值D/累加值S。
仍参考图4，依据上述描述可以得知，可以得到对应于预设方向1～8分别对应的差值D_1～D_8，针对预设方向1的第一信号特征为E[1]、第二信号特征为E[5]，针对预设方向1的第一信号特征和第二信号特征的累加值S_1＝E[1]+E[5]，依次类推，可以得到对应于预设方向1～8分别对应的累加值S_1～S_8。进一步可以基于第一比值确定对应于每个预设方向的差异度值，其中第一比值＝差值D/累加值S。比如，对应于预设方向1的第一比值
Figure PCTCN2021132738-appb-000001
依次类推。
针对信号而言，假设单纯采用第一信号特征和第二信号特征的差值这一信号偏向性参数作为差异度值，该差异度值会随着音量大小和指向性同时浮动，换言之，音量大小对于差异度值的影响较大，上述差异度值可能会测量不准。而采用信号偏向性参数占信号总强度的比值参数(也即第一比值)，能够抵消音量大小的影响。
更进一步地，还可以获取系数C，获取第一信号特征和第二信号特征的差值D和累加值S，至少基于第二比值确定差异度值，其中，第二比值＝差值D/(累加值S+系数C)，系数C为正数。
仍参考图4，依据上述描述可以得知，可以得到对应于预设方向1～8分别对应的差值D_1～D_8，对应于预设方向1～8分别对应的累加值S_1～S_8。进一步可以基于第二比值确 定对应于每个预设方向的差异度值，其中第二比值＝差值D/(累加值S+系数C)。比如，对应于预设方向1的第二比值
Figure PCTCN2021132738-appb-000002
依次类推。
针对声音信号而言，在只有噪音没有声音信号的环境下，很微小的噪音也会给指向性造成很大影响，且这个噪音影响是不稳定且随机抖动的。若只采用第一比值，可能会造成用于指示方向的差异度值随着噪音变化而随机抖动，本实施例通过添加该系数C，可以抵抗微小噪音的影响，在没有真实信号的时候减小微小噪音带来的方向抖动。
在一种可能的实施方式中，可以基于环境信号噪音调整系数C的值。可以理解，当环境噪音较大时，若采用较小的系数C值，可能无法抵挡噪音带来的随机抖动影响，因此可以基于检测到的噪音值调整系数C，使得在没有真实信号的时候能够更好地减小微小噪音带来的方向抖动。
步骤203、比较多个预设方向对应的差异度值的大小，确定对应于最大差异度值的预设方向作为目标信号方向。
参考图4,假设按照上述实施方式计算得到的最大差异值对应的预设方向为预设方向6，则可以认为预设方向6为目标信号方向，也即计算得到的信号入射方向，其与实际的信号入射方向之间的偏差较小。
基于相同的技术构思，本发明实施例还提供一种信号定向装置，用于执行上述任一实施例所提供的信号定向方法。图5为本发明实施例提供的一种信号定向装置结构示意图。
如图5所示，装置500包括：
获取模块501，用于利用传感器阵列获取待定向的多路信号，传感器阵列包含呈中心对称的多个传感器；
计算模块502，用于针对多个预设方向中的每个预设方向，执行以下步骤：基于每个预设方向确定多路信号的第一信号特征，基于每个预设方向的相反方向确定多路信号的第二信号特征，以及确定第一信号特征和第二信号特征的差异度值；
确定模块503，用于比较所述多个预设方向对应的所述差异度值的大小，从所述多个预设方向中确定对应于最大差异度值的所述预设方向作为目标信号方向。
在一种可能的实施方式中，计算模块还用于：基于时延累加算法对多路信号进行处理，以确定多路信号的第一信号特征和第二信号特征；其中，第一信号特征和第二信号特征为信号强度信息。
在一种可能的实施方式中，计算模块还用于：基于每个预设方向，计算多路信号分别对应的多个第一时延值；根据多个第一时延值对多路信号进行时延补偿和累加；以及，根据累加后获得的第一信号强度信息确定第一信号特征；和/或,基于每个预设方向的相反方向，获 取多路信号分别对应的多个第二时延值；根据多个第二时延值对多路信号进行时延补偿和累加；以及，根据累加后获得的第二信号强度信息确定第二信号特征。
在一种可能的实施方式中，多个预设方向呈中心对称，计算单元还用于：获取与每个预设方向呈中心对称的另一预设方向对应的第一信号特征，作为基于每个预设方向的相反方向确定的第二信号特征。
