Particle filter sound source tracking positioning method based on Delaunay triangulation
A particle filtering and triangulation technology, which is used in positioning, radio wave measurement systems, measurement devices, etc.
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[0065] Reference figure 1 , The particle filter sound source tracking and positioning method of the present invention based on Delaunay triangulation includes the following steps:
[0066] S1. The speaker uses the smart phone worn on the body to record the voice signal of the current position as the target sound energy;
[0067] S2. Calculate the target sound energy characteristics based on the voice signal sound attenuation model;
[0068] S3. Delaunay triangulation of indoor space;
[0069] S4. Use enhanced particle filter to track the target, initialize the particles through the filter algorithm, and combine the results of Delaunay triangulation to transform the range selection problem of each stage in the particle filter target tracking framework into the selection problem of Delaunay triangular pyramid nodes. The set of vertices of the Delaunay triangle adjacent to the target position at the previous moment determines the current particle search range (that is, the active range ...
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