Double-layer acoustic array structure and spatial sound source localization method, device and equipment thereof

Abstract

The double-layer acoustic array structure and the spatial sound source localization method, device and equipment provided by the present invention include determining the reference point in the double-layer acoustic array structure, solving the path difference of each sound sensor in the double-layer acoustic array structure relative to the spatial sound source to be measured based on the structural parameters of the double-layer acoustic array structure and the angle information of the spatial sound source to be measured; constructing an array flow matrix based on the path difference of each sound sensor in the double-layer acoustic array structure relative to the spatial sound source to be measured and the wavelength of the sound signal of each spatial sound source; constructing a receiving signal correlation matrix of the sound sensor based on the array flow matrix, performing eigenvalue decomposition on the receiving signal correlation matrix to obtain a spatial spectrum function; obtaining a spatial spectrogram based on the obtained spatial spectrum function; and obtaining the positioning information of the spatial sound source based on the spatial spectrogram. The present invention introduces a double-layer array to improve the prediction accuracy at the pitch angle, and adopts a graded peak algorithm to reduce the time complexity of the algorithm.

Description

Technical Field

[0001] The present invention relates to the field of spatial sound source positioning, and in particular to a double-layer sound array structure and a spatial sound source positioning method, device and equipment thereof. Background Art

[0002] The localization of spatial sound sources is a hot topic in current research. The current sound source localization method based on acoustic sensors mainly constructs an acoustic sensor array, and locates the sound source based on the time difference, phase difference and other information of the sound source signal received by the acoustic sensor in the array. The existing methods are mainly based on constructing circular or linear arrays of planar acoustic sensors. Although they can locate spatial sound sources, the limitations of planar arrays cause large errors in calculating spatial information. The methods currently used for spatial localization of planar acoustic sensor arrays mainly include the MUSIC algorithm, the ESPRIT algorithm, and the like. These methods each have their own advantages. The MUSIC algorithm performs better in super-resolution, but has a higher computational complexity; the ESPRIT algorithm has advantages in computational efficiency, but may not be as stable as the MUSIC algorithm in some cases. However, these algorithms are currently only used in planar arrays.

[0003] At present, sound source localization based on sound sensors is mainly based on planar array structures. The array structure is large and the prediction accuracy of the pitch angle of the spatial sound source is low. In addition, the algorithm time complexity of the traditional positioning method for spatial spectrum calculation is high and cannot meet the requirements of rapid positioning. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a double-layer acoustic array structure and a method, device and equipment for spatial sound source localization thereof.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides a method for spatial sound source localization of a double-layer sound array structure, comprising:

[0007] (1) Determine the reference point in the double-layer acoustic array structure, and for each sound source in the measured space, calculate the path difference between each sound sensor in the double-layer acoustic array structure and the sound source in the measured space based on the structural parameters of the double-layer acoustic array structure and the angle information of the sound source in the measured space;

[0008] (2) constructing an array flow matrix based on the path difference between each sound sensor in the double-layer sound array structure and the spatial sound source to be measured and the wavelength of the sound signal of each spatial sound source;

[0009] (3) Constructing the received signal correlation matrix of the sound sensor based on the array flow matrix, performing eigenvalue decomposition on the received signal correlation matrix of the sound sensor, and obtaining the spatial spectrum function;

[0010] (4) obtaining a spatial spectrum graph based on the obtained spatial spectrum function;

[0011] (5) Obtain the localization information of the spatial sound source based on the spatial spectrogram.

[0012] In a second aspect, the present invention provides a double-layer acoustic array structure for implementing a spatial sound source localization method of the double-layer acoustic array structure, comprising an upper circular subarray and a lower circular subarray arranged in two layers, each sound sensor being regarded as an array element, the upper circular subarray and the lower circular subarray having the same number of array elements, and the upper circular subarray n The array elements are evenly arranged into a circle with a radius of r1, forming the lower circular sub-array. n The array elements are evenly arranged in a circle with a radius of r2, r1≠r2; the array elements on the upper circular subarray and the lower circular subarray are staggered, so that the phase difference between the upper and lower circular subarrays in the circumferential distribution is .