在一种可能的实施方式中，计算模块还用于：获取第一信号特征和第二信号特征的差值D，至少基于差值确定差异度值；或者，获取第一信号特征和第二信号特征的差值D与累加值S，至少基于第一比值确定差异度值，其中，第一比值＝差值D/累加值S；或者，获取系数C，获取第一信号特征和第二信号特征的差值D和累加值S，至少基于第二比值确定差异度值，其中，第二比值＝差值D/(累加值S+系数C)，系数C为正数。
在一种可能的实施方式中，计算模块还用于：基于环境信号噪音调整系数C的值。
在一种可能的实施方式中，待定向的多路信号为通过麦克风阵列获取的多路声音信号。
需要说明的是，本申请实施例中的信号定向装置可以实现前述信号定向方法的实施例的各个过程，并达到相同的效果和功能，这里不再赘述。
图6为根据本申请一实施例的信号定向装置，用于执行图2所示出的信号定向方法，该装置包括：至少一个处理器；以及，与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行上述实施例所述的方法。
根据本申请的一些实施例，提供了信号定向方法的非易失性计算机存储介质，其上存储有计算机可执行指令，该计算机可执行指令设置为在由处理器运行时执行：上述实施例所述的方法。
本申请中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置、设备和计算机可读存储介质实施例而言，由于其基本相似于方法实施例，所以其描述进行了简化，相关之处可参见方法实施例的部分说明即可。
本申请实施例提供的装置、设备和计算机可读存储介质与方法是一一对应的，因此，装置、设备和计算机可读存储介质也具有与其对应的方法类似的有益技术效果，由于上面已经对方法的有益技术效果进行了详细说明，因此，这里不再赘述装置、设备和计算机可读存储介质的有益技术效果。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。此外，尽管在附图中以特定顺序描述了本发明方法的操作，但是，这并非要求或者暗示必须按照该特定 顺序来执行这些操作，或是必须执行全部所示的操作才能实现期望的结果。附加地或备选地，可以省略某些步骤，将多个步骤合并为一个步骤执行，和/或将一个步骤分解为多个步骤执行。
虽然已经参考若干具体实施方式描述了本发明的精神和原理，但是应该理解，本发明并不限于所公开的具体实施方式，对各方面的划分也不意味着这些方面中的特征不能组合以进行受益，这种划分仅是为了表述的方便。本发明旨在涵盖所附权利要求的精神和范围内所包括的各种修改和等同布置。

Claims (16)

  1. 一种信号定向方法，其特征在于，所述方法包括：
    利用传感器阵列获取待定向的多路信号，所述传感器阵列包含呈中心对称的多个传感器；
    针对多个预设方向中的每个预设方向，执行以下步骤：基于所述每个预设方向确定所述多路信号的第一信号特征，基于所述每个预设方向的相反方向确定所述多路信号的第二信号特征，以及确定所述第一信号特征和所述第二信号特征的差异度值；
    比较所述多个预设方向对应的所述差异度值的大小，从所述多个预设方向中确定对应于最大差异度值的预设方向作为目标信号方向。
  2. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    基于时延累加算法对所述多路信号进行处理，以确定所述多路信号的所述第一信号特征和所述第二信号特征；
    其中，所述第一信号特征和所述第二信号特征为信号强度信息。
  3. 如权利要求2所述的方法，其特征在于，基于时延累加算法对所述多路信号进行处理，包括：
    基于所述每个预设方向，计算所述多路信号分别对应的多个第一时延值；
    根据所述多个第一时延值对所述多路信号进行时延补偿和累加；以及，根据所述累加后获得的第一信号强度信息确定所述第一信号特征；和/或,
    基于所述每个预设方向的相反方向，获取所述多路信号分别对应的多个第二时延值；
    根据所述多个第二时延值对所述多路信号进行时延补偿和累加；以及，根据所述累加后获得的第二信号强度信息确定所述第二信号特征。
  4. 如权利要求1-3中任意一项所述的方法，其特征在于，所述多个预设方向呈中心对称，所述方法还包括：
    获取与所述每个预设方向呈中心对称的另一预设方向对应的所述第一信号特征，作为所述每个预设方向的相反方向对应的所述第二信号特征。
