A Time-of-Arrival Correction Method for Audio Signals Based on Relative Velocity and Doppler Effect
A technology of Doppler effect and time of arrival, applied in the field of audio signal arrival time correction based on relative speed and Doppler effect, can solve the problems of target speed error, estimated speed cumulative error, increase system hardware cost, etc. The effect of small amount of calculation, high robustness and high precision
Active Publication Date: 2022-07-15
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology
This method not only increases the hardware cost of the system, but also has cumulative errors in the estimated speed, making it difficult to accurately estimate the target motion speed for a long time
In addition, the target velocity can also be estimated with the help of Kalman filtering, but the performance of this method depends on the target's position estimation accuracy. When the position estimated by the positioning system is abnormal, the estimated target velocity will have a huge error
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[0024] The positioning method in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the examples of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.
[0025] The definition of the relative movement speed of the target is as follows figure 2 As shown, suppose P is the moving target, S is the base station, V 0 is the movement speed of P, v is the movement speed of P relative to S, that is, the relative movement speed of the target, which causes the frequency shift of the audio. As long as the relative motion velocity v is estimated, the spectral offset is also determined, so that the time of arrival of the s...
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The invention discloses an audio signal arrival time correction method based on relative velocity and Doppler effect, comprising the following steps: step 1, detecting and acquiring the signal arrival time of the current positioning period and the previous positioning period; step 2, using the signal The time difference of arrival, the system positioning period and the signal propagation speed are initially estimated by the target relative to the base station moving speed; Step 3, according to the relative speed to build a search interval and find a suitable speed within it to accurately estimate the Doppler effect caused by frequency offset, and then correct the arrival time of the audio signal. The present invention does not require additional information, does not rely on historical positions, only uses the arrival time difference of the signal, the system positioning period and the signal propagation speed to calculate the relative moving distance, preliminarily estimates the moving speed of the target relative to the base station, and accurately estimates the Doppler effect. The resulting frequency offset, and then correct the audio signal arrival time. The invention has the advantages of no need to introduce redundant information, high precision, good robustness, and small calculation amount.
Description
technical field [0001] The invention relates to the field of indoor positioning, in particular to a novel method for correcting the arrival time of audio signals based on relative velocity and Doppler effect. Background technique [0002] Since the emergence of the positioning technology represented by the global positioning system (GPS), its efficient, convenient, fast and accurate characteristics have brought great changes to people's lives and led to the rapid development of a number of applications and services. develop. Affected by occlusion, positioning technologies such as GPS cannot meet the needs of positioning and navigation in indoor scenes. Therefore, technical research on indoor positioning emerges as the times require. At present, the more common indoor positioning technologies include technologies based on wireless transmission protocols such as WIFI, Bluetooth, UWB, and RFID, and technologies based on audio, vision, and PDR. Various technologies have their ...
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IPC IPC(8): G01S5/22G01S11/14
CPCG01S5/22G01S11/14
Inventor 陈香于萌张旭曹帅
Owner UNIV OF SCI & TECH OF CHINA