Planar microphone array sound source positioning method, device, equipment and storage medium

Abstract

The application discloses a planar microphone array sound source positioning method, device and equipment and a storage medium, and belongs to the technical field of acoustic positioning. The method comprises the following steps: taking any planar microphone array as a reference array, determining a rectangular coordinate system; determining a two-dimensional positioning result of a sound source relative to each planar microphone array; determining a target geometric relationship between each planar microphone array by using the coordinate system and the two-dimensional positioning result; and determining a target matrix by using the target geometric relationship to obtain a three-dimensional positioning result of the sound source. The planar microphone array sound source positioning method in the application can ensure the accuracy of three-dimensional positioning of the sound source and greatly improve the efficiency of three-dimensional positioning of the sound source.

Description

Technical Field

[0001] This application relates to the field of acoustic positioning technology, and in particular to a method, apparatus, device and computer-readable storage medium for locating sound sources using a planar microphone array. Background Technology

[0002] Sound source localization refers to locating the position of a sound source. The most common method is sound source localization using the human ear. In practical applications, multiple microphones can be used to measure the sound source at different locations.

[0003] For plane wave sound sources, typical planar microphone arrays (hereinafter referred to as "planar arrays") lack one dimension of information and can only locate the direction of the sound source, that is, they can only provide azimuth and elevation angle information, but cannot provide accurate distance information. To provide three-dimensional information, a stereo array must be used, which requires microphones to be distributed along the X, Y, and Z axes.

[0004] However, this three-dimensional array localization method requires prior knowledge of the distance range for distance estimation to narrow the search area; otherwise, it would result in a large computational burden. Therefore, the current three-dimensional array localization method suffers from the technical drawback of high computational cost. On the other hand, if the three-dimensional information of the sound source can be obtained through a planar array, the computational cost can be significantly reduced.

[0005] In view of this, there is an urgent need for a new technical solution to address the aforementioned technical problems. Summary of the Invention

[0006] The main objective of this application is to provide a method, apparatus, device, and computer-readable storage medium for sound source localization using a planar microphone array, aiming to solve the technical problem of low efficiency in sound source localization using a three-dimensional microphone array.

[0007] To achieve the above objectives, this application provides a method for localizing sound sources using a planar microphone array, the method being applied to multiple planar microphone arrays; the method includes the following steps:

[0008] A Cartesian coordinate system is determined using any planar microphone array as a reference array;

[0009] Determine the two-dimensional localization results of the sound source for each planar microphone array;

[0010] Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined;

[0011] Using the aforementioned target geometric relationships, the target matrix is ​​determined to obtain the three-dimensional localization result of the sound source.

[0012] Optionally, the step of determining a Cartesian coordinate system using any planar microphone array as a reference array includes:

[0013] Using any planar microphone array as a reference array, the position coordinates corresponding to the reference array are determined as the origin; the reference array is set as the 0th planar microphone array;

[0014] The position coordinates corresponding to each planar microphone array are determined as (x... i ,y i ,z i ), i = 0, 1, ..., n-1.

[0015] Optionally, the step of determining the two-dimensional localization result of the sound source for each planar microphone array includes:

[0016] Obtain the azimuth angle φ and elevation angle θ of the sound source for each planar microphone array;

[0017] Based on the azimuth angle φ and the elevation angle θ, the two-dimensional positioning result is determined as (θ i ,φ i ), i = 0, 1, ..., n-1.

[0018] Optionally, the step of determining the target geometric relationship between each planar microphone array using the coordinate system and the two-dimensional positioning result includes:

[0019] The coordinates of the sound source are determined as (x s ,y s ,z s Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined as follows:

[0020] in

[0021] Optionally, the step of determining the target matrix using the target geometric relationship to obtain the three-dimensional localization result of the sound source includes:

[0022] When the height difference between the various planar microphone arrays is less than a preset difference, the target geometric relationship is converted into a target matrix:

[0023]

[0024] Calculate B using A, and then analyze the components in B. The square root is used to obtain the three-dimensional localization result of the sound source.

[0025] Optionally, the step of determining the target matrix using the target geometric relationship to obtain the three-dimensional localization result of the sound source includes:

[0026] If the height difference between the various planar microphone arrays is greater than or equal to a preset difference, the target geometric relationship is converted into a target matrix:

[0027]

[0028] Using the target matrix, the extreme values ​​are solved to obtain the three-dimensional localization result of the sound source.

