Intelligent multichannel sound system and method based on phase distance measurement

Abstract

The invention discloses an intelligent multichannel sound system and method based on phase distance measurement, and relates to the technical field of acoustic localization, the system comprises an MIC matrix, a dotted sounding device, a communication module, an application processor and an audio playing module; the MIC matrix comprises 3 to 6 microphones which form an array for receiving signals from other sound box point-shaped sound production devices; the dotted sounding devices are located at the front and rear ends of the sound box; the front end and the rear end of each sound box are respectively provided with a dotted sounding device which respectively emits sound wave signals with different frequencies. The communication modules transmit respective position information between the systems through the wireless communication module; the application processor is arranged in the system and is responsible for calculating the relative position between the sound boxes; the audio playing module outputs corresponding audio data according to the distributed sound channels; the invention also provides a method for realizing the system. The condition of poor dynamic environment adaptability in the prior art can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of acoustic positioning, and in particular to an intelligent multi-channel sound system and method based on phase ranging. Background Art

[0002] With the popularity of smart speakers, small voice-controlled mono Bluetooth speakers have entered thousands of households. The characteristics of this type of speaker are low price, easy to use, and no buttons or remote controls are required. The user can perform the operations required by voice. However, it is difficult for this type of speaker to take into account the comprehensive sound quality, such as the magnificent sound field of a multi-channel audio system, not to mention the bass quality.

[0003] Existing patents for multi-channel audio systems mainly focus on system calibration methods, using multi-channels as detection signals to achieve flaw detection, or are simple multi-channel audio systems, with the audio data transmission method changed to Bluetooth. Summary of the invention

[0004] The object of the present invention is to provide an intelligent multi-channel sound system and method based on phase ranging to solve the problems raised in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions: an intelligent multi-channel sound system based on phase ranging, the system comprising a MIC matrix, a point sounding device, a communication module, an application processor and an audio playback module;

[0006] The MIC matrix includes 3 to 6 microphones, forming an array for receiving signals from other sound box point-shaped sound-generating devices; the microphones are not in the same straight line at the same time.

[0007] The point-shaped sound-generating devices are located at the front and rear ends of the speakers; each speaker has a point-shaped sound-generating device at the front and rear ends, which respectively emit sound wave signals with different frequencies; the sound wave frequencies of the front sound-generating point and the rear sound-generating point are different, and the receiving MIC can distinguish the front and rear signals, and measure the distance and confirm the direction of the speaker through the phase difference.

[0008] The communication module transmits the respective position information between systems through the wireless communication module; the speakers exchange each other's position information through the communication module, confirm the relative position and orientation, and collaborate to complete the automatic allocation of channels; the communication module is also used to synchronize audio data to achieve synchronous output between speakers.

[0009] The application processor is built into the system and is responsible for processing the signal from the MIC matrix and calculating the relative position between the speakers. The application processor uses the received signal to calculate the distance and direction of other speakers relative to itself through a phase difference algorithm. The processor is responsible for determining the output channel of the speaker and assigning the speaker to the left channel, right channel or other channel according to the position information.

[0010] The audio playing module outputs corresponding audio data according to the allocated channels.

[0011] An intelligent multi-channel audio method based on phase ranging, the method comprising the following steps:

[0012] S1. After the system is started, each point-shaped sound device emits sound waves at the set frequency, and the microphone matrix of other speakers starts to receive sound wave signals;

[0013] S2, performing phase difference analysis on the collected sound wave signals, calculating the phase difference of the signal received by each microphone relative to the emission source, and deriving the distance between each microphone and the sound generating device;

[0014] S3, deriving the relative position of each speaker relative to other speakers according to the distance between each microphone and the sound producing device;

[0015] S4, each speaker shares position information through the wireless communication module, summarizes the position information of all speakers, and constructs a relative layout diagram of the speakers;

[0016] S5. Allocate a corresponding channel to each speaker according to the position of each speaker.

[0017] In step S1, the point-shaped sound-generating devices in front and behind different speakers emit sound wave signals with different preset frequencies to avoid confusion caused by signal frequencies being too close; the microphone array of each speaker captures the signal, converts the analog sound wave signal into a digital signal, and saves it for subsequent data processing.

