Particle filter sound source tracking positioning method based on Delaunay triangulation

Abstract

The invention proposes a particle filter sound source tracking positioning method based on Delaunay triangulation, and the method can achieve the ordered correlation of the random particles in an indoor physical space under the condition that the size of an indoor space is known through the Delaunay triangulation of the space via a smartphone carried by a speaker and a Delaunay triangulation result. Based on the theoretical analysis of a sound decay model, the method determines a particle search range nearby a mobile sound source, and a gathered estimation value of the particle search range issubstituted into a particle filter target tracking frame, and an enhanced particle filter algorithm is used for the tracking and positioning of a speaker in an indoor scene. The positioning method has certain noise resistance, reverberation resistance and robustness. The method provided by the invention is suitable for an indoor sound field environment which is shaped regularly, and is also suitable for the positioning and tracking of the speaker in an indoor sound field environment which is shaped irregularly.

Description

Technical field [0001] The invention relates to the field of indoor sound source localization, in particular to a method for determining the range of sound source activity based on a voice signal sound attenuation model and Delaunay triangulation results, and using an enhanced particle filter algorithm for speaker tracking and positioning in indoor scenes. There are important application values ​​in scenarios such as interaction, remote meetings, and location services. Background technique [0002] The international communication standard gives a normal sound frequency range of 300Hz-3400Hz. In the indoor sound field, the sound pressure level (SPL) at a distance of 20 cm from a normal voice source is 72 dB, and the SPL at a distance of 1 meter is 58 dB. The energy attenuation of the speech signal is positively correlated with the receiving distance, and the higher the sound frequency, the faster the sound energy attenuation. [0003] At present, there are some solutions based on ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem that indoor speaker tracking and positioning accuracy is still insufficient due to the large noise interference and serious reverberation in indoor complex sound field environment, the present invention proposes a particle filter sound source tracking and positioning method based on Delaunay triangulation to realize indoor Speaker self-localization and tracking

This method only needs to perform Delaunay triangulation on the indoor physical space once, and fuse the subdivision results with the search ranges of each stage of the particle filter target tracking framework, which solves the problem of huge computational load caused by large-area resampling in the traditional particle filter algorithm. problems, and with the help of the close relationship between the smartphone worn on the human body and the voice source point, the positioning scheme has a certain degree of anti-noise, anti-reverberation and robustness

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