[0029] Optionally, the step of using the target matrix to solve for the extreme values ​​to obtain the three-dimensional localization result of the sound source includes:

[0030] Determine the multivariate function of the target matrix:

[0031] F(x s y s , z s )=||AB-R|| 2 , where the symbol Represents norm operations;

[0032] Minimize the multivariate function to obtain the three-dimensional localization result of the sound source.

[0033] Furthermore, to achieve the above objectives, this application also provides a planar microphone array sound source localization device, the planar microphone array sound source localization device comprising:

[0034] The coordinate generation module is used to determine a rectangular coordinate system with any planar microphone array as a reference array;

[0035] The two-dimensional positioning module is used to determine the two-dimensional positioning results of each planar microphone array relative to the sound source, and to determine the target geometric relationship between each planar microphone array;

[0036] A three-dimensional positioning module is used to determine the target matrix by utilizing the two-dimensional positioning results and the target geometric relationship to obtain the three-dimensional positioning results of the sound source.

[0037] This application also provides a planar microphone array sound source localization device, including a processor, a memory, and a planar microphone array sound source localization program stored in the memory and executable by the processor, wherein when the planar microphone array sound source localization program is executed by the processor, it implements the steps of the planar microphone array sound source localization method as described above.

[0038] This application also provides a computer-readable storage medium storing a planar microphone array sound source localization program, wherein when the planar microphone array sound source localization program is executed by a processor, it implements the steps of the planar microphone array sound source localization method as described above.

[0039] The planar microphone array sound source localization method in this application determines a Cartesian coordinate system by using any planar microphone array as a reference array; determines the two-dimensional localization results of the sound source relative to each planar microphone array; uses the coordinate system and the two-dimensional localization results to determine the target geometric relationship between each planar microphone array; and uses the target geometric relationship to determine the target matrix to obtain the three-dimensional localization result of the sound source. This method achieves the acquisition of three-dimensional localization information of the sound source, including azimuth, elevation, and distance, based on multiple distributed planar microphone arrays. The computational load is significantly reduced compared to stereo microphone arrays, improving the efficiency of three-dimensional sound source localization. Furthermore, the obtained three-dimensional localization results have been tested and verified to be very close to the true value, ensuring the accuracy of the three-dimensional sound source localization. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the hardware operating environment of the planar microphone array sound source localization device involved in the embodiments of this application;

[0041] Figure 2 This is a flowchart illustrating the first embodiment of the planar microphone array sound source localization method of this application;

[0042] Figure 3 This is a schematic diagram of the planar array involved in the planar microphone array sound source localization method of this application;

[0043] Figure 4 This is a two-dimensional position diagram of the sound source involved in the planar microphone array sound source localization method of this application;

[0044] Figure 5 This is a schematic diagram of the array geometry involved in an embodiment of the planar microphone array sound source localization method of this application;

[0045] Figure 6 This is a schematic diagram of the array geometry involved in another embodiment of the planar microphone array sound source localization method of this application;

[0046] Figure 7 This is a schematic diagram of the frame structure of the planar microphone array sound source localization device of this application.

[0047] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0049] This application provides a planar microphone array sound source localization device, which can be a microphone device.

[0050] like Figure 1 As shown, Figure 1 This is a schematic diagram of the hardware operating environment of the planar microphone array sound source localization device involved in the embodiments of this application.

[0051] like Figure 1 As shown, the planar microphone array sound source localization device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to establish communication between these components. The user interface 1003 may include a display or an input unit such as a control panel; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001. The memory 1005, as a computer storage medium, may include a planar microphone array sound source localization program.

[0052] Those skilled in the art will understand that Figure 1 The hardware structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0053] Continue to refer to Figure 1 , Figure 1 The memory 1005, which is a computer-readable storage medium, may include an operating device, a user interface module, a network communication module, and a planar microphone array sound source localization program.

[0054] exist Figure 1 In this module, the network communication module is mainly used to connect to the server and communicate with it; while the processor 1001 can call the planar microphone array sound source localization program stored in the memory 1005 and perform the following operations:

[0055] A Cartesian coordinate system is determined using any planar microphone array as a reference array;

[0056] Determine the two-dimensional localization results of the sound source for each planar microphone array;

[0057] Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined;

[0058] Using the aforementioned target geometric relationships, the target matrix is ​​determined to obtain the three-dimensional localization result of the sound source.

