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
CN109901112AActive Publication Date: 2019-06-18GUILIN UNIV OF ELECTRONIC TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
GUILIN UNIV OF ELECTRONIC TECH
Publication Date
2019-06-18

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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.
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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...

Claims

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