Spatial Microphone Localization Method Based on Sound Source Array
A sound source array and positioning method technology, applied in positioning, instruments, measuring devices, etc., can solve the problems of inability to realize spatially distributed microphone position estimation, inability to realize online estimation of microphone position, and complicated signal acquisition operations, and to overcome the problems of signal acquisition. The operation is cumbersome, ensuring continuity and stability, and ensuring the effect of omnidirectional positioning
Active Publication Date: 2020-09-01
HEBEI UNIV OF TECH
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Problems solved by technology
[0004] The technical problem to be solved by the present invention is to provide a spatial microphone positioning method based on a sound source array, which realizes the online positioning of the microphone in three-dimensional space by using the sound signals of four sound sources, the reference microphone and the fixed distance between each sound source , to overcome the cumbersome signal acquisition operation and low efficiency in the prior art, which can only be calculated offline, and the online estimation of the microphone position cannot be realized, and the position estimation is only carried out for the planar microphone array, and the position of the spatially distributed microphone cannot be realized Estimated Defects
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[0043] The specific steps of the spatial microphone positioning method based on the sound source array in this embodiment are as follows:
[0044] In the first step, the four-element three-dimensional array distribution of the sound source:
[0045] The four sound sources are spatially distributed in the form of a regular tetrahedron, and the spatial coordinates of sound source 1 are defined as S1(x 1 ,y 1 ,z 1 ), the spatial coordinate of sound source 2 is S2(x 2 ,y 2 ,z 2 ), the spatial coordinates of sound source 3 are S3(x 3 ,y 3 ,z 3 ), the spatial coordinates of sound source 4 are S4(x 4 ,y 4 ,z 4 ), constructing a three-dimensional space coordinate system, thereby completing the four-element three-dimensional array distribution of the sound source, and specifying that the representation of the position of the microphones distributed in this space will be based on this coordinate system, and the above four sound sources sound in turn, A total of four sound sig...
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The invention discloses a space microphone positioning method based on a sound source array and relates to sound wave application. Cooperation of multiple position lines determined by path differencemeasuring is utilized to determine position of a signal source, and online positioning of a microphone in three-dimensional space is realized by utilizing sound signals of four sound sources and fixeddistance between a reference microphone and each sound source. The method includes steps: subjecting the sound sources to quaternary three-dimensional array distribution; arranging the reference microphone; marking a to-be-positioned microphone; using a microphone positioning unit to position spatial position of the to-be-positioned microphone. By the method, the defects that signal collection istroublesome in operation and low in efficiency, only offline calculation is supported, online estimation of microphone position cannot be realized and position estimation of spatially distributed microphones cannot be realized due to the fact that position estimation is performed only on planar microphone arrays are overcome.
Description
technical field [0001] The technical solution of the present invention relates to the application of sound waves to determine the position of a signal source with the cooperation of multiple position lines determined by path difference measurement, specifically a spatial microphone positioning method based on a sound source array. Background technique [0002] With the rapid development of science and technology, the application field of sensor technology is gradually expanding, and the working environment it faces is becoming more and more complex. Accurate localization of microphone positions can aid signal processing in distributed microphone arrays, which play an important role in speech enhancement, sound source localization, and sound source separation applications. At the same time, microphone positioning can help solve many problems in the field of robotics. For example, when the robot is in an unknown environment and its own pose is unknown, how to perform self-loc...
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IPC IPC(8): G01S5/26
CPCG01S5/26
Inventor 孙昊陈晓辉王硕朋翟葆朔张恒
Owner HEBEI UNIV OF TECH