[0054]In order to be more clearly described, the technical content of the present invention will be described below in conjunction with specific embodiments.
[0055]In detail, in detail, it should be noted in detail, in the following, the term "comprising" or any other variant is intended to encompass non-exclusive container, thereby enabling a process of including a series of elements. , Methods, items, or equipment not only contains these elements, but also contain other elements that are not explicitly listed, or for such processes, methods, items, or elements inherent.
[0056]Seefigure 1 withfigure 2 As shown, the TDOA-FOA-FOA-FOA implementation of a distributed car whistle sound source, a real-time rapid positioning of a spinner source, wherein the method includes the following steps:
[0057](1) Each microphone performs energy detection to the distributed car of the collected monitoring vehicles, and estimates the sound source position of the monitoring vehicle;
[0058](2) The arrival frequency FOA of the distributed car whistle source monitored by the spectrum analysis is measured by the spectrum analysis; and the distributed car whistle source is used to reach the time difference TDOA ;
[0059](3) Calculate the distributed vehicle whistle source based on the arrival frequency FOA and the cost function based on the arrival time difference TDOA, determine the two sets of cost function;
[0060](4) Determine the distributed car whistle sound source based on the position estimate of the arrival frequency FOA1And speed estimates V and location estimates based on reach time difference TDOA2;
[0061](5) Determine the sound source position of the distributed car whistle of the monitoring vehicle.
[0062]As a preferred embodiment of the present invention, the step (1) is specifically:
[0063]The position of the monitored whistle source according to the distributed car of the monitoring vehicle according to the various microphone distances of the respective microphones, according to the source position distribution energy value according to the sound source position, and the sonoid source of the monitoring vehicle is performed. Energy detection, in this case, the stimpage source position of the monitoring vehicle is predictized.
[0064]As a preferred embodiment of the present invention, the step (2) specifically includes the steps of:
[0065](2.1) Using the spectrum analysis to measure the reaching frequency of the distributed car whistle source of the number of microphones to be monitored;
[0066](2.2) Based on the time delay rate, a generalized interval algorithm is applied, and the receipt of the sound source signal received by the reference microphone and any non-reference microphone is performed, and the arrival time difference of the monitoring vehicle is calculated TDOA.
[0067]As a preferred embodiment of the present invention, the step (3) specifically:
[0068]The sound source signal of the sonoid source of the distributed car is performed, and the corresponding cost function is obtained, and the cost function value that matches thereof is determined by the cost function.
[0069]As a preferred embodiment of the present invention, the step (3) specifically includes computing processing processing based on the cost of arrival time difference TDOA and the cost function value calculation processing based on the arrival frequency FOA.
[0070]The cost function value calculation process based on arrival time difference TDOA includes the following steps:
[0071](3.1.a) Dispersion treatment of the plane of the sound source signal of the acquired monitoring vehicle;
[0072](3.2.a) divide the plane into multiple grids, assuming that the central coordinates of a grid are the assumptions actual position of the monitored vehicle whistle sources, calculated the hypotransphi according to this position The hypothesis distance between the source reaches each microphone;
[0073](3.3.a) The actual distance between the individual microphones described in the respective microphone of the thistle according to the arrival time difference TDOA is calculated;
[0074](3.4.a) The assumed distance difference is subtracted from the actual distance difference calculated based on the arrival time difference TDOA, and then the casting time difference TDOA is obtained;
[0075](3.5.a) The expeditionary sound source surface of the entire thistler source is traveled, and the cost function based on the arrival time difference TDOA is determined based on the cost function based on the arrival time difference TDOA based on the step (3.3.a). ;
[0076]The cost function value calculation processing based on arriving frequency FOA includes the following steps:
[0077](3.1.b) The motion direction of the thistler sound source is known, according to the assumption of the thistler source, selecting any two microphone through the spectral analysis measurement of the whistle source to arrive. Frequency foa;
[0078](3.2.b) The motion speed size and sound source frequency of the whistle source are calculated by the Doppler frequency shift formula, calculating the reaching frequency FOA of other microphones;
[0079](3.3.b) The arrival frequency FOA of other microphones described below is subtracted to the reachable frequency FOA obtained by spectrum analysis, and then the casting frequency is obtained, that is, the cost function based on the arrival frequency FOA is obtained;
[0080](3.4.b) The cost function based on the reachable frequency FOA obtained according to the step (3.3.b) is determined based on the cost function value based on the arrival frequency foa.