[0013] Furthermore, changing the arrangement and spacing of the array elements can change the resolution and accuracy of the circular sub-array.

[0014] In a third aspect, the present invention provides a double-layer sound array structure spatial sound source localization device, comprising:

[0015] The path difference calculation module is used to determine the reference point in the double-layer acoustic array structure, and for each sound source in the space to be measured, based on the structural parameters of the double-layer acoustic array structure and the angle information of the sound source in the space to be measured, solve the path difference of each sound sensor in the double-layer acoustic array structure relative to the sound source in the space to be measured;

[0016] An array flow matrix construction module is used to construct an array flow matrix based on the path difference of each sound sensor in the double-layer sound array structure relative to the spatial sound source to be measured and the wavelength of the sound signal of each spatial sound source;

[0017] A spatial spectrum function construction module is used to construct a receiving signal correlation matrix of the sound sensor based on the array flow matrix, perform eigenvalue decomposition on the receiving signal correlation matrix of the sound sensor, and obtain a spatial spectrum function;

[0018] A spatial spectrum generation module, used for obtaining a spatial spectrum based on the obtained spatial spectrum function;

[0019] The localization module is used to obtain the localization information of the spatial sound source based on the spatial spectrogram.

[0020] In a fourth aspect, the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of a method for spatial sound source localization of a double-layer sound array structure when executing the computer program.

[0021] Compared with the prior art, the technical effects that the present invention can produce are:

[0022] The double-layer acoustic array structure and the spatial sound source localization method, device and equipment provided by the present invention adopt a compact double-layer cone array structure to meet the placement requirements of a narrow space. By optimizing the arrangement and spacing of the array elements, the array can provide sufficient resolution and accuracy in a limited space. The double-layer array is introduced to improve the prediction accuracy at the pitch angle.

[0023] The double-layer conical array adopts a distributed structure, distributing the array elements at different positions and levels. This structure enables each array element to receive and process signals independently, thereby improving the fault tolerance of the system. It is convenient to expand subarrays and replace faulty subarrays. When an array element fails, the system can automatically detect the fault and isolate the subarray to prevent the fault from spreading to the entire system.

[0024] A hierarchical peak algorithm is used to reduce the time complexity of the algorithm, and parallel computing technology or distributed computing technology is used to accelerate the eigenvalue decomposition process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of a double-layer acoustic array structure provided by an embodiment, wherein Figure 1 (a) is a schematic diagram of the overall structure of the double-layer acoustic array. Figure 1 (b) is a top view of the double-layer acoustic array structure. Figure 1 (c) Side view of the double-layer acoustic array structure;

[0027] Figure 2 A flow chart of a method for spatial sound source localization of a double-layer sound array structure provided by an embodiment;

[0028] Figure 3 A demonstration diagram of an incident signal provided by an embodiment;

[0029] Figure 4 A schematic diagram of a spatial spectrum provided by an embodiment;

[0030] Figure 5 A schematic diagram of a hierarchical peak search for three-level blocks provided by an embodiment, wherein Figure 5 (a) is a schematic diagram of the first-level block. Figure 5(b) is a schematic diagram of the second-level block. Figure 5 (c) is a schematic diagram of the third-level block;

[0031] Figure 6 A projection diagram of a sound sensor array provided in an embodiment on an S plane, wherein the S plane is a plane formed by a line connecting a peak point in a spatial spectrum corresponding to a spatial sound source from a reference point and a projection of the line on a horizontal plane;

[0032] Figure 7 A top view of a sound sensor array provided by an embodiment;

