Electric power facility space multi-sound-source three-dimensional positioning method and system based on microphone matrix

Abstract

The invention discloses an electric power facility space multi-sound-source three-dimensional positioning method and system based on a microphone matrix, and the method comprises the steps: setting the microphone matrix to receive Q far-field sound signals of electric power equipment, carrying out the line array and column array addition synthesis of the microphone matrix, and obtaining an azimuth linear array and a pitch linear array; measuring the distance from the center of the array to the plane where the far-field sound signals are located in real time by using a laser distance measuring sensor; multi-sound source separation is realized by using a multi-phase filter, and a pre-downsampling structure is obtained by using multi-phase decomposition and sampling rate conversion properties; respectively processing the azimuth linear array sound source signal and the pitch linear array sound source signal by using a MUSIC spectral peak search method to obtain an azimuth incident angle and a pitch incident angle of the sound source signals; and completing three-dimensional positioning of multiple sound sources according to the distance information between the array and the plane where the power equipment is located. According to the method, three-dimensional high-precision positioning of multiple sound sources of the power transformer can be realized, the positioning precision is improved along with the increase of sound source frequency values, and engineering realization is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-source positioning, and in particular to a method and system for three-dimensional positioning of multiple sound sources in a power facility space based on a microphone matrix. Background Art

[0002] Many scholars at home and abroad have conducted research on the problem of sound source localization of microphone arrays. Hahn et al. proposed a sound source localization method based on controllable beamforming, but this method requires prior knowledge of the sound source and environmental noise, which is difficult to obtain in actual scenarios. Dibiase et al. proposed a guided response power-phase transformation method, but this method requires a global search and has a large amount of computation. Schmidt proposed MUSIC (Multiple Signa1 Classification), but this algorithm is only applicable to occasions where the number of sources is known and the sources are irrelevant. In response to this, many scholars have made corresponding improvements. Although the improved MUSIC algorithm partially breaks the limitations of the classic MUSIC, since this type of algorithm involves covariance matrix estimation and matrix inversion, the computational complexity is high and it is not conducive to real-time processing. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method and system for three-dimensional positioning of multiple sound sources in a power facility space based on a microphone matrix, which can achieve three-dimensional high-precision positioning of each sound source in a received signal containing multiple sound sources.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A method for three-dimensional positioning of multiple sound sources in a power facility space based on a microphone matrix comprises the following steps:

[0006] S1. Set the microphone matrix to receive Q far-field acoustic signals of the power equipment, and the spacing between array elements in the horizontal and vertical directions is d.

[0007] S2. Add and synthesize the row array and column array of the microphone matrix to obtain an azimuth linear array and an elevation linear array.

[0008] S3. Install laser ranging sensors at the center of the azimuth linear array and the elevation linear array to measure the distance R from the center of the array to the plane where the far-field acoustic signal is located in real time.

[0009] S4. Use polyphase filters to divide the entire Nyquist spectrum of the azimuth array and the elevation array into K non-overlapping sub-bands to achieve multi-source separation. Based on the multi-source separation characteristics of the polyphase filter, the polyphase decomposition and sampling rate conversion properties are used to obtain the pre-downsampling structure.

[0010] S5. Use the MUSIC spectrum peak search method to process the azimuth line array sound source signal to obtain the azimuth incident angle of the sound source signal.

[0011] S6. Use the MUSIC spectrum peak search method to process the pitch line array sound source signal to obtain the pitch incident angle of the sound source signal.

[0012] S7. Calculate the three-dimensional coordinates of the sound source signal based on the distance information between the array and the plane where the power equipment is located, and complete the three-dimensional positioning of multiple sound sources.

