Locating and tracking method and apparatus based on sound source array

Abstract

The present invention discloses a locating and tracking method based on a sound source array, comprising the following steps: S1, acquiring on-site sound through a quintuple microphone array, and pre-processing a sound signal acquired by each microphone in the quintuple microphone array to obtain an audio signal; S2, performing sound source locating for the audio signals according to arrival time delay of the audio signals between the microphones and positional information of the microphone array, so as to calculate a pitch angle, an azimuth angle and an object distance; and S3, moving and turning a locating and tracking apparatus to arrive to a sound source position. The locating and tracking method of the present invention performs related processing for influences of non-gauss noises, coherent noises and indoor reverberation of the sound source on accurate locating, thereby improving accuracy of locating of the sound source.

Description

technical field [0001] The invention relates to a positioning and tracking method based on a sound source array, and at the same time relates to a positioning and tracking device based on a sound source array. Background technique [0002] The sound source localization technology is to use the microphone to pick up the voice signal, and use the digital signal processing technology to analyze and process it, and then determine and track the spatial position of the sound source. In the prior art, a single microphone with high performance and high directivity can obtain a high-quality sound source signal under the condition of no noise, no reverberation, and a very close distance from the sound source. However, the sound pick-up range of a single microphone is very limited, if the sound source is outside the selected direction of the microphone, a large amount of noise will be introduced, resulting in a decline in the quality of the picked-up signal; and the signal received by ...

AI Technical Summary

Problems solved by technology

However, the system does not deal with the impact of non-Gaussian noise, coherent noise, and reverberation of the sound source itself on accurate positioning.

In addition, the azimuth error, pitch angle error, and target distance error caused by time delay estimation are all related to sound velocity, array element spacing, pitch angle, and azimuth angle, which seriously affect the positioning accuracy.

Images