Microphone array sound source positioning method and apparatus

Abstract

The invention discloses a microphone array sound source positioning method and apparatus. The method includes: determining a horizontal axis around which a microphone array rotates during rotation as a reference axis; calculating a sound emitted by a sound source acquired by the microphone array, and obtaining a first sound source estimated value of a sound source orientation in a three-dimensional space; obtaining an inclination angle of a rotation axis of the microphone array during rotation relative to a horizontal plane which the reference axis belongs to; and obtaining a second sound source estimated value on a horizontal plane corresponding to the first sound source estimated value through calculation according to the first sound source estimated value and the inclination angle, and regarding the second sound source estimated value as a determined sound source orientation. According to the technical scheme of the method and apparatus, during inclination of the microphone array, the sound source orientation in the horizontal plane corresponding to the sound source orientation in the three-dimensional space is calculated, the error between the sound source located during inclination of the microphone array and the practical sound source orientation is reduced, and the precision of sound source positioning and the performance of audio processing are enhanced.

Description

Technical field

[0001] The invention relates to the technical field of acoustic signal processing, in particular to a method and device for locating a microphone array sound source. Background technique

[0002] With the development of electronic information technology and acoustic technology, as well as the development of intelligent hardware products such as robots, sound source localization technology based on microphone arrays is increasingly being applied to products such as robots. A microphone array is an array formed by a set of microphones located at different positions in the space, arranged in a certain shape, and used to collect and process the spatial sound signals. Sound source localization technology is the foundation of other sound source processing technologies. Only when the position and horizontal angle of the sound source are judged through the sound source localization technology, can subsequent beamforming, sound source tracking, voice noise reduction, echo ...

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