[0013] Furthermore, in step S2, the specific expressions of the azimuth array and the elevation array are:

[0014]

[0015] Among them, X represents the azimuth linear array receiving signal; represents the receiving steering vector of the i-th far-field acoustic signal azimuth array, j represents the imaginary part, f i represents the spectrum of the i-th far-field acoustic signal, represents the incident azimuth of the i-th far-field acoustic signal, c represents the speed of sound, M represents the number of array elements in the azimuth and elevation arrays, and the superscript T represents the transposition operator; x i represents the complex amplitude of the i-th far-field acoustic signal; represents the receiving steering vector of the Qth far-field acoustic signal azimuth array; Q represents the complex amplitude of the Qth far-field acoustic signal; N1 represents the receiving noise of the azimuth linear array; Re() represents the real part operation; Y represents the receiving signal of the elevation linear array; represents the receiving steering vector of the Qth far-field acoustic signal elevation array; represents the receiving steering vector of the i-th far-field acoustic signal elevation array, represents the incident elevation angle of the i-th far-field acoustic signal; N2 represents the receiving noise of the elevation array.

[0016] Furthermore, in step S4, obtaining the pre-downsampling structure includes the following sub-steps:

[0017] S401, according to the total number of sub-bands K and sampling frequency f s Design a prototype low-pass filter whose system function is:

[0018]

[0019] Wherein, H(z) represents the z-transform expression of the prototype low-pass filter; h0(n) represents the coefficient of the n-th order prototype low-pass filter; N represents the total order of the prototype low-pass filter, and N is a multiple of K; f s=BK, B represents the bandwidth of the prototype low-pass filter; z represents a complex variable.

[0020] S402, receiving signal X of the r-th azimuth linear array r And the prototype low-pass filter performs multi-phase decomposition, the specific formula is:

[0021]

[0022] e q (l) = h0(Kl+q)

[0023] in, represents the multiphase signal of the qth subband of the received signal of the rth azimuth linear array, q = 0, 1, ..., K-1, e q (l) represents the polyphase filter coefficient of the qth subband, m represents the length of each subsequence of the signal after polyphase decomposition, and l represents the length of each subsequence of the filter after polyphase decomposition.

[0024] S403, combining the result of the multi-phase decomposition in step S402, calculating the azimuth time domain signal of the qth sub-band, the specific formula is:

[0025]

[0026] in, represents the azimuth time domain signal of the qth subband, IDFT represents the inverse discrete Fourier transform, e q (m) represents the polyphase filter coefficient of the qth subband corresponding to the signal subsequence after polyphase decomposition.

[0027] Based on the characteristics of multi-source separation of polyphase filters, each sub-band polyphase filter is obtained by shifting the prototype low-pass filter h0(n), so the polyphase filter response of the q-th sub-band is h q (n) is:

[0028]

[0029] Among them, w q represents the center frequency of the qth subband,

[0030] Furthermore, in step S5, obtaining the azimuth incident angle of the sound source includes the following sub-steps:

[0031] S501, calculate the covariance matrix of the p-th sound source signal of the azimuth line array, the specific formula is:

[0032]

[0033] in, represents the covariance matrix of the pth sound source signal of the azimuth line array, G represents the total number of time domain samples, represents the g-th time domain sample of the p-th sound source signal of the azimuth line array, (·) H Represents the conjugate transpose operator.

[0034] S502, yes Perform eigendecomposition and arrange the eigenvalues ​​in descending order, and construct the signal subspaces with the eigenvectors corresponding to the eigenvalues and the noise subspace

[0035] S503, using the MUSIC spectrum peak search method to calculate the azimuth space spectrum, the specific formula is:

[0036]

[0037] in, represents the azimuth spatial spectrum of the pth sound source signal, θ x represents the azimuth incident angle, a x represents the azimuth steering vector, a x H Indicates a x The conjugate transpose of .

[0038] For θ x Perform a one-dimensional search, and the spectrum peak is the azimuth incident angle of the pth sound source signal

[0039] Furthermore, in step S6, obtaining the pitch incident angle of the sound source includes the following sub-steps:

[0040] S601, calculating the covariance matrix of the p-th sound source signal of the pitch array, the specific formula is:

[0041]

[0042] in, represents the covariance matrix of the pth sound source signal of the pitch array, Represents the gth time domain sample of the pth sound source signal of the pitch array.