  5. 如权利要求1-4中任意一项所述的方法，其特征在于，确定所述第一信号特征和所述第二信号特征的差异度值，包括：
    获取所述第一信号特征和所述第二信号特征的差值D，至少基于所述差值确定所述差异度值；或者，
    获取所述第一信号特征和所述第二信号特征的所述差值D与累加值S，至少基于第一比值确定所述差异度值，其中，所述第一比值＝差值D/累加值S；或者，
    获取系数C，获取所述第一信号特征和所述第二信号特征的所述差值D和所述累加值S，至少基于第二比值确定所述差异度值，其中，所述第二比值＝差值D/(累加值S+系数C)，所述系数C为正数。
  6. 如权利要求5中所述的方法，其特征在于，所述方法还包括：
    基于环境信号噪音调整所述系数C的值。
  7. 如权利要求1-3中任意一项所述的方法，其中，所述待定向的多路信号为通过麦克风阵列获取的多路声音信号。
  8. 一种信号定向装置，其特征在于，所述装置包括：
    获取模块，用于利用传感器阵列获取待定向的多路信号，所述传感器阵列包含呈中心对称的多个传感器；
    计算模块，用于针对多个预设方向中的每个预设方向，执行以下步骤：基于所述每个预设方向确定所述多路信号的第一信号特征，基于所述每个预设方向的相反方向确定所述多路信号的第二信号特征，以及确定所述第一信号特征和所述第二信号特征的差异度值；
    确定模块，用于比较所述多个预设方向对应的所述差异度值的大小，从所述多个预设方向中确定对应于最大差异度值的所述预设方向作为目标信号方向。。
  9. 如权利要求8所述的装置，其特征在于，所述计算模块还用于：
    基于时延累加算法对所述多路信号进行处理，以确定所述多路信号的所述第一信号特征和所述第二信号特征；
    其中，所述第一信号特征和所述第二信号特征为信号强度信息。
  10. 如权利要求9所述的装置，其特征在于，所述计算模块还用于：
    基于所述每个预设方向，计算所述多路信号分别对应的多个第一时延值；
    根据所述多个第一时延值对所述多路信号进行时延补偿和累加；以及，根据所述累加后获得的第一信号强度信息确定所述第一信号特征；和/或,
    基于所述每个预设方向的相反方向，获取所述多路信号分别对应的多个第二时延值；
    根据所述多个第二时延值对所述多路信号进行时延补偿和累加；以及，根据所述累加后获得的第二信号强度信息确定所述第二信号特征。
  11. 如权利要求8-10中任意一项所述的装置，其特征在于，所述多个预设方向呈中心对称，所述计算单元还用于：
    获取与所述每个预设方向呈中心对称的另一预设方向对应的所述第一信号特征，作为基于所述每个预设方向的相反方向确定的所述第二信号特征。
  12. 如权利要求8-11中任意一项所述的装置，其特征在于，所述计算模块还用于：
    获取所述第一信号特征和所述第二信号特征的差值D，至少基于所述差值确定所述差异度值；或者，
    获取所述第一信号特征和所述第二信号特征的所述差值D与累加值S，至少基于第一比值确定所述差异度值，其中，所述第一比值＝差值D/累加值S；或者，
    获取系数C，获取所述第一信号特征和所述第二信号特征的所述差值D和所述累加值S，至少基于第二比值确定所述差异度值，其中，所述第二比值＝差值D/(累加值S+系数C)，所述系数C为正数。
  13. 如权利要求12中所述的装置，其特征在于，所述计算模块还用于：
    基于环境信号噪音调整所述系数C的值。
  14. 如权利要求8-13中任意一项所述的装置，其中，所述待定向的多路信号为通过麦克风阵列获取的多路声音信号。
  15. 一种信号定向装置，其特征在于，包括：
    至少一个处理器；以及，与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行：如权利要求1-7中任一项所述的方法。
  16. 一种计算机可读存储介质，所述计算机可读存储介质存储有程序，当所述程序被多核处理器执行时，使得所述多核处理器执行如权利要求1-7中任一项所述的方法。
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