[0081]As a preferred embodiment of the present invention, the step (4) specifically:
[0082]According to the cost function value calculated according to the step (3.4), when the cost function value of the two groups is the least, it is determined that the hypothesis position is the actual location of the whistle source of the whistle, thereby determining the The position estimate of the arrival frequency foa of the thistler source1And speed estimates V and location estimates based on reach time difference TDOA2.
[0083]As a preferred embodiment of the present invention, the step (5) specifically includes the following steps:
[0084](5.1) Put the speed estimation value V and a preset speed threshold VTH Perform comparison, if the speed estimation value V is smaller than the preset speed threshold VTH Then go to step (5.2), then enter step (5.3);
[0085](5.2) The position estimate of the arrival frequency FOA is based on the position estimate of the arrival frequency FOA described at this time.1The credibility is higher, and the value is estimated.1It is determined that the position of the monitored vehicle of the monitoring vehicle is located;
[0086](5.3) The position estimate of the arrival time difference TDOA based at this time is at this time.2The credibility is higher, and the value is estimated.2It is determined that the position of the monitored vehicle of the monitoring vehicle is located.
[0087]The TDOA-FOA-FOA-FO-FO-FOA-in-FOA-based distributed car whistle sound source real-time fast positioning system, wherein the system is specifically processed:
[0088]A, each microphone performs energy detection for distributed automotive whistle sources of monitoring vehicles, and estimates the sound source position of the monitoring vehicle;
[0089]B. The arrival frequency FOA of the distributed car whistling sound source monitored by spectrum analysis is measured by spectrum analysis, and the arrival time difference of the distributed car thistler source is measured by the time delay rate measurement. TDOA;
[0090]c, calculate the distributed car thistle, to determine the two sets of cost function values based on the cost of arrival frequency FOA and the cost of arrival time difference TDOA;
[0091]D. Determine the distributed car whistle sound source based on the position estimate of the arrival frequency foa1And speed estimates V and location estimates based on reach time difference TDOA2;
[0092]E, determine the sound source position of the distributed vehicle whistle of the monitoring vehicle.
[0093]As a preferred embodiment of the present invention, the system employs the time synchronization between the respective microphones by the GNSS clock.
[0094]As a preferred embodiment of the present invention, the system transmits information of the collected whistle source to the cloud database for the process of the TDOA-FOA fast positioning algorithm.
[0095]The TDOA-FOA-FOA-to-adaptive distributed car whistle sound source is a real-time fast positioning, wherein the device comprises:
[0096]The processor is configured to perform a computer executable instruction;
[0097]Memory, stores one or more computer executable instructions, the computer executable instructions are performed by the processor, implementing the distributed car whistle source based on TDOA-FOA-based implementation of the spinner source, fast positioning. The various steps of the method.
[0098]The TDOA-FOA-based implementation of a processor that can be accommodated in real time, a processor, fast positioning of a spinner source, wherein the processor is configured to perform a computer executable instruction, the computer executable instruction When the processor is executed, the above-described TDOA-FOA-FOA-based implementation of the distributed car whistle source of the sponin source of the moving sound source real-time fast positioning is achieved.
[0099]The computer readable storage medium, wherein the computer program is stored on which the computer program can be executed by a processor to achieve the above-described TDOA-FOA implementation of a distributed car whistle sound source, fast positioning. The various steps of the method.