[0043] S602, yes Perform eigendecomposition and arrange the eigenvalues ​​in descending order, and construct the signal subspaces with the eigenvectors corresponding to the eigenvalues and the noise subspace

[0044] S603, using the MUSIC spectrum peak search method to calculate the pitch spatial spectrum, the specific formula is:

[0045]

[0046] in, represents the pitch spatial spectrum of the pth sound source signal, θ y represents the pitch angle of incidence, a y represents the pitch steering vector, a y H Indicates a y The conjugate transpose of .

[0047] For θ y Perform a one-dimensional search, and the spectrum peak is the pitch incident angle of the pth sound source signal

[0048] Furthermore, in step S7, calculating the three-dimensional coordinates of the sound source signal includes the following sub-steps:

[0049] S701, according to the formula Get the horizontal axis coordinate X of the plane where the pth sound source signal is located p .

[0050] S702, according to the formula Calculate the vertical coordinate Y of the plane where the pth sound source signal is located p .

[0051] S703, the three-dimensional coordinates of the p-th sound source signal are (R, X p ,Y p ); Repeat steps S5-S7 to obtain the three-dimensional coordinates of each sound source signal.

[0052] Furthermore, the present invention also proposes a three-dimensional positioning system for multiple sound sources in a power facility space based on a microphone matrix, comprising:

[0053] The data setting module is used to set the microphone matrix to receive Q far-field acoustic signals of the power equipment, and the spacing between the array elements in the horizontal and vertical directions is d.

[0054] The signal synthesis module is used to perform row array and column array addition synthesis on the microphone matrix to obtain an azimuth linear array and an elevation linear array.

[0055] The distance measurement module is used to install laser ranging sensors at the center of the azimuth array and the elevation array to measure the distance R from the center of the array to the plane where the far-field acoustic signal is located in real time.

[0056] The pre-downsampling structure acquisition module is used to use a polyphase filter to divide the entire Nyquist spectrum of the azimuth line array and the elevation line array into K non-overlapping sub-bands to achieve multi-source separation, and based on the multi-source separation characteristics of the polyphase filter, the pre-downsampling structure is obtained by using the polyphase decomposition and sampling rate conversion properties.

[0057] The incident angle acquisition module is used to process the azimuth line array sound source signal using the MUSIC spectrum peak search method to obtain the azimuth incident angle of the sound source signal; and to process the elevation line array sound source signal using the MUSIC spectrum peak search method to obtain the elevation incident angle of the sound source signal.

[0058] The three-dimensional coordinate acquisition module is used to calculate the three-dimensional coordinates of the sound source signal according to the distance information between the array and the plane where the power equipment is located, and complete the three-dimensional positioning of multiple sound sources.

[0059] Furthermore, the present invention also proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for three-dimensional positioning of multiple sound sources in the space of power facilities based on a microphone matrix are implemented.

[0060] Furthermore, the present invention also proposes a computer-readable storage medium, which stores a computer program. When the computer program is run by a processor, it executes the three-dimensional positioning method of multiple sound sources in the space of power facilities based on a microphone matrix.

[0061] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0062] The present invention combines a polyphase filter with MUSIC, uses a microphone matrix and a long-range sensor as the hardware basis, realizes the search of the sound source in the on-site environment, and can realize the three-dimensional high-precision positioning of each sound source in the received signal containing multiple sound sources. At the same time, the present invention effectively improves the signal-to-noise ratio. The polyphase filter obtained by translating the prototype low-pass filter can utilize the properties of polyphase decomposition and sampling rate conversion to reduce the amount of calculation and improve the calculation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is an overall implementation flow chart of the present invention.

[0064] Figure 2 It is a diagram of the multi-phase filtering channelization structure of the present invention.

[0065] Figure 3 It is a spectrum diagram of received signals of each array element of the azimuth array according to an embodiment of the present invention.

[0066] Figure 4 It is a spectrum diagram of received signals of each array element in the elevation array according to an embodiment of the present invention.

[0067] Figure 5 It is an azimuth spectrum peak search diagram corresponding to each sound source frequency in an embodiment of the present invention.

