An audio signal processing method and system based on intrusion object positioning

Abstract

The present invention discloses an audio signal processing method and system based on intrusion object positioning, including: S1: using a mobile microphone array to collect audio signals in space, performing frequency conversion on the audio signals, and obtaining a sound source distribution map sequence; S2: aligning each sound source distribution map in the sound source distribution map sequence with a reference sound source distribution map; S3: fusing the aligned sound source distribution maps to obtain a focused sound source distribution map; S4: based on the focused sound source distribution map, using a CFAR detection algorithm to detect the pixel points of the focused sound source distribution map to obtain pixel points marked as objects; S5: screening the pixel points marked as objects to determine the pixel points where the intrusion object is located; S6: calculating the distance of the intrusion object to achieve intrusion object positioning. The present invention collects audio signals and performs time-frequency analysis processing to obtain a sound source distribution map sequence that matches the object distribution; aligning, fusing, and detecting the sound source distribution maps to achieve accurate positioning of the intrusion object.

Description

Technical Field

[0001] The present invention relates to the technical field of audio signal processing, and in particular to an audio signal processing method and system based on intrusion object positioning. Background Art

[0002] Analyzing, processing and optimizing audio signals can significantly improve the clarity and intelligibility of audio signals, reduce noise and interference in audio signals, and improve recognition accuracy. Therefore, audio signal processing technology is widely used in speech recognition, voice communication, biometric recognition, and target recognition. At present, the commonly used audio signal processing technology mainly performs Fourier transform on audio signals from the perspective of time-frequency analysis to obtain the spectrum, and then analyzes, filters, and enhances the spectrum.

[0003] Intrusion object positioning refers to the detection, identification, and positioning of objects that enter a space without authorization through technical means. Intrusion object positioning meets security requirements, can prevent theft, destruction, and other illegal activities, and protect the safety of personnel, property, and data. At present, intrusion object positioning is mainly based on the capture of video images by cameras and the processing of video images. This type of method is limited by the field of view of the camera. A single camera can usually only cover a certain angle and distance, and multiple cameras must cooperate with each other to achieve intrusion object positioning; there are monitoring blind spots in the field of view of the camera caused by obstacles; at the same time, the clarity of the video image is affected by light changes, such as shadows and reflections; the update and maintenance costs of high-quality cameras are high. Summary of the invention

[0004] Based on audio signals, intruding objects can be located easily by bypassing obstacles and detecting intruding objects under non-line-of-sight conditions; at the same time, audio signals are less affected by environmental factors such as light and weather, and can still maintain good performance under low light, bad weather or night conditions; audio signal acquisition equipment is easy to maintain, low cost, and cost-effective. Therefore, the present invention proposes an audio signal processing method and system based on intruding object positioning.

[0005] The present invention provides an audio signal processing method based on intrusion object positioning, the method comprising:

[0006] S1: using a mobile microphone array to collect audio signals in a space, performing frequency conversion on the audio signals, and obtaining a sequence of sound source distribution diagrams; setting a reference microphone in the mobile microphone array; performing frequency conversion on the audio signals collected by the reference microphone, and obtaining a reference sound source distribution diagram;

[0007] S2: aligning each sound source distribution map in the sound source distribution map sequence with the reference sound source distribution map to obtain an aligned sound source distribution map;

[0008] S3: fusing the aligned sound source distribution maps to obtain a focused sound source distribution map;

[0009] S4: Based on the focused sound source distribution map, using a CFAR detection algorithm to detect and mark pixel points of the focused sound source distribution map to obtain pixel points marked as objects;

[0010] S5: Screening the pixel points marked as objects to determine the pixel points where the intruding objects are located;

[0011] S6: Calculate the distance of the intruding object