[0100]Seeimage 3As shown, the TDOA-FOA-based distributed automatic distributed car whistle sound source is a typical application scenario for real-time fast positioning.image 3As shown, a plurality of microphones that exhibit distributed features on the space are arranged on both sides of the road, using the GNSS clock to achieve time synchronization between microphones, and transmit synchronous collected sounds to the cloud database, apply cloud computing technology to implement TDOA-FOA fast Location Algorithm.
[0101]In a specific embodiment of the present invention, the present invention proposes a distributed car whistle that can be adapted to a sports sound source for a bottleneck problem in the performance, cost and adaptability of the car whistle. system. First, the TDOA algorithm is affected by the Doppler effect. It is difficult to position the sound source to be positioned in real time, and the sound arrival frequency (FOA) received by each microphone is applied to the positioning algorithm, and a TDOA-FOA rapid positioning algorithm is proposed, the algorithm Based on the TDOA algorithm, only a small amount of microphone unit can achieve an accurate flute positioning, mainly relying on the TDOA algorithm to achieve positioning at a low speed, and there is no need to perform complex Doppler effect during high speed, but Effective use of the FOA caused by the Doppler effect at high speeds to assist in achieving the precise positioning of the motion source, so that it can effectively adapt to stationary and motion sound source positioning scenarios, and have better real-time. Further, on this basis, a sports sound source real-time positioning system based on distributed synchronous acquisition and cloud audio processing is designed. The system can accurately relevant processing of the original data of the distributed sensor to achieve accurate TDOA computing and FOA parameters. Measurements, and can utilize the powerful computing power of the cloud to achieve better real-time and have low cost.
[0102]The TDOA-FOA-based rapid positioning algorithm proposed by the present invention, making it easy to overcome the diaphragm of Doppler information between the distributed microphone to adapt the time difference method to adapt to the sports sound source, the method avoids complicated complicated and operated Eliminating the Doppler effect process, has the advantage of low computing complexity, and adapts to the high speed sports sound source. The specific implementation method consists of the following five steps:
[0103](1) Energy detection;
[0104](2) TDOA and FOA measurement;
[0105](3) Calculate the cost function;
[0106](4) Location estimation and speed estimation;
[0107](5) Determine the sound source position;
[0108]In a specific embodiment of the invention, the energy detection is a range of sound source positions to narrow the range of search. The closer the sound source, the larger the sound energy received by the microphone, whereby the source is located near the microphone position of the maximum amount of sound signal energy. The real time of the algorithm is further improved by energy detection. In addition, when the positioning range is large, there is a need to arrange more microphones, but in a specific positioning, since the attenuation of the sound is faster, if some microphone is too far, it may not be able to receive a good sound signal. , Use these signals to position the sound source may result in a larger error, so the redundant signal can be removed by energy detection, increasing the positioning accuracy and efficiency.
[0109]In a specific embodiment of the invention, the TDOA and FOA measurement is to obtain FOA and TDOA through the time delay and spectrum analysis, where the time delay is applied, and the algorithm is a wide range of applications. The extension method is related to the sound signal received by the reference microphone to any non-reference microphone, and finally the value of TDOA is obtained. This method has the advantages of small computational amount, and the calculation speed is fast and can accommodate real-time requirements.
[0110]In a specific embodiment of the present invention, the calculation cost function is a plane discretization process in which the sound is located, divided into a plurality of grids, assumes that the central coordinates of a mesh is the actual location of the thistle, which can be calculated In this position, the distance difference of each microphone is obtained. According to the TDOA, the actual distance difference can be calculated. The hypothesis is reduced to the distance difference of the distance according to the TDOA, and then the mold is summed, and the cost function can be obtained by TDOA; The movement direction of the sound source is known, depending on the hypothetical position and the FOA obtained by the two microphones, the Doppler frequency shift formula can obtain the motion velocity size of the sound source and the frequency of the sound source, so that other microphones can be obtained. FOA , The value is subtracted from the measured FOA, and then the mold can be obtained, and the FOA-based cost function can be obtained. Traversing the entire estimated sound source, two sets of cost functions based on TDOA and FOA can be obtained.