[0068] Figure 6It is a pitch spectrum peak search diagram corresponding to each sound source frequency in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0070] To achieve the above objectives, the present invention proposes a three-dimensional positioning method for multiple sound sources in power facilities based on a microphone matrix, which converts a uniform surface array into two vertical uniform line arrays and combines them with a MUSIC algorithm. Figure 1 As shown, the specific steps are as follows:

[0071] S1. Set the microphone matrix to receive Q far-field acoustic signals of power equipment (such as power transformer). The microphone matrix is ​​an M×M uniform array, and the spacing between array elements in the horizontal and vertical directions is d.

[0072] In this embodiment, the microphone matrix receives two narrowband far-field signals x1 and x2 of the power equipment, respectively at azimuth angles and pitch angle The light is incident on two vertically placed uniform linear arrays consisting of M = 4 omnidirectional receiving array elements, with f1 = 500 Hz, f2 = 1500 Hz, c = 340 m / s, and the distance between adjacent array elements is d = 0.0425 m.

[0073] S2. Add and synthesize the row array and column array of the M×M microphone matrix respectively to improve the input signal-to-noise ratio of the synthesized signal, and obtain the azimuth linear array and the elevation linear array. The specific expression is:

[0074]

[0075]

[0076] Among them, X represents the azimuth linear array receiving signal; represents the receiving steering vector of the i-th far-field acoustic signal azimuth array, j represents the imaginary part, f i represents the spectrum of the i-th far-field acoustic signal, represents the incident azimuth of the i-th far-field acoustic signal, c represents the speed of sound, M represents the number of array elements in the azimuth and elevation arrays, and the superscript T represents the transposition operator; x i represents the complex amplitude of the i-th far-field acoustic signal; represents the receiving steering vector of the Qth far-field acoustic signal azimuth array; Q represents the complex amplitude of the Qth far-field acoustic signal; N1 represents the receiving noise of the azimuth linear array; Re() represents the real part operation; Y represents the receiving signal of the elevation linear array; represents the receiving steering vector of the Qth far-field acoustic signal elevation array; represents the receiving steering vector of the i-th far-field acoustic signal elevation array, represents the incident elevation angle of the i-th far-field acoustic signal; N2 represents the receiving noise of the elevation array.

[0077] S3. Install laser ranging sensors at the center of the azimuth linear array and the elevation linear array to measure the distance R from the center of the array to the plane where the far-field acoustic signal is located in real time. In this embodiment, R=3.4m.

[0078] S4. The entire Nyquist spectrum of the azimuth array and the elevation array is divided into K non-overlapping sub-bands by using a polyphase filter to separate multiple sound sources. Based on the characteristics of multiple sound source separation of the polyphase filter, the polyphase decomposition and sampling rate conversion properties are used to obtain a pre-downsampling structure, thereby reducing the computational efficiency and saving system resources. The specific contents are as follows:

[0079] S401, according to the total number of sub-bands K and sampling frequency f s Design a prototype low-pass filter with a bandwidth of B and an order of N. The system function of the filter is:

[0080]

[0081] Wherein, H(z) represents the z-transform expression of the prototype low-pass filter; h0(n) represents the coefficient of the n-th order prototype low-pass filter; N represents the total order of the prototype low-pass filter, and N is a multiple of K; f s =BK, B represents the bandwidth of the prototype low-pass filter; z represents a complex variable.

[0082] S402, receiving signal X of the r-th azimuth linear array r And the prototype low-pass filter performs multi-phase decomposition, the specific formula is:

[0083]

[0084] e q (l) = h0(Kl+q)

[0085] in, represents the multiphase signal of the qth subband of the received signal of the rth azimuth linear array, q = 0, 1, ..., K-1, e q (l) represents the polyphase filter coefficient of the qth subband, m represents the length of each subsequence of the signal after polyphase decomposition, and l represents the length of each subsequence of the filter after polyphase decomposition.

