Indoor positioning and mapping method based on microphone array
A microphone array and indoor positioning technology, applied in positioning, measuring devices, instruments, etc., can solve problems such as high device dependence and high computational complexity, avoid multiple measurements, ensure calculation speed, and improve reconstruction performance Effect
Pending Publication Date: 2019-05-03
GUILIN UNIV OF ELECTRONIC TECH
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[0006] Aiming at the disadvantages of high device dependence and high computational complexity in the existing indoor space geometric mapping technology, the present invention uses sound sources and microphone arrays to collect sound signals to calculate AIRs, and utilizes the geometric distance information between AIR and microphone arrays Calculate the position of the sound source and the reflecting surface, and construct the indoor two-dimensional contour map, which not only meets the mapping requirements, but also avoids multiple measurements and improves the reconstruction performance
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[0040] like figure 1 As shown, the indoor positioning and mapping method based on the microphone array of the present invention includes:
[0041] (1) AIR calculation and peak detection: in the acquisition stage, the distributed microphone array should be placed in the four corners of the room first, and the sound source should be placed in a spatial position close to the reflecting surface to be measured, and maintain the same level, such as figure 2 As shown in the figure, the distributed microphone array is placed around the room (it does not have to be placed symmetrically, only the distribution distance needs to be widened), the sound source is placed close to the wall to be measured, and a series of AIRs are extracted by time-frequency transformation after the sound is collected. ;Due to noise, reverberation and other reasons, the pulses in the AIRs in the actual indoor environment usually have surrounding waves, which need to be time-domain equalized to obtain sharp pu...
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The invention discloses an indoor positioning and mapping method based on a microphone array. According to the method, a microphone array and a single sound source are arranged respectively at different positions indoors, AIRs are extracted after sound collection, and different distance relationships between the sound source, the microphone array and the AIRs are reflected by the AIRs; according to a direct arrival signal reflected by the AIRs, positioning is carried out by means of TDOA of the direct wave, and arrival time of the direct wave and pulses reflected by all orders is estimated; and on the basis of a geometric relationship of an acoustic signal related to the first-order reflection of the wall body in an indoor environment propagation model, an ellipse tangent to the wall bodyis constructed by using the sound source and the microphone as focuses and the distance represented by the first-order reflection pulse in AIRs as the long axis, the location of the wall body is calculated, and an indoor two-dimensional contour map is constructed. Compared with the traditional same-kind acoustic sensing indoor mapping system, the disclosed indoor positioning and mapping method hasthe following advantages: the mapping demand is satisfied; multi-times measurement is avoided; the reconstruction performance is improved; the measurement is simplified; the e anti-noise performanceof the reflective surface estimation is enhanced; and the calculation speed is ensured.
Description
technical field [0001] The invention relates to a positioning and mapping method, in particular to an indoor positioning and mapping method based on a microphone array. Background technique [0002] With the application and development of related technologies based on user location information, Location-Based Services (LBS), also known as location-based services, has become a basic service requirement necessary for people's daily work and life. In fact, geometric models and maps of indoor environments are crucial for LBS applications such as indoor localization, robot navigation, etc. When the indoor map is unknown, the indoor map can be constructed using visual, electromagnetic or acoustic signals containing indoor geometric information. [0003] The reflection of acoustic signals in the room reflects the indoor layout and map information to a certain extent. Compared with electromagnetic waves and light waves, it has a lower wave speed, more accurate ranging, and low cost...
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IPC IPC(8): G01S5/30
Inventor 王玫覃虹菱宋浠瑜仇洪冰周陬李悟李凯华孙昊彬李芳足
Owner GUILIN UNIV OF ELECTRONIC TECH