[0111]In a specific embodiment of the present invention, the position estimate and speed estimate are to obtain TDOA-based positional estimation, as well as FOA-based positional estimation and speed estimation; when the cost function is the least, it is considered that the hypothesis position is sound. The actual location, by searching the price function, location estimation and speed estimation can be obtained.
[0112]In a specific embodiment of the present invention, the determining sound source position is based on a speed estimate V and a threshold value VTH The relationship determines that the spell sound position is based on the FOA position estimate, or based on the TDOA location estimate. When the estimation speed is smaller than the threshold, the value credibility of TDOA is higher; when the estimation speed is greater than the threshold, this time FOA The credibility is higher.
[0113]The present invention proposes a distributed car whistle real-time positioning system that can be adapted to a moving sound source, using GNSS clock to realize time synchronization between microphones, and transmit synchronously collected sound information to the cloud database, and apply cloud computing technology to implement TDOA - FOA Rapid Positioning Algorithm. This algorithm makes full use of Doppler information difference between the distributed microphone to overcome the bobbin neck of the arrival time difference method. Compared to the background technology, it has the following specific advantages:
[0114]1. The present invention can significantly reduce the number of microphone and the operational economy and deployment of flexibleity.
[0115]2, the present invention is compared to other TDOA-based methods presented in recent years, the Doppler information difference between the distributed microphone is used to overcome the expiration time difference method is difficult to adapt to the bottleneck of the sports sound source, which avoids complicated complications. The amount of operation is large to eliminate the Doppler effect process, which has the advantages of low operation complexity and adapt to the high speed sports sound source.
[0116]Any process or method described in the flowchart or herein can be understood as a module, segment or portion of a code including one or more executable instructions including one or more steps for implementing a particular logic function or process. And the range of preferred embodiments of the present invention includes additional implementation, wherein the functionality may be performed in a substantially simultaneous manner or in reverse order, including the functionally discussed, or in the reverse order, as shown in the order shown or discussed. It is understood by those skilled in the art of the present invention.
[0117]It will be appreciated that the portions of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiment, the plurality of steps or methods can be implemented with software or firmware stored in the memory and executed by the appropriate instruction execution device.
[0118]One of ordinary skill in the art will appreciate that all or some of the steps that implement the above-described embodiment method are completed by the hardware that can be done by the program, and the program can be stored in a computer readable storage medium, which is executed One or a combination of the steps including method embodiments.
[0119]The storage medium mentioned above can be a read-only memory, a disk, or a disc or the like.
[0120]In the description of this specification, a description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "embodiment", "Embodiment", etc., meant to bind to this embodiment or Specific features, structures, materials, or features described in the examples are included in at least one embodiment or example of the present invention. In the present specification, the meaning of the above term is not necessarily referred to as the same examples. Moreover, the specific features, structures, materials or features described may be combined in any one or more embodiments or examples.
[0121]Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary, and cannot be understood as limiting the invention, and those of ordinary skill in the art can be described above. EXAMPLES Change, modify, replace, and variants.
[0122]A TDOA-FOA-based method, system, apparatus, processor, and computer readable storage medium using a distributed car whistle source of the present invention, and a computer readable storage medium, and the distributed microphone Doppler information differences to overcome the expansion time difference method is difficult to adapt to the bottleneck of the sports sound source, which can greatly reduce the number of microphone and the amount of operation of the microphone, and have the advantages of cost-effective and deployed. Compared to other TDOA-based methods compared to in recent years, the Doppler information difference between the distributed microphone is fully utilized to overcome the bobbin neck of the arrival time difference method, which avoids complicated complicated, and the operation is large. Eliminating the Doppler effect process, has the advantage of low operation complexity and adapts to high-speed sports sound sources.
[0123]In this specification, the present invention has been described with reference to its specific embodiments. However, it is clear that various modifications and transformations can still be made without departing from the spirit and scope of the invention. Thus, the description and the drawings are considered to be illustrative and non-limiting.