[0059] Furthermore, the processor 1001 can call the planar microphone array sound source localization program stored in the memory 1005, and also perform the following operations:

[0060] Using any planar microphone array as a reference array, the position coordinates corresponding to the reference array are determined as the origin; the reference array is set as the 0th planar microphone array;

[0061] The position coordinates corresponding to each planar microphone array are determined as (x... i ,y i ,z i ), i = 0, 1, ..., n-1.

[0062] Furthermore, the processor 1001 can call the planar microphone array sound source localization program stored in the memory 1005, and also perform the following operations:

[0063] Obtain the azimuth angle φ and elevation angle θ of the sound source for each planar microphone array;

[0064] Based on the azimuth angle φ and the elevation angle θ, the two-dimensional positioning result is determined as (θ i ,φ i ), i = 0, 1, ..., n-1.

[0065] Furthermore, the processor 1001 can call the planar microphone array sound source localization program stored in the memory 1005, and also perform the following operations:

[0066] The coordinates of the sound source are determined as (x s ,y s ,z s Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined as follows:

[0067] in

[0068] Furthermore, the processor 1001 can call the planar microphone array sound source localization program stored in the memory 1005, and also perform the following operations:

[0069] When the height difference between the various planar microphone arrays is less than a preset difference, the target geometric relationship is converted into a target matrix:

[0070]

[0071] Calculate B using A, and then analyze the components in B. The square root is used to obtain the three-dimensional localization result of the sound source.

[0072] Furthermore, the processor 1001 can call the planar microphone array sound source localization program stored in the memory 1005, and also perform the following operations:

[0073] If the height difference between the various planar microphone arrays is greater than or equal to a preset difference, the target geometric relationship is converted into a target matrix:

[0074]

[0075] Using the target matrix, the extreme values ​​are solved to obtain the three-dimensional localization result of the sound source.

[0076] Furthermore, the processor 1001 can call the planar microphone array sound source localization program stored in the memory 1005, and also perform the following operations:

[0077] Determine the multivariate function of the target matrix:

[0078] F(x s y s , z s )=||AB-R|| 2 , where the symbol Represents norm operations;

[0079] Minimize the multivariate function to obtain the three-dimensional localization result of the sound source.

[0080] Based on the hardware structure of the planar microphone array sound source localization device described above, various embodiments of the planar microphone array sound source localization method of this application are proposed.

[0081] This application provides a method for locating sound sources using a planar microphone array.

[0082] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the planar microphone array sound source localization method of this application; in the first embodiment of this application, the method is applied to multiple planar microphone arrays; the planar microphone array sound source localization method includes the following steps:

[0083] Step S10: Using any planar microphone array as a reference array, determine the rectangular coordinate system;

[0084] For a planar microphone array, it can be represented as follows: Figure 3 The various forms shown are illustrated, with each circle representing a single microphone. It can also be represented in other planar forms, which are not limited here.

[0085] As can be seen, a single planar microphone array only has microphones in two dimensions (which can be defined as X and Y), and can only acquire the directional information of the sound source, namely the azimuth angle φ and the elevation angle θ, such as... Figure 4 As shown.

[0086] Taking a planar microphone array with n arrays as an example, where the normal direction of each array is parallel to the Z-axis, meaning the microphones are all distributed on the XOY plane. For ease of description, each planar microphone array is numbered i, i = 0, 1, ..., n-1.

[0087] Specifically, step S10 includes:

[0088] Using any planar microphone array as a reference array, the position coordinates corresponding to the reference array are determined as the origin; the reference array is set as the 0th planar microphone array;

[0089] The position coordinates corresponding to each planar microphone array are determined as (x... i ,y i ,z i ), i = 0, 1, ..., n-1.

[0090] Please refer to Figure 5 and Figure 6 To clarify: Without loss of generality, any planar microphone array can be taken as planar microphone array number 0, i.e., the reference array. The position coordinates of each planar microphone array can be determined and represented as (x... i ,y i ,z i The origin coordinates of the reference array are (0,0,0), thus establishing a rectangular coordinate system between multiple planar microphone arrays.

