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Acoustic simultaneous localization and mapping method based on multi-channel sound acquisition

A multi-channel, acoustic technology, applied in positioning, instruments, measuring devices, etc., can solve the problems of insufficient positioning ability of indoor mobile sound sources, and achieve the effect of improving positioning performance, low complexity, and high universality

Active Publication Date: 2019-06-18
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

[0007] In view of the attenuation and loss of acoustic signal propagation in complex indoor environments, the existing indoor mobile sound source positioning capabilities are still insufficient. The present invention proposes an acoustic simultaneous positioning and mapping method based on multi-channel sound acquisition to construct Spatial geometric contours of indoor sound field environment, and improve the continuous localization performance of mobile sound sources

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  • Acoustic simultaneous localization and mapping method based on multi-channel sound acquisition
  • Acoustic simultaneous localization and mapping method based on multi-channel sound acquisition
  • Acoustic simultaneous localization and mapping method based on multi-channel sound acquisition

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[0055] Such as figure 1 As shown, the system block diagram of the acoustic simultaneous positioning and mapping method based on multi-channel acoustic acquisition proposed by the present invention is mainly divided into two parts:

[0056] (1) Estimate the spatial geometry of the sound field environment;

[0057] (2) Acoustic scene mapping.

[0058] Among them, DSB refers to delay sum beamforming, AIM refers to acoustic image model, EDM refers to Euclidean distance matrix, and SRP-PHAT refers to maximum controllable response power phase transformation.

[0059] Such as figure 2 as shown, figure 2 The positional relationship of reflecting wall, moving sound source and microphone array in indoor environment is given. Take a corner of the room as the origin of the room coordinate system , is the microphone array origin. The positive x-axis of the coordinate system points to the south of the geographic orientation, the positive y-axis points to the east of the geographi...

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Abstract

The invention discloses an acoustic simultaneous localization and mapping method based on multi-channel sound acquisition. The method, through a multi-channel sound acquisition mode and based on a geometric acoustic mirror image model, analyzes channel state in the speech signal propagation process, realizes spatial perception of indoor sound field environment and improves continuous positioning performance of a mobile sound source (speaker) by utilizing the spatial perception result. The method, by introducing a Delaunay triangulation method, analyzes motion state of the mobile sound source and estimates an adaptive search subspace of the position of a sound source, thereby avoiding tedious and redundant repeated search for the position of the mobile sound source in the indoor sound fieldfull space range and improving universality of the spatial perception and mobile sound source location scheme; and the method is not only suitable for interior space contour reconstruction, but alsosuitable for tracking and positioning of the mobile sound source in the indoor environment.

Description

technical field [0001] The invention relates to the field of indoor positioning, in particular to an acoustic simultaneous positioning and mapping method based on multi-channel sound acquisition. Background technique [0002] The indoor space is huge and complex, and location-based artificial intelligence applications are becoming more and more diverse. Location awareness has become an important basis for the Internet of Everything. Indoor location technology has been extensively researched and developed in the past 20 years. Many types of positioning technologies based on different physical carriers and calculation principles have been proposed, including positioning based on electromagnetic wave signal arrival delay / time difference / angle, and positioning based on electromagnetic wave signal strength. Measurement and attenuation model positioning, geomagnetic / electromagnetic wave spatial fingerprint feature information matching positioning and multi-source information fusio...

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Application Information

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IPC IPC(8): G01S5/18
Inventor 宋浠瑜王玫仇洪冰罗丽燕孙昊彬
Owner GUILIN UNIV OF ELECTRONIC TECH
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