[0086] S403, combining the result of the multi-phase decomposition in step S402, calculating the azimuth time domain signal of the qth sub-band, the specific formula is:

[0087]

[0088] in, represents the azimuth time domain signal of the qth subband, IDFT represents the inverse discrete Fourier transform, e q (m) represents the polyphase filter coefficient of the qth subband corresponding to the signal subsequence after polyphase decomposition.

[0089] The received signal is divided into multiple sub-bands using a polyphase filter. Only one filter is needed to replace the traditional filter bank. The sampling rate conversion property can be used to move the downsampling to before filtering, thereby effectively reducing the amount of calculation and improving the operation efficiency.

[0090] Based on the characteristics of multi-source separation of polyphase filters, each sub-band polyphase filter is obtained by shifting the prototype low-pass filter h0(n), so the polyphase filter response of the q-th sub-band is h q (n) is:

[0091]

[0092] Among them, w q represents the center frequency of the qth subband,

[0093] In this embodiment, the sampling frequency f of the microphone array s =3200Hz, divide its Nyquist spectrum (-1600Hz, 1600Hz) into K=32 sub-bands, then the bandwidth of each sub-band is 100Hz, extract the sub-band where the signal to be tested is located in the last 16 sub-bands, then the first frequency to be tested is in the 21st sub-band, and the second frequency to be tested is in the 31st sub-band.

[0094] The received signal is divided into 32 sub-bands using a polyphase filter. All sub-band spectra have been moved to the vicinity of zero frequency. The 0th and 16th sub-bands contain real signals, while the remaining sub-bands contain complex signals, and half of the information is repeated. In subsequent processing, only the sub-bands where the signal to be tested is located can be extracted from the 16th to 31st sub-bands.

[0095] S5. Use the MUSIC spectrum peak search method to process the azimuth line array sound source signal to obtain the azimuth incident angle of the sound source signal; the specific content is:

[0096] S501, calculate the covariance matrix of the p-th sound source signal of the azimuth line array, the specific formula is:

[0097]

[0098] in, represents the covariance matrix of the pth sound source signal of the azimuth line array, G represents the total number of time domain samples, represents the g-th time domain sample of the p-th sound source signal of the azimuth line array, (·) H Represents the conjugate transpose operator.

[0099] S502, yes Perform eigendecomposition and arrange the eigenvalues ​​in descending order, and construct the signal subspaces with the eigenvectors corresponding to the eigenvalues and the noise subspace

[0100] S503, using the MUSIC spectrum peak search method to calculate the azimuth space spectrum, the specific formula is:

[0101]

[0102] in, represents the azimuth spatial spectrum of the pth sound source signal, θ x represents the azimuth incident angle, a x represents the azimuth steering vector, a x H Indicates a x The conjugate transpose of .

[0103] For θ x Perform a one-dimensional search, and the spectrum peak is the azimuth incident angle of the pth sound source signal

[0104] S6. Process the pitch line array sound source signal using the MUSIC spectrum peak search method to obtain the pitch incident angle of the sound source signal; the specific content is:

[0105] S601, calculating the covariance matrix of the p-th sound source signal of the pitch array, the specific formula is:

[0106]

[0107] in, represents the covariance matrix of the pth sound source signal of the pitch array, Represents the gth time domain sample of the pth sound source signal of the pitch array.

[0108] S602, yes Perform eigendecomposition and arrange the eigenvalues ​​in descending order, and construct the signal subspaces with the eigenvectors corresponding to the eigenvalues and the noise subspace

[0109] S603, using the MUSIC spectrum peak search method to calculate the pitch spatial spectrum, the specific formula is:

[0110]

[0111] in, represents the pitch spatial spectrum of the pth sound source signal, θ y represents the pitch angle of incidence, a y represents the pitch steering vector, a y H Indicates a y The conjugate transpose of .

[0112] For θ y Perform a one-dimensional search, and the spectrum peak is the pitch incident angle of the pth sound source signal

[0113] S7. Calculate the three-dimensional coordinates of the sound source signal based on the distance information between the array and the plane where the power equipment is located, and complete the three-dimensional positioning of multiple sound sources; the specific content is:

[0114] S701, according to the formula Get the horizontal axis coordinate X of the plane where the pth sound source signal is located p .