[0091] Furthermore, the coordinates of the sound source can be defined as (x... s ,y s ,z s Obviously z s It refers to the height (distance) of the sound source relative to all planar microphone arrays.

[0092] Step S20: Determine the two-dimensional localization results of the sound source for each planar microphone array;

[0093] The two-dimensional positioning results here refer to the azimuth and elevation angles. These two parameters can be obtained by the time difference method. Since they are not the focus of this application, they will not be discussed in detail here.

[0094] Specifically, step S20 includes:

[0095] Obtain the azimuth angle φ and elevation angle θ of the sound source for each planar microphone array;

[0096] Based on the azimuth angle φ and the elevation angle θ, the two-dimensional positioning result is determined as (θ i ,φ i ), i = 0, 1, ..., n-1.

[0097] When a sound source is present, the two-dimensional localization result of each planar microphone array is (θ i ,φ i ).

[0098] Step S30: Using the coordinate system and the two-dimensional positioning results, determine the target geometric relationship between each planar microphone array;

[0099] by Figure 5 For example, assuming that the installation height of each planar microphone array on the ground is the same (less than a preset difference), the geometric relationship between the planar microphone arrays can be expressed as follows:

[0100]

[0101]

[0102] Organizing can yield

[0103] in

[0104] for Figure 6 For planar microphone arrays installed at inconsistent heights on the ground (greater than or equal to a preset difference), referring to the above situation, the geometric relationship between the planar microphone arrays can be expressed as follows:

[0105] in This geometric relationship applies to both highly consistent and inconsistent cases.

[0106] Specifically, step S30 includes:

[0107] The coordinates of the sound source are determined as (x s ,y s ,z s Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined as follows:

[0108] in

[0109] Step S40: Using the target geometric relationship, determine the target matrix to obtain the three-dimensional localization result of the sound source.

[0110] The target geometric relationship is converted into the corresponding target matrix form, and then the target matrix is ​​solved to obtain the three-dimensional localization result of the sound source.

[0111] In one specific embodiment, step S40 includes:

[0112] When the height difference between the various planar microphone arrays is less than a preset difference, the target geometric relationship is converted into a target matrix:

[0113]

[0114] Calculate B using A, and then analyze the components in B. The square root is used to obtain the three-dimensional localization result of the sound source.

[0115] Here AB = R. Please refer to... Figure 5 In this embodiment, it can be assumed that the installation height of each planar microphone array from the ground is basically the same, and the coordinates of the origin of the planar array i, i = 1, 2, ..., n-1 in the positioning system (relative to the reference planar array) are (x i ,y i ,0).

[0116] When n = 4, that is, when matrix A is a full-rank matrix (this condition is easily satisfied by the layout of each planar array), B = A can be directly solved. -1 R;

[0117] When n>4, using the least squares method, we can obtain B=(A T A) -1 A T R. The result obtained in this way is... For the third element By taking the square root, and depending on the actual situation, the final three-dimensional positioning result can be obtained.

[0118] It should be noted that the preset difference here can be set according to actual needs, such as 5mm to 10mm, and there is no limit here.

[0119] In another specific embodiment, step S40 includes:

[0120] If the height difference between the various planar microphone arrays is greater than or equal to a preset difference, the target geometric relationship is converted into a target matrix:

[0121]

[0122] Using the target matrix, the extreme values ​​are solved to obtain the three-dimensional localization result of the sound source.

[0123] Due to uneven ground, the heights of the various planar microphone arrays may differ, but their normal directions remain parallel to the Z-axis of the reference coordinate system (this condition is easily satisfied and can be achieved using gyroscopes, etc.). Still using the coordinate system of planar array 0 as the reference coordinate system, the layout of each array is illustrated as follows: Figure 6 As shown.

[0124] Here, AB = R. The three-dimensional localization result of the sound source can be obtained by defining a multivariate function using the target matrix and then solving for the extrema of the multivariate function.

[0125] Specifically, the step of using the target matrix to solve for the extreme values ​​to obtain the three-dimensional localization result of the sound source includes:

[0126] Determine the multivariate function of the target matrix:

[0127] F(x s y s , z s )=||AB-R|| 2 , where the symbol Represents norm operations;

[0128] Minimize the multivariate function to obtain the three-dimensional localization result of the sound source.