[0033] Figure 8 A schematic diagram of a positioning result provided by an embodiment. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Reference Figure 1 One embodiment provides a double-layer acoustic array structure, comprising an upper circular sub-array and a lower circular sub-array arranged in two layers, each sound sensor is regarded as an array element, the upper circular sub-array and the lower circular sub-array have the same number of array elements, and the upper circular sub-array is composed of n The array elements are evenly arranged into a circle with a radius of r1, forming the lower circular sub-array. n The array elements are evenly arranged in a circle with a radius of r2, r1≠r2; the array elements on the upper circular subarray and the lower circular subarray are staggered, so that the phase difference between the upper and lower circular subarrays in the circumferential distribution is , specifically, refer to Figure 1 (b) The array elements on the upper and lower circular subarrays are staggered, so that the phase difference between any array element in the top view and the adjacent array element in the circular subarray where the array element is not located is .

[0036] The double-layer acoustic array structure forms a highly symmetrical and functionally complementary monitoring network. Changing the arrangement and spacing of the array elements can change the resolution and accuracy of the circular sub-array.

[0037] The phase difference between the two circular sub-arrays is , making the array spiral on the conical surface, which improves the accuracy of azimuth detection and enhances the anti-interference ability of the array.

[0038] Reference Figure 2 In one embodiment, a spatial sound source localization method based on a double-layer sound array structure is provided, comprising:

[0039] (1) Determine the reference point in the double-layer acoustic array structure, and for each sound source in the measured space, calculate the path difference between each sound sensor in the double-layer acoustic array structure and the sound source in the measured space based on the structural parameters of the double-layer acoustic array structure and the angle information of the sound source in the measured space;

[0040] (2) constructing an array flow matrix based on the path difference between each sound sensor in the double-layer sound array structure and the spatial sound source to be measured and the wavelength of the sound signal of each spatial sound source;

[0041] (3) Construct the received signal correlation matrix of the sound sensor based on the array flow matrix, perform eigenvalue decomposition on the received signal correlation matrix, and obtain the spatial spectrum function;

[0042] (4) obtaining a spatial spectrum graph based on the obtained spatial spectrum function;

[0043] (5) Obtain the localization information of the spatial sound source based on the spatial spectrogram.

[0044] The step (1) comprises:

[0045] The frustum formed by the outer sides of the upper and lower circular sub-arrays is extended to intersect at the reference point O to form a cone structure. The radius of the upper and lower circular sub-arrays and the height difference between the upper and lower circular sub-arrays jointly determine the shape of the cone structure. The pitch angle from the reference point O to any sound sensor Equal, establish a rectangular coordinate system with reference point O as the origin, take the center axis of the cone as the Z axis, and construct a horizontal 0° reference axis in the X direction of the plane where the lower circular sub-array is located;

[0046] For i The sound source T in the tested space i , i= 1,2, …,N , No. i The pitch angle of the sound source in the space to be measured is , the horizontal angle is , the sound source T in the space to be measured i The line T between the reference point O i O means i The incident direction of the sound signal of the sound source in the space to be measured;

[0047] like Figure 3 As shown, the i The pitch angle of the sound source in the space to be measured is Refers to iThe angle of the incident signal of the spatial sound source to be measured relative to the plane where the lower circular sub-array is located; the i The horizontal angle of the sound source in the space to be measured is Refers to i The angle formed by the projection of the line connecting the sound source in the space to be measured and the reference point on the plane where the lower circular sub-array is located and the 0° reference axis, Figure 3 In, T i ' represents the projection of the spatial sound source to be measured on the plane where the lower circular sub-array is located;

[0048] For the double-layer acoustic array structure m Sound Sensor A m , m= 1,2 ,…,M , M= 2 n , Sound Sensor A m The coordinates of , For sound sensor A m The radius of the circular subarray;

[0049] Sound sensor A m The coordinate point A is at T i Draw a perpendicular line on O, intersecting T i O is at point K, with coordinates ;

[0050] The length of the line OK between the reference point O and point K is the distance difference ;

[0051] OK, the vectors of AK are

[0052] ;

[0053] ;

[0054] Since AK is perpendicular to OK,

[0055] ;

[0056] Solve for the OK length, i.e. the distance difference ,

[0057] ;

[0058] in,

[0059] ;

[0060] ;

[0061] For the m The angle of each sound sensor from the 0° reference axis, such as Figure 3 As shown, Specific instructions m The angle formed by the projection of the line connecting the sound sensor and the reference point on the plane where the lower circular sub-array is located and the 0° reference axis, Figure 3 In the figure, A' represents the projection of the sound sensor on the plane where the lower circular sub-array is located.

[0062] The step (2) comprises:

[0063] Based on the path difference of each sound sensor in the double-layer sound array structure relative to the sound source in the measured space , combined with the wavelength of the sound signal of each spatial sound source Build m The sound sensor is i The flow matrix of spatial sound sources ,

[0064] ;

[0065] in, j is an imaginary unit;

[0066] The distance difference Substitute the expression into the flow matrix,

[0067] ;

[0068] Construct the manifold matrix as an array manifold matrix:

[0069] For all spatial sound sources to be measured, m The flow matrix of the sound sensor is:

[0070] ;

[0071] The array flow matrix is:

[0072] ;

[0073] ;

[0074] in, M is the number of array elements, N is the number of spatial sound sources.

[0075] The step (3) comprises:

[0076] Based on the array flow matrix, the equation between the sound sensor receiving signal, the incident signal of the sound source in the measured space, and the noise is constructed:

[0077] ;

[0078] ;

[0079] ;

[0080] ;

[0081] ;

[0082] in, is the receiving signal matrix of all sound sensors, is the incident signal matrix of all spatial sound sources to be measured, is the noise matrix corresponding to all the spatial sound sources to be measured;

[0083] Based on the above equation, the received signal correlation matrix of the sound sensor is constructed. :

[0084] ;

[0085] in, is the expectation operation, for The conjugate transposed matrix of ;

[0086] is the autocorrelation matrix,

[0087] ;

[0088] is the noise autocorrelation matrix,

[0089] ;

[0090] in, for M×M The identity matrix, is an unknown quantity;

[0091] Correlation array of the received signal of the sound sensor Perform eigenvalue decomposition:

[0092] ;

[0093] Eigenvalue decomposition obtains the signal subspace and the noise subspace , large eigenvalue The corresponding eigenvectors constitute the signal subspace Small eigenvalues The corresponding eigenvectors constitute the noise subspace ;

[0094] Signal subspace With the noise subspace Orthogonal complementation, and ,Right now , ,therefore, ;

[0095] Based on the above, the spatial spectrum function is:

[0096] .

[0097] In the step (4), the angle is traversed by using a hierarchical peak search method, and the spatial spectrum power density of the traversed angle is calculated based on the obtained spatial spectrum function, thereby obtaining a spatial spectrum graph.

[0098] In one embodiment, a common algorithm is used to traverse all angles of 0-90 and -180-180, and then their spatial spectrum power density is calculated, and then normalized and converted into dB units, and a spatial spectrum diagram (signal-to-noise ratio: 10) is made with 0-90 and -180-180 as the horizontal and vertical axes, such as Figure 4 In general, in algorithms, it is necessary to determine the division value. The smaller the division value, the smaller the system error and the higher the time complexity of the algorithm.

[0099] Reference Figure 5 In one embodiment provided by the present invention, a hierarchical peak search method is used to traverse the angle, and the spatial spectrum (signal-to-noise ratio: 10) is set as the first-level block, and the first-level block division value is 10. After finding all the peak blocks, these blocks are set as second-level blocks, and the second-level division value is set to 1 / 10 of the previous level block, and so on. Under the same system error, especially when the number of spatial sound sources is small, the hierarchical peak search algorithm is significantly faster than the usual algorithm. Through the above settings, the system error and algorithm time complexity are balanced.

[0100] The step (5) comprises:

[0101] The peak point is found based on the obtained spatial spectrum, and the ordinate of the peak point is the horizontal angle of the spatial sound source. After the horizontal angle is determined, in order to further increase the accuracy of the pitch angle of the spatial sound source, the spatial sound source to be measured corresponding to the peak point is g The line T between the reference point O g O and T g The projections of O on the horizontal plane together form plane S. g is the number of peak points, g < i, the viewing angle is perpendicular to the plane. Since the signal is a far-field narrowband signal, for each sound sensor, the pitch angle is the same. Figure 6 , will m The sound sensors are projected onto the plane S, thereby converting the flow matrix into a one-dimensional flow matrix At this time, the sound sensor array presents a random array structure, which further improves the accuracy of the pitch angle of the spatial sound source.

[0102] ;

[0103] in, is projected onto plane S m The distribution angle of the sound sensors, Specific instructions m The angle formed by the projection of the line connecting the sound sensor and the reference point on plane S and the 0° reference axis; For the m The distance from the vertical point of the sound sensor to the horizontal angle incident axis to the reference point, where the horizontal angle incident axis refers to the projection of the line connecting the spatial sound source and the reference point on the plane S;

[0104] ;

[0105] in, For the g The horizontal angle of the spatial sound source corresponding to the peak point.

[0106] Reference Figure 7 In one embodiment, a sound sensor Ai The distance from the vertical point with an incident angle of 20° to the reference point is ,

[0107] .

[0108] Reference Figure 8 An embodiment provides a schematic diagram of the positioning result. As shown in the figure, in order to make the result clearer and easier to understand, a virtual hemisphere is constructed with the reference point as the center, the area in the corresponding direction on the sphere is marked green, and the currently detected azimuth coordinates are displayed in the upper right corner, thereby intuitively showing the spatial orientation of the spatial sound source.

[0109] One embodiment provides a double-layer sound array structure spatial sound source localization device, including:

[0110] The path difference calculation module is used to determine the reference point in the double-layer acoustic array structure, and for each sound source in the space to be measured, based on the structural parameters of the double-layer acoustic array structure and the angle information of the sound source in the space to be measured, solve the path difference of each sound sensor in the double-layer acoustic array structure relative to the sound source in the space to be measured;

[0111] An array flow matrix construction module is used to construct an array flow matrix based on the path difference of each sound sensor in the double-layer sound array structure relative to the spatial sound source to be measured and the wavelength of the sound signal of each spatial sound source;

[0112] A spatial spectrum function construction module is used to construct a received signal correlation matrix of the sound sensor based on the array flow matrix, perform eigenvalue decomposition on the received signal correlation matrix, and obtain a spatial spectrum function;

[0113] A spatial spectrum generation module, used for obtaining a spatial spectrum based on the obtained spatial spectrum function;

[0114] The localization module is used to obtain the localization information of the spatial sound source based on the spatial spectrogram.

[0115] On the other hand, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the spatial sound source localization method of the double-layer sound array structure provided in any of the above embodiments are implemented. The computer device may be a server. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store sample data. The network interface of the computer device is used to communicate with an external terminal via a network connection.

[0116] Matters not covered by the present invention are known technologies.

[0117] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A spatial sound source localization method of a double-layer sound array structure, characterized in that: include: (1) Determine the reference point in the double-layer acoustic array structure, and for each sound source in the measured space, calculate the path difference between each sound sensor in the double-layer acoustic array structure and the sound source in the measured space based on the structural parameters of the double-layer acoustic array structure and the angle information of the sound source in the measured space; The double-layer acoustic array structure comprises an upper circular sub-array and a lower circular sub-array arranged in two layers, each sound sensor is regarded as an array element, the upper circular sub-array and the lower circular sub-array have the same number of array elements, and the upper circular sub-array is composed of n The array elements are evenly arranged into a circle with a radius of r1, forming the lower circular sub-array. n The array elements are evenly arranged in a circle with a radius of r2, r1≠r2; the array elements on the upper circular subarray and the lower circular subarray are staggered, so that the phase difference between the upper and lower circular subarrays in the circumferential distribution is ; The step (1) comprises: The frustum formed by the outer sides of the upper and lower circular sub-arrays is extended to intersect at the reference point O to form a cone structure. The pitch angle from the reference point O to any sound sensor is Equal, establish a rectangular coordinate system with reference point O as the origin, take the center axis of the cone as the Z axis, and construct a horizontal 0° reference axis in the X direction of the plane where the lower circular sub-array is located; For i There are sound sources in the tested space T i , i= 1,2, …,N , No. i The pitch angle of the sound source in the space to be measured is , the horizontal angle is , the sound source T in the space to be measured i The line T between the reference point O i O means i The incident direction of the sound signal of the sound source in the space to be measured; For the double-layer acoustic array structure m Sound Sensor A m , m= 1,2, …,M , M= 2 n , Sound Sensor A m The coordinates of , For sound sensor A m The radius of the circular subarray; Sound sensor A m The coordinate point A is at T i Draw a perpendicular line on O, intersecting T i O is at point K, with coordinates ; The length of the line OK between the reference point O and point K is the distance difference ; OK, the vectors of AK are Since AK is perpendicular to OK, Solve for the OK length, i.e. the distance difference , in, For the m The angle of each sound sensor from the 0° reference axis; (2) constructing an array flow matrix based on the path difference between each sound sensor in the double-layer sound array structure and the spatial sound source to be measured and the wavelength of the sound signal of each spatial sound source; (3) Construct the received signal correlation matrix of the sound sensor based on the array flow matrix, perform eigenvalue decomposition on the received signal correlation matrix, and obtain the spatial spectrum function; (4) obtaining a spatial spectrum graph based on the obtained spatial spectrum function; (5) Obtaining the localization information of the spatial sound source based on the spatial spectrogram; Based on the obtained spatial spectrum, the peak point is found, and the ordinate of the peak point is the horizontal angle of the spatial sound source; the spatial sound source T g The line T between the reference point O g O and T g The projections of O on the horizontal plane together form plane S. g is the number of peak points, g < i , the viewing angle is perpendicular to the plane, and the sound sensor is projected onto plane S, thereby converting the manifold matrix into a one-dimensional manifold matrix: in, is projected onto plane S m The distribution angle of the sound sensors, For the m The distance from the vertical point of the sound sensor to the horizontal angle of incidence to the reference point; j is an imaginary unit; λ is the signal wavelength of the spatial sound source; in, For the g The horizontal angle of the spatial sound source corresponding to the peak point.

2. The spatial sound source localization method of the double-layer sound array structure according to claim 1, characterized in that: The step (2) comprises: Based on the path difference of each sound sensor in the double-layer sound array structure relative to the sound source in the measured space , combined with the wavelength of the sound signal of each spatial sound source Build m The sound sensor is i The flow matrix of spatial sound sources in, j is an imaginary unit; The distance difference Substitute the expression into the flow matrix, Construct the manifold matrix as an array manifold matrix: For all spatial sound sources to be measured, m The flow matrix of the sound sensor is: The array flow matrix is: in, M is the number of array elements, N is the number of spatial sound sources.

3. The spatial sound source localization method of the double-layer sound array structure according to claim 1, characterized in that: The step (3) comprises: Based on the array flow matrix, the equation between the sound sensor receiving signal, the incident signal of the sound source in the measured space, and the noise is constructed: in, is the receiving signal matrix of all sound sensors, is the incident signal matrix of all spatial sound sources to be measured, is the noise matrix corresponding to all the spatial sound sources to be measured; Based on the above equation, the received signal correlation matrix of the sound sensor is constructed. : in, is the expectation operation, for The conjugate transposed matrix of ; is the autocorrelation matrix, is the noise autocorrelation matrix, in, is the M×M identity matrix, is an unknown quantity; Correlation array of the received signal of the sound sensor Perform eigenvalue decomposition: Eigenvalue decomposition obtains the signal subspace and the noise subspace , large eigenvalue The corresponding eigenvectors constitute the signal subspace Small eigenvalues The corresponding eigenvectors constitute the noise subspace ; Signal subspace With the noise subspace Orthogonal complementation, and ,Right now , ,therefore, ; Based on the above, the spatial spectrum function is: 。 4. The spatial sound source localization method of the double-layer sound array structure according to claim 1, characterized in that: In the step (4), the angle is traversed by using a hierarchical peak search method, and the spatial spectrum power density of the traversed angle is calculated based on the obtained spatial spectrum function, thereby obtaining a spatial spectrum graph.