[0115] S702, according to the formula Calculate the vertical coordinate Y of the plane where the pth sound source signal is located p .

[0116] S703, the three-dimensional coordinates of the p-th sound source signal are (R, X p ,Y p ); Repeat steps S5-S7 to obtain the three-dimensional coordinates of each sound source signal.

[0117] In this embodiment, the effectiveness of the method is further verified by computer simulation. The parameter settings of this simulation experiment are shown in Table 1.

[0118] Table 1 System simulation parameters

[0119]

[0120]

[0121] Figure 2 This is a schematic diagram of the multiphase filter channelization structure. The analysis filter bank based on the multiphase structure uses a low-pass filter shared by each branch to improve resource utilization. In the figure, x(n) is the input signal, z -1 For delay, E K-1 is the multiphase component of the filter, y K-1 (n) is the output signal of the Kth subband.

[0122] Figure 3 , Figure 4They are spectra of received signals of each array element in the azimuth and elevation directions of the embodiment of the present invention, and the frequency components of 500 Hz and 1500 Hz are selected for positioning according to the spectra. Figure 5 , Figure 6 The azimuth and elevation spectrum peak search diagrams corresponding to each sound source frequency can be used to measure the azimuth and elevation angles corresponding to each frequency component as shown in Table 2. It is converted into spatial coordinates (3.4m, 0.2700m, 0.0730m), which have only 0m, -0.0275m and -0.0137m errors on the R, X and Y axes respectively compared with the real spatial coordinates (3.4m, 0.2975m, 0.0593m). It is converted into spatial coordinates (3.4m, 0.1092m, 0.6038m), which have only errors of 0m, -0.0095m and -0.0017m on the R, X and Y axes compared with the real spatial coordinates (3.4m, 0.1187m, 0.6055m).

[0123] Table 2 Comparison of actual value and estimated value

[0124] <![CDATA[Sound source f1 to be measured]]> <![CDATA[Sound source f2 to be measured]]> R(m) 3.4 3.4 True azimuth (°) 5 2 Measured azimuth (°) 4.54 1.84 True pitch angle (°) 1 10 Measured pitch angle (°) 1.23 10.07 Real space coordinates (m) (3.4,0.2975,0.0593) (3.4,0.1187,0.6055) Measured spatial coordinates (m) (3.4,0.2700,0.0730) (3.4,0.1092,0.6038) Error(m) (0,-0.0275,-0.0137) (0,-0.0095,-0.0017)

[0125] The embodiment of the present invention also proposes a three-dimensional positioning system for multiple sound sources in a space of power facilities based on a microphone matrix, including a data setting module, a signal synthesis module, a distance measurement module, a pre-downsampling structure acquisition module, an incident angle acquisition module, a three-dimensional coordinate acquisition module, and a computer program that can be run on a processor. It should be noted that each module in the above system corresponds to the specific steps of the method provided in the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided in the embodiment of the present invention.

[0126] The embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. It should be noted that when the processor executes the computer program, the specific steps of the method provided in the embodiment of the present invention are corresponding to the specific steps of the method provided in the embodiment of the present invention, and the processor has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided in the embodiment of the present invention.

[0127] The embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. It should be noted that when the computer program is executed by the processor, it corresponds to the specific steps of the method provided in the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided in the embodiment of the present invention.

[0128] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A three-dimensional positioning method for multiple sound sources in power facilities space based on microphone matrix, characterized in that: include: S1. Set the microphone matrix to receive Q far-field acoustic signals of the power equipment, and the spacing between the array elements in the horizontal and vertical directions is d; S2, adding and synthesizing the row array and column array of the microphone matrix to obtain an azimuth linear array and an elevation linear array; S3, install a laser ranging sensor at the center of the azimuth linear array and the elevation linear array to measure the distance R from the center of the array to the plane where the far-field acoustic signal is located in real time; S4, using a polyphase filter to divide the entire Nyquist spectrum of the azimuth linear array and the elevation linear array into K non-overlapping sub-bands respectively, to achieve multi-source separation, and based on the multi-source separation characteristics of the polyphase filter, using the polyphase decomposition and sampling rate conversion properties to obtain a pre-downsampling structure; S5, using the MUSIC spectrum peak search method to process the azimuth line array sound source signal to obtain the azimuth incident angle of the sound source signal; S6. Processing the pitch line array sound source signal by using the MUSIC spectrum peak search method to obtain the pitch incident angle of the sound source signal; S7. Calculate the three-dimensional coordinates of the sound source signal based on the distance information between the array and the plane where the power equipment is located, and complete the three-dimensional positioning of multiple sound sources.