[0129] The three-dimensional location of the sound source can be obtained by minimizing the multivariate function. There are many methods for finding the extrema of multivariate functions, such as gradient descent and Newton's method, which are basic rules and will not be discussed in detail here. The key step is the choice of initial values. We can assume that all planar microphone arrays are located on the same plane, that is, at the same height. First, we estimate the initial location of the sound source using the first case of consistent height, and use this as the initial value for the gradient descent method. Then, we can start iterative calculation.

[0130] If the height differences between the planar microphone arrays are small, the initial value will be very close to the true value, the iterative solution process will be very fast, and it will easily converge to the true value. If the heights of the planar microphone arrays are basically the same, then the initial value is considered the true value, and the solution process is more efficient. Compared with the method of locating sound sources using a three-dimensional microphone array, the computational complexity of this application in acquiring sound source information is as shown above. The entire computation process is very simple, and more efficient computation can be performed to obtain accurate sound source location information. Furthermore, this application also provides a new method and scheme for obtaining three-dimensional sound source localization based on a planar microphone array.

[0131] To verify the actual effectiveness of this application, some experiments were conducted. One of these experiments is taken as an example:

[0132] There are a total of 5 planar microphone arrays, with array 0 serving as the reference array. The coordinates of the origin of each planar microphone array are shown in Table 1 below:

[0133]

[0134] Table 1

[0135] The sound source is located at (3,4,5). Using the formula from the first case, the initial value is estimated to be (4.54, 3.55, 3.08), which is quite close to the true value. Using this as the initial value, the gradient descent method is applied, and after 5 iterations, the optimal solution (3.01, 3.92, 4.91) is obtained, which is very close to the true value. The three-dimensional localization result of the sound source is already at a very high level of accuracy.

[0136] The planar microphone array sound source localization method in this application determines a Cartesian coordinate system by using any planar microphone array as a reference array; determines the two-dimensional localization results of the sound source relative to each planar microphone array; uses the coordinate system and the two-dimensional localization results to determine the target geometric relationship between each planar microphone array; and uses the target geometric relationship to determine the target matrix to obtain the three-dimensional localization result of the sound source. This method achieves the acquisition of three-dimensional localization information of the sound source, including azimuth, elevation, and distance, based on multiple distributed planar microphone arrays. The computational load is significantly reduced compared to stereo microphone arrays, improving the efficiency of three-dimensional sound source localization. Furthermore, the obtained three-dimensional localization results have been tested and verified to be very close to the true value, ensuring the accuracy of the three-dimensional sound source localization.

[0137] In addition, refer to Figure 7 , Figure 7 This is a schematic diagram of the frame structure of the planar microphone array sound source localization device of this application. This application also proposes a planar microphone array sound source localization device, which includes:

[0138] The coordinate generation module A10 is used to determine a rectangular coordinate system with any planar microphone array as a reference array;

[0139] The two-dimensional positioning module A20 is used to determine the two-dimensional positioning results of the sound source relative to each planar microphone array; and to determine the target geometric relationship between each planar microphone array using the coordinate system and the two-dimensional positioning results.

[0140] The three-dimensional positioning module A30 is used to determine the target matrix using the target geometric relationship to obtain the three-dimensional positioning result of the sound source.

[0141] Optionally, the coordinate generation module A10 is further configured to:

[0142] Using any planar microphone array as a reference array, the position coordinates corresponding to the reference array are determined as the origin; the reference array is set as the 0th planar microphone array;

[0143] The position coordinates corresponding to each planar microphone array are determined as (x... i ,y i ,z i ), i = 0, 1, ..., n-1.

[0144] Optionally, the two-dimensional positioning module A20 is further used for:

[0145] Obtain the azimuth angle φ and elevation angle θ of the sound source for each planar microphone array;

[0146] Based on the azimuth angle φ and the elevation angle θ, the two-dimensional positioning result is determined as (θ i ,φ i ), i = 0, 1, ..., n-1.

[0147] Optionally, the two-dimensional positioning module A20 is further used for:

[0148] The coordinates of the sound source are determined as (x s ,y s ,z s Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined as follows:

[0149] in

[0150] Optionally, the three-dimensional positioning module A30 is further configured to:

[0151] When the height difference between the various planar microphone arrays is less than a preset difference, the target geometric relationship is converted into a target matrix:

[0152]

[0153] Calculate B using A, and then analyze the components in B. The square root is used to obtain the three-dimensional localization result of the sound source.