5. Double-layer sound array structure spatial sound source localization device, characterized in that: include: The path difference calculation module is used to determine the reference point in the double-layer acoustic array structure, and for each sound source in the space to be measured, based on the structural parameters of the double-layer acoustic array structure and the angle information of the sound source in the space to be measured, solve the path difference of each sound sensor in the double-layer acoustic array structure relative to the sound source in the space to be measured; The double-layer acoustic array structure comprises an upper circular sub-array and a lower circular sub-array arranged in two layers, each sound sensor is regarded as an array element, the upper circular sub-array and the lower circular sub-array have the same number of array elements, and the upper circular sub-array is composed of n The array elements are evenly arranged into a circle with a radius of r1, forming the lower circular sub-array. n The array elements are evenly arranged in a circle with a radius of r2, r1≠r2; the array elements on the upper circular subarray and the lower circular subarray are staggered, so that the phase difference between the upper and lower circular subarrays in the circumferential distribution is ; The frustum formed by the outer sides of the upper and lower circular sub-arrays is extended to intersect at the reference point O to form a cone structure. The pitch angle from the reference point O to any sound sensor is Equal, establish a rectangular coordinate system with reference point O as the origin, take the center axis of the cone as the Z axis, and construct a horizontal 0° reference axis in the X direction of the plane where the lower circular sub-array is located; For i The sound source T in the tested space i , i= 1,2, …,N , No. i The pitch angle of the sound source in the space to be measured is , the horizontal angle is , the sound source T in the space to be measured i The line T between the reference point O i O means i The incident direction of the sound signal of the sound source in the space to be measured; For the double-layer acoustic array structure m Sound Sensor A m , m= 1,2, …,M , M= 2 n , Sound Sensor A m The coordinates of , For sound sensor A m The radius of the circular subarray; Sound sensor A m The coordinate point A is at T i Draw a perpendicular line on O, intersecting T i O is at point K, with coordinates ; The length of the line OK between the reference point O and point K is the distance difference ; OK, the vectors of AK are Since AK is perpendicular to OK, Solve for the OK length, i.e. the distance difference , in, For the m The angle of each sound sensor from the 0° reference axis; An array flow matrix construction module is used to construct an array flow matrix based on the path difference of each sound sensor in the double-layer sound array structure relative to the spatial sound source to be measured and the wavelength of the sound signal of each spatial sound source; A spatial spectrum function construction module is used to construct a received signal correlation matrix of the sound sensor based on the array flow matrix, perform eigenvalue decomposition on the received signal correlation matrix, and obtain a spatial spectrum function; A spatial spectrum generation module, used for obtaining a spatial spectrum based on the obtained spatial spectrum function; A positioning module, used to obtain the positioning information of the spatial sound source based on the spatial spectrogram; Based on the obtained spatial spectrum, the peak point is found, and the ordinate of the peak point is the horizontal angle of the spatial sound source; the spatial sound source T g The line T between the reference point O g O and T g The projections of O on the horizontal plane together form plane S. g is the number of peak points, g < i , the viewing angle is perpendicular to the plane, and the sound sensor is projected onto plane S, thereby converting the manifold matrix into a one-dimensional manifold matrix: in, is projected onto plane S m The distribution angle of the sound sensors, For the m The distance from the vertical point of the sound sensor to the horizontal angle of incidence to the reference point; j is an imaginary unit; λ is the signal wavelength of the spatial sound source; in, For the g The horizontal angle of the spatial sound source corresponding to the peak point.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

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