2. The method for three-dimensional positioning of multiple sound sources in power facilities space based on microphone matrix according to claim 1 is characterized in that: In step S2, the specific expressions of the azimuth array and the elevation array are: Among them, X represents the azimuth linear array receiving signal; represents the receiving steering vector of the i-th far-field acoustic signal azimuth array, j represents the imaginary part, f i represents the spectrum of the i-th far-field acoustic signal, represents the incident azimuth of the i-th far-field acoustic signal, c represents the speed of sound, M represents the number of array elements in the azimuth and elevation arrays, and the superscript T represents the transposition operator; x i represents the complex amplitude of the i-th far-field acoustic signal; represents the receiving steering vector of the Qth far-field acoustic signal azimuth array; Q represents the complex amplitude of the Qth far-field acoustic signal; N1 represents the receiving noise of the azimuth linear array; Re() represents the real part operation; Y represents the receiving signal of the elevation linear array; represents the receiving steering vector of the Qth far-field acoustic signal elevation array; represents the receiving steering vector of the i-th far-field acoustic signal elevation array, represents the incident elevation angle of the i-th far-field acoustic signal; N2 represents the receiving noise of the elevation array.

3. The method for three-dimensional positioning of multiple sound sources in power facilities space based on microphone matrix according to claim 1 is characterized in that: In step S4, obtaining the pre-downsampling structure includes the following sub-steps: S401, according to the total number of sub-bands K and sampling frequency f s Design a prototype low-pass filter whose system function is: Wherein, H(z) represents the z-transform expression of the prototype low-pass filter; h0(n) represents the coefficient of the n-th order prototype low-pass filter; N represents the total order of the prototype low-pass filter, and N is a multiple of K; f s =BK, B represents the bandwidth of the prototype low-pass filter; z represents a complex variable; S402, receiving signal X of the r-th azimuth linear array r And the prototype low-pass filter performs multi-phase decomposition, the specific formula is: And q (l)=h0(Kl+q) in, represents the multiphase signal of the qth subband of the received signal of the rth azimuth linear array, q = 0, 1, ..., K-1, e q (l) represents the coefficient of the polyphase filter of the qth subband, m represents the length of each subsequence of the signal after polyphase decomposition, and l represents the length of each subsequence of the filter after polyphase decomposition; S403, combining the result of the multi-phase decomposition in step S402, calculating the azimuth time domain signal of the qth sub-band, the specific formula is: in, represents the azimuth time domain signal of the qth subband, IDFT represents the inverse discrete Fourier transform, e q (m) represents the polyphase filter coefficient of the qth subband corresponding to the signal subsequence after polyphase decomposition; Based on the characteristics of multi-source separation of polyphase filters, each sub-band polyphase filter is obtained by shifting the prototype low-pass filter h0(n), so the polyphase filter response of the q-th sub-band is h q (n) is: Among them, w q represents the center frequency of the qth subband, 4. The method for three-dimensional positioning of multiple sound sources in power facilities space based on microphone matrix according to claim 1 is characterized in that: In step S5, obtaining the azimuth incident angle of the sound source includes the following sub-steps: S501, calculate the covariance matrix of the p-th sound source signal of the azimuth line array, the specific formula is: in, represents the covariance matrix of the pth sound source signal of the azimuth line array, G represents the total number of time domain samples, represents the g-th time domain sample of the p-th sound source signal of the azimuth line array, (·) H represents the conjugate transpose operator; S502, yes Perform eigendecomposition and arrange the eigenvalues ​​in descending order, and construct the signal subspaces with the eigenvectors corresponding to the eigenvalues and the noise subspace S503, using the MUSIC spectrum peak search method to calculate the azimuth space spectrum, the specific formula is: in, represents the azimuth spatial spectrum of the pth sound source signal, θ x represents the azimuth incident angle, a x represents the azimuth steering vector, a x H