[0154] Optionally, the three-dimensional positioning module A30 is further configured to:

[0155] If the height difference between the various planar microphone arrays is greater than or equal to a preset difference, the target geometric relationship is converted into a target matrix:

[0156]

[0157] Using the target matrix, the extreme values ​​are solved to obtain the three-dimensional localization result of the sound source.

[0158] Optionally, the three-dimensional positioning module A30 is further configured to:

[0159] Determine the multivariate function of the target matrix:

[0160] F(x s y s , z s )=||AB-R|| 2 , where the symbol Represents norm operations;

[0161] Minimize the multivariate function to obtain the three-dimensional localization result of the sound source.

[0162] The specific implementation of the planar microphone array sound source localization device in this application is basically the same as the various embodiments of the planar microphone array sound source localization method described above, and will not be repeated here.

[0163] Furthermore, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a planar microphone array sound source localization program, wherein when executed by a processor, the planar microphone array sound source localization program implements the steps of the planar microphone array sound source localization method as described above.

[0164] The method implemented when the planar microphone array sound source localization program is executed can be referred to in various embodiments of the planar microphone array sound source localization method of this application, and will not be repeated here.

[0165] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0166] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0167] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0168] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0169] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0170] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0171] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A method for localizing a sound source using a planar microphone array, characterized in that, The method is applied to multiple planar microphone arrays, where the normal directions of the multiple planar microphone arrays are all parallel to the Z-axis direction; the method includes the following steps: A Cartesian coordinate system is determined using any planar microphone array as a reference array; Determine the two-dimensional localization results of the sound source for each planar microphone array; Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined; Using the aforementioned target geometric relationships, the target matrix is ​​determined to obtain the three-dimensional localization result of the sound source; The step of determining a Cartesian coordinate system using any planar microphone array as a reference array includes: Using any planar microphone array as a reference array, the position coordinates corresponding to the reference array are determined as the origin; the reference array is set as the 0th planar microphone array; The position coordinates corresponding to each planar microphone array are determined as (x... i ,y i ,z i ), i=0,1,...,n-1; The step of determining the two-dimensional localization result of the sound source for each planar microphone array includes: Obtain the azimuth angle φ and elevation angle θ of the sound source for each planar microphone array; Based on the azimuth angle φ and the elevation angle θ, the two-dimensional positioning result is determined as (θ i ,φ i ), i=0,1,...,n-1; The step of determining the target geometric relationship between each planar microphone array using the coordinate system and the two-dimensional positioning result includes: The coordinates of the sound source are determined as (x s ,y s ,z s Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined as follows: ,in , i=0,1,...,n-1; The step of determining the target matrix using the target geometric relationship to obtain the three-dimensional localization result of the sound source includes: When the height difference between the various planar microphone arrays is less than a preset difference, the target geometric relationship is converted into a target matrix: ； Calculate B using A, and then analyze the components in B. The square root is used to obtain the three-dimensional localization result of the sound source.

2. A planar microphone array sound source localization device, characterized in that, The planar microphone array sound source localization device is used to implement the steps of the planar microphone array sound source localization method according to claim 1, including: The coordinate generation module is used to determine a rectangular coordinate system with any planar microphone array as a reference array; The two-dimensional positioning module is used to determine the two-dimensional positioning results of the sound source relative to each planar microphone array; Using the coordinate system and the two-dimensional positioning results, the target geometric relationship between each planar microphone array is determined; The three-dimensional positioning module is used to determine the target matrix using the target geometric relationship to obtain the three-dimensional positioning result of the sound source.

3. A planar microphone array sound source localization device, characterized in that, The planar microphone array sound source localization device includes a processor, a memory, and a planar microphone array sound source localization program stored in the memory and executable by the processor, wherein when the planar microphone array sound source localization program is executed by the processor, it implements the steps of the planar microphone array sound source localization method according to claim 1.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a planar microphone array sound source localization program, wherein when the planar microphone array sound source localization program is executed by a processor, it implements the steps of the planar microphone array sound source localization method according to claim 1.

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