[0018] In step S2, for each received sound wave signal, the phase difference of the microphone matrix is ​​calculated: ΔI=2πD / λ;

[0019] Among them, ΔI represents the phase difference; D represents the distance between the microphone and the transmitting source; λ represents the wavelength of the sound wave;

[0020] Calculate the time difference between the signals received by different microphones, and further accurately measure the distance from the microphone to the emission source: Δt = (L2-L1) / v;

[0021] For a multi-microphone array, the microphone coordinates are represented as microphone 1: (x1, y1), microphone 2: (x2, y2), ..., microphone n: (x n ,y n );

[0022] Δt ij =(d j -d i ) / v;

[0023] Construct a multivariate linear equation system and use the least squares method to solve it to get d i and j ;

[0024] Where Δt represents the time difference between microphones; i,j∈{3,4,5,6} represents the sequence of microphones, Δt ij represents the time difference between microphone i and microphone j; L2 and L1 are the distances from the two microphones to the emission source; d i and d j Respectively represent the distances from microphone i and microphone j to the emission source; n is a positive integer, 6≥n≥3, representing the number of microphones; v represents the propagation speed of sound waves in the air;

[0025] Combine the phase difference method to obtain the distance D from the microphone to the emission source and the time difference method to obtain the distance L from the microphone to the emission source: collect a large number of real measurement values ​​R and the corresponding calculated values ​​obtained by the phase difference method and the time difference method; construct a linear regression model: R = β0 + β1D + β2L + ∈; solve the parameters by minimizing the residual sum of squares RSS: RSS = Σ a＝1 m (R a -(β0+β1D a +β2L a )) 2 ; Solve the partial derivatives of β0, β1, and β2 and set them to 0, construct a set of equations to obtain the best parameter estimate; use the trained model to predict new data; use the predicted value of the model as the distance from the microphone to the emission source, expressed as r;

[0026] Where R is the measured value of the real distance; D is the distance from the microphone to the emission source obtained by the phase difference method; L is the distance from the microphone to the emission source obtained by the time difference method; m is a positive integer, indicating the number of samples; a is a positive integer, a≤m, indicating the sequence of samples, R a represents the true measurement value corresponding to the ath sample; D a represents the distance value from the microphone to the emission source obtained by the phase difference method for the ath sample; L a represents the distance value from the microphone to the emission source obtained by the time difference method for the ath sample; β0, β1, β2 represent model parameters; ∈ represents the error term; r represents the model prediction value.

[0027] In step S3, the relative position and distance between the sound generating device and the microphone array are calculated by geometric principles:

[0028] The coordinates of the sound source speaker are expressed as (X, Y); the distance between the coordinates of the sound source speaker and microphone 1, microphone 2, ..., microphone n is: (X-x1) 2 +(Y-y1)2 =r1 2 、(X-x2) 2 +(Y-y2) 2 =r2 2 ,…,(Xx n ) 2 +(Yy n ) 2 =d n 2 ; Use the least square method to solve the equations to obtain the coordinates of the sound source speaker;

[0029] Calculate the coordinates of each speaker, expressed as (X1, Y1), (X2, Y2), ..., (X u ,Y u );

[0030] Among them, r n represents the distance from microphone n to the transmitting source; u is a positive integer representing the number of speakers.

[0031] In step S4, each speaker broadcasts its position information to other speakers through the wireless communication module; after each speaker receives the position information of all speakers, the system constructs a position matrix:

[0032] Set the position information update cycle b to dynamically update the speaker position information;

[0033] In step S5, after the position matrix is ​​constructed, the system allocates a corresponding channel to each speaker according to the position matrix of the speaker.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention can automatically detect the actual position of each speaker through microphone matrix and phase ranging technology, and automatically allocate appropriate channels to each speaker according to the position information, thus simplifying the process of speaker installation and debugging;

[0036] 2. The present invention can automatically identify different room layouts and the number of speakers, and construct a corresponding speaker position matrix; the adaptive capability can adapt to changes in room size, layout, and number of speakers, providing flexibility and scalability;

[0037] 3. The present invention further improves the accuracy of distance measurement by combining the phase difference method and the time difference method; by comparing the results of the two distance measurement methods with the measured values ​​of the actual distance and using a linear regression model to fit these values, the error caused by a single method can be effectively reduced, thereby ensuring the accuracy of distance measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the structure of an intelligent multi-channel sound system based on phase ranging according to the present invention;

[0039] Figure 2 A schematic diagram of the steps of an intelligent multi-channel audio method based on phase ranging according to the present invention;

[0040] Figure 3 The present invention is a schematic diagram of an intelligent multi-channel sound system positioning method based on phase ranging. DETAILED DESCRIPTION

[0041] 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.

[0042] Example: Figure 1-Figure 3 As shown, the present invention provides a technical solution, an intelligent multi-channel sound system based on phase ranging, the system comprising a MIC matrix, a point sounding device, a communication module, an application processor and an audio playback module;

[0043] The MIC matrix includes 3 to 6 microphones, forming an array for receiving signals from other sound box point-shaped sound-generating devices; the microphones are not in the same straight line at the same time.

[0044] The point-shaped sound-generating devices are located at the front and rear ends of the speakers; each speaker has a point-shaped sound-generating device at the front and rear ends, which respectively emit sound wave signals with different frequencies; the sound wave frequencies of the front sound-generating point and the rear sound-generating point are different, and the receiving MIC can distinguish the front and rear signals, and measure the distance and confirm the direction of the speaker through the phase difference.

[0045] The communication module transmits the respective position information between systems through the wireless communication module; the speakers exchange each other's position information through the communication module, confirm the relative position and orientation, and collaborate to complete the automatic allocation of channels; the communication module is also used to synchronize audio data to achieve synchronous output between speakers.

[0046] The application processor is built into the system and is responsible for processing the signal from the MIC matrix and calculating the relative position between the speakers. The application processor uses the received signal to calculate the distance and direction of other speakers relative to itself through a phase difference algorithm. The processor is responsible for determining the output channel of the speaker and assigning the speaker to the left channel, right channel or other channel according to the position information.

[0047] The audio playing module outputs corresponding audio data according to the allocated channels.

[0048] An intelligent multi-channel audio method based on phase ranging, the method comprising the following steps:

[0049] S1. After the system is started, each point-shaped sound device emits sound waves at the set frequency, and the microphone matrix of other speakers starts to receive sound wave signals;

[0050] S2, performing phase difference analysis on the collected sound wave signals, calculating the phase difference of the signal received by each microphone relative to the emission source, and deriving the distance between each microphone and the sound generating device;

[0051] S3, deriving the relative position of each speaker relative to other speakers according to the distance between each microphone and the sound producing device;

[0052] S4, each speaker shares position information through the wireless communication module, summarizes the position information of all speakers, and constructs a relative layout diagram of the speakers;

[0053] S5. Allocate a corresponding channel to each speaker according to the position of each speaker.

[0054] In step S1, the point-shaped sound-generating devices in front and behind different speakers emit sound wave signals with different preset frequencies to avoid confusion caused by signal frequencies being too close; the microphone array of each speaker captures the signal, converts the analog sound wave signal into a digital signal, and saves it for subsequent data processing.

[0055] In step S2, for each received sound wave signal, the phase difference of the microphone matrix is ​​calculated: ΔI=2πD / λ;

[0056] Among them, ΔI represents the phase difference; D represents the distance between the microphone and the transmitting source; λ represents the wavelength of the sound wave;

[0057] Calculate the time difference between the signals received by different microphones, and further accurately measure the distance from the microphone to the emission source: Δt = (L2-L1) / v;

[0058] For a multi-microphone array, the microphone coordinates are represented as microphone 1: (x1, y1), microphone 2: (x2, y2), ..., microphone n: (x n ,y n );

[0059] Δt ij =(d j -d i ) / v;

[0060] Construct a multivariate linear equation system and use the least squares method to solve it to get d i and j ;

[0061] Where Δt represents the time difference between microphones; i,j∈{3,4,5,6} represents the sequence of microphones, Δt ij represents the time difference between microphone i and microphone j; L2 and L1 are the distances from the two microphones to the emission source; d i and d j Respectively represent the distances from microphone i and microphone j to the emission source; n is a positive integer, 6≥n≥3, representing the number of microphones; v represents the propagation speed of sound waves in the air;

[0062] Combine the phase difference method to obtain the distance D from the microphone to the emission source and the time difference method to obtain the distance L from the microphone to the emission source: collect a large number of real measurement values ​​R and the corresponding calculated values ​​obtained by the phase difference method and the time difference method; construct a linear regression model: R = β0 + β1D + β2L + ∈; solve the parameters by minimizing the residual sum of squares RSS: RSS = Σ a＝1 m (R a -(β0+β1D a +β2L a )) 2 ; Solve the partial derivatives of β0, β1, and β2 and set them to 0, construct a set of equations to obtain the best parameter estimate; use the trained model to predict new data; use the predicted value of the model as the distance from the microphone to the emission source, expressed as r;

[0063] Where R is the measured value of the real distance; D is the distance from the microphone to the emission source obtained by the phase difference method; L is the distance from the microphone to the emission source obtained by the time difference method; m is a positive integer, indicating the number of samples; a is a positive integer, a≤m, indicating the sequence of samples, R a represents the true measurement value corresponding to the ath sample; D a represents the distance value from the microphone to the emission source obtained by the phase difference method for the ath sample; L a represents the distance value from the microphone to the emission source obtained by the time difference method for the ath sample; β0, β1, β2 represent model parameters; ∈ represents the error term; r represents the model prediction value.

[0064] In step S3, the relative position and distance between the sound generating device and the microphone array are calculated by geometric principles:

[0065] The coordinates of the sound source speaker are expressed as (X, Y); the distance between the coordinates of the sound source speaker and microphone 1, microphone 2, ..., microphone n is: (X-x1) 2 +(Y-y1) 2 =r1 2 、(X-x2) 2 +(Y-y2)2 =r2 2 ,…,(Xx n ) 2 +(Yy n ) 2 =d n 2 ; Use the least square method to solve the equations to obtain the coordinates of the sound source speaker;

[0066] Calculate the coordinates of each speaker, expressed as (X1, Y1), (X2, Y2), ..., (X u ,Y u );

[0067] Among them, r n represents the distance from microphone n to the transmitting source; u is a positive integer representing the number of speakers.

[0068] In step S4, each speaker broadcasts its position information to other speakers through the wireless communication module; after each speaker receives the position information of all speakers, the system constructs a position matrix:

[0069] Set the position information update cycle b to dynamically update the speaker position information;

[0070] In step S5, after the position matrix is ​​constructed, the system allocates a corresponding channel to each speaker according to the position matrix of the speaker.

[0071] In this embodiment: an intelligent multi-channel sound system based on phase ranging includes two sound boxes, each sound box is equipped with three microphones;

[0072] Number of speakers: 2 speakers, respectively named speaker A and speaker B;

[0073] Number of microphones: Each speaker has three microphones, labeled Microphone 1, Microphone 2, and Microphone 3;

[0074] Emission source: The sound device built into the speaker emits sound waves;

[0075] Propagation speed: The propagation speed of sound waves in air v = 343m / s;

[0076] Step S1: The system starts and emits a sound wave signal; after the system starts, the sound generation devices of the speaker A and the speaker B respectively emit sound wave signals of specific frequencies; the microphone array of each speaker starts to receive the sound wave signal and converts the received analog signal into a digital signal for use in subsequent steps;

[0077] Step S2: Calculate the distance between the microphone and the sound-generating device; for each speaker's microphone, calculate the distance between it and the sound-generating device by using a phase difference method;

[0078] Phase difference method: The sound wave frequency f of speaker A is 1000Hz, and the corresponding wavelength λ is: λ=v / f=0.343m;

[0079] Microphone of speaker A: The coordinates of the microphone array of speaker A are as follows:

[0080] Microphone A1 coordinates: (x A1 ,y A1 )=(0,0);

[0081] Microphone A2 coordinates: (x A2 ,y A2 )=(1,0);

[0082] Microphone A3 coordinates: (x A3 ,y A3 )=(0,1);

[0083] Calculate the phase difference when each microphone receives the sound wave:

[0084] Phase difference of microphone A1: The phase difference is ΔI A1 , the calculation formula is: ΔI A1 =2πD A1 / λ;

[0085] Phase difference of microphone A2: The phase difference is ΔI A2 , the calculation formula is: ΔI A2 =2πD A2 / λ;

[0086] Phase difference of microphone A3: Phase difference is ΔI A3 , the calculation formula is: ΔI A3 =2πD A3 / λ;

[0087] Calculate the distance D: Using the relationship between phase difference and wavelength, the distance between the microphone and the sound source can be calculated: D A1 =λΔI A1 / 2π、D A2 =λΔI A2 / 2π、D A3 =λΔI A3 / 2π;

[0088] The frequency of speaker B is 1100Hz. For microphones B1, B2 and B3 of speaker B, repeat the above calculation process to obtain the corresponding distance D B1 , D B2 , D B3 ;

[0089] Time difference method:

[0090] For microphone 1 and microphone 2 in speaker A: Δt A12 =(d A2 -d A1 ) / v;

[0091] For microphone 1 and microphone 3 in speaker A: Δt A13 =(d A3 -d A1 ) / v;

[0092] For microphone 2 and microphone 3 in speaker A: Δt A23 =(d A3 -d A2 ) / v;

[0093] Use the least squares method to solve the above equations and get the distance between the microphone of speaker A and the sound device: d A1 ,d A2 ,d A3 Repeat the above calculation process for microphones B1, B2 and B3 of speaker B to obtain the corresponding distance d B1 ,d B2 ,d B3 ;

[0094] Combine the phase difference method to obtain the distance from the microphone to the emission source and the time difference method to obtain the distance from the microphone to the emission source: collect a large number of real measurement values ​​and the corresponding calculated values ​​obtained by the phase difference method and the time difference method; build a linear regression model; solve the parameters by minimizing the residual sum of squares; solve the partial derivatives of β0, β1, and β2 and set them to 0, and construct a set of equations to obtain the best parameter estimate; use the trained model to predict new data; use the predicted value predicted by the model as the distance from the microphone to the emission source;

[0095] Step S3: Calculate the relative position and distance between the sound generating device and the microphone array by geometric principle:

[0096] The coordinates of the sound source speaker are expressed as (X, Y); the distance between the coordinates of the sound source speaker and speaker A microphone 1, microphone 2, and microphone 3 is: (Xx A1 ) 2 +(Yy A1 ) 2 =r A1 2 、(Xx A2 ) 2 +(Yy A2 ) 2 =r A2 2 、(Xx A3 ) 2 +(Yy A3) 2 =d A3 2 ; Use the least square method to solve the equations to obtain the coordinates of the sound source speaker;

[0097] Calculate the coordinates of each speaker, expressed as (X1, Y1), (X2, Y2);

[0098] Step S4: Each speaker broadcasts its own position information to other speakers through the wireless communication module; after each speaker receives the position information of all speakers, the system constructs a position matrix;

[0099] Set the position information update cycle b to dynamically update the speaker position information;

[0100] Step S5: After the position matrix is ​​constructed, the system allocates a corresponding channel to each speaker according to the position matrix of the speaker.

[0101] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An intelligent multi-channel sound system based on phase ranging, characterized in that: The system includes a MIC matrix, a point sounding device, a communication module, an application processor and an audio playing module.

2. According to claim 1, an intelligent multi-channel sound system based on phase ranging is characterized in that: The MIC matrix includes 3 to 6 microphones, forming an array for receiving signals from other sound box point-shaped sound-generating devices; the microphones are not in the same straight line at the same time.

3. According to claim 1, the intelligent multi-channel sound system based on phase ranging is characterized in that: The point-shaped sound-generating devices are located at the front and rear ends of the speakers; each speaker has a point-shaped sound-generating device at the front and rear ends, which respectively emit sound wave signals with different frequencies; the sound wave frequencies of the front sound-generating point and the rear sound-generating point are different, and the receiving MIC distinguishes the front and rear signals, and measures the distance and confirms the direction of the speaker through the phase difference.

4. The intelligent multi-channel sound system based on phase ranging according to claim 1, characterized in that: The communication module transmits the respective position information between systems through the wireless communication module; the speakers exchange each other's position information through the communication module, confirm the relative position and orientation, and collaborate to complete the automatic allocation of channels; the communication module is also used to synchronize audio data to achieve synchronous output between speakers.

5. The intelligent multi-channel sound system based on phase ranging according to claim 1, characterized in that: The application processor is built into the system and is responsible for processing the signal from the MIC matrix and calculating the relative position between the speakers. The application processor uses the received signal to calculate the distance and direction of other speakers relative to itself through a phase difference algorithm. The processor is responsible for determining the output channel of the speaker and assigning the speaker to the left channel, right channel or other channel according to the position information; The audio playing module outputs corresponding audio data according to the allocated channels.

6. An intelligent multi-channel audio method based on phase ranging, characterized in that: The method comprises the following steps: S1. After the system is started, each point-shaped sound device emits sound waves at the set frequency, and the microphone matrix of other speakers starts to receive sound wave signals; S2, performing phase difference analysis on the collected sound wave signals, calculating the phase difference of the signal received by each microphone relative to the emission source, and deriving the distance between each microphone and the sound generating device; S3, deriving the relative position of each speaker relative to other speakers according to the distance between each microphone and the sound producing device; S4, each speaker shares position information through the wireless communication module, summarizes the position information of all speakers, and constructs a relative layout diagram of the speakers; S5. Allocate a corresponding channel to each speaker according to the position of each speaker.

7. The intelligent multi-channel audio method based on phase ranging according to claim 6, characterized in that: In step S1, the point-shaped sound-generating devices in front and behind different speakers emit sound wave signals with different preset frequencies to avoid confusion caused by signal frequencies being too close; the microphone array of each speaker captures the signal, converts the analog sound wave signal into a digital signal, and saves it for subsequent data processing.

8. The intelligent multi-channel audio method based on phase ranging according to claim 7, characterized in that: In step S2, for each received sound wave signal, the phase difference of the microphone matrix is ​​calculated: ΔI=2πD / λ; Among them, ΔI represents the phase difference; D represents the distance between the microphone and the transmitting source; λ represents the wavelength of the sound wave; Calculate the time difference between the signals received by different microphones, and further accurately measure the distance from the microphone to the emission source: Δt = (L2-L1) / v; For a multi-microphone array, the microphone coordinates are represented as microphone 1: (x1, y1), microphone 2: (x2, y2), ..., microphone n: (x n ,y n ); Δt ij =(d j -d i ) / v; Construct a multivariate linear equation system and use the least squares method to solve it to get d i and j ; Where Δt represents the time difference between microphones; i,j∈{3,4,5,6} represents the sequence of microphones, Δt ij represents the time difference between microphone i and microphone j; L2 and L1 are the distances from the two microphones to the emission source; d i and d j Respectively represent the distances from microphone i and microphone j to the emission source; n is a positive integer, 6≥n≥3, representing the number of microphones; v represents the propagation speed of sound waves in the air; Combine the phase difference method to obtain the distance D from the microphone to the emission source and the time difference method to obtain the distance L from the microphone to the emission source: collect a large number of real measurement values ​​R and the corresponding calculated values ​​obtained by the phase difference method and the time difference method; construct a linear regression model: R = β0 + β1D + β2L + ∈; solve the parameters by minimizing the residual sum of squares RSS: RSS = Σ a＝1 m (R a -(β0+β1D a +β2L a )) 2 ; Solve the partial derivatives of β0, β1, and β2 and set them to 0, construct a set of equations to obtain the best parameter estimate; use the trained model to predict new data; use the predicted value of the model as the distance from the microphone to the emission source, expressed as r; Where R is the measured value of the real distance; D is the distance from the microphone to the emission source obtained by the phase difference method; L is the distance from the microphone to the emission source obtained by the time difference method; m is a positive integer, indicating the number of samples; a is a positive integer, a≤m, indicating the sequence of samples, R a represents the true measurement value corresponding to the ath sample; D a represents the distance value from the microphone to the emission source obtained by the phase difference method for the ath sample; L a represents the distance value from the microphone to the emission source obtained by the time difference method for the ath sample; β0, β1, β2 represent model parameters; ∈ represents the error term; r represents the model prediction value.

9. The intelligent multi-channel audio method based on phase ranging according to claim 8, characterized in that: In step S3, the relative position and distance between the sound generating device and the microphone array are calculated by geometric principles: The coordinates of the sound source speaker are expressed as (X, Y); the distance between the coordinates of the sound source speaker and microphone 1, microphone 2, ..., microphone n is: (X-x1) 2 +(Y-y1) 2 =r1 2 、(X-x2) 2 +(Y-y2) 2 =r2 2 ,…,(Xx n ) 2 +(Yy n ) 2 =d n 2 ; Use the least square method to solve the equations to obtain the coordinates of the sound source speaker; Calculate the coordinates of each speaker, expressed as (X1, Y1), (X2, Y2), ..., (X u ,Y u ); Among them, r n represents the distance from microphone n to the transmitting source; u is a positive integer representing the number of speakers.

10. The intelligent multi-channel audio method based on phase ranging according to claim 9, characterized in that: In step S4, each speaker broadcasts its position information to other speakers through the wireless communication module; after each speaker receives the position information of all speakers, the system constructs a position matrix: Set the position information update cycle b to dynamically update the speaker position information; In step S5, after the position matrix is ​​constructed, the system allocates a corresponding channel to each speaker according to the position matrix of the speaker.

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