Indicates a x The conjugate transpose of ; For θ x Perform a one-dimensional search, and the spectrum peak is the azimuth incident angle of the pth sound source signal 5. The method for three-dimensional positioning of multiple sound sources in power facilities space based on microphone matrix according to claim 1 is characterized in that: In step S6, obtaining the pitch incident angle of the sound source includes the following sub-steps: S601, calculating the covariance matrix of the p-th sound source signal of the pitch array, the specific formula is: in, represents the covariance matrix of the pth sound source signal of the pitch array, represents the g-th time domain sample of the p-th sound source signal of the pitch array, (·) H represents the conjugate transpose operator; S602, yes Perform eigendecomposition and arrange the eigenvalues ​​in descending order, and construct the signal subspaces with the eigenvectors corresponding to the eigenvalues and the noise subspace S603, using the MUSIC spectrum peak search method to calculate the pitch spatial spectrum, the specific formula is: in, represents the pitch spatial spectrum of the pth sound source signal, θ y represents the pitch angle of incidence, a y represents the pitch steering vector, a y H Indicates a y The conjugate transpose of ; For θ y Perform a one-dimensional search, and the spectrum peak is the pitch incident angle of the pth sound source signal 6. The method for three-dimensional positioning of multiple sound sources in power facilities space based on microphone matrix according to claim 1 is characterized in that: In step S7, calculating the three-dimensional coordinates of the sound source signal includes the following sub-steps: S701, according to the formula Get the horizontal axis coordinate X of the plane where the pth sound source signal is located p ,in, represents the azimuth incident angle of the pth sound source signal; S702, according to the formula Calculate the vertical coordinate Y of the plane where the pth sound source signal is located p ,in, represents the pitch incident angle of the pth sound source signal; S703, the three-dimensional coordinates of the p-th sound source signal are (R, X p ,Y p ); Repeat steps S5-S7 to obtain the three-dimensional coordinates of each sound source signal.

7. A system for the three-dimensional positioning method of multiple sound sources in a power facility space based on a microphone matrix as claimed in claim 1, characterized in that: include: A data setting module, used for setting the microphone matrix to receive Q far-field acoustic signals of the power equipment, and the spacing between the array elements in the horizontal and vertical directions is d; A signal synthesis module is used to perform addition synthesis of the row array and column array of the microphone matrix to obtain an azimuth linear array and an elevation linear array; The distance measurement module is used to install a laser ranging sensor at the center of the azimuth array and the elevation array to measure the distance R from the center of the array to the plane where the far-field acoustic signal is located in real time; A pre-downsampling structure acquisition module is used to use a polyphase filter to divide the entire Nyquist spectrum of the azimuth array and the elevation array into K non-overlapping sub-bands to achieve multi-source separation, and based on the multi-source separation characteristics of the polyphase filter, the pre-downsampling structure is obtained by using the polyphase decomposition and sampling rate conversion properties; The incident angle acquisition module is used to process the azimuth line array sound source signal using the MUSIC spectrum peak search method to obtain the azimuth incident angle of the sound source signal; and to process the elevation line array sound source signal using the MUSIC spectrum peak search method to obtain the elevation incident angle of the sound source signal; The three-dimensional coordinate acquisition module is used to calculate the three-dimensional coordinates of the sound source signal according to the distance information between the array and the plane where the power equipment is located, and complete the three-dimensional positioning of multiple sound sources.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for three-dimensional positioning of multiple sound sources in a power facility space based on a microphone matrix as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for three-dimensional positioning of multiple sound sources in a power facility space based on a microphone matrix according to any one of claims 1 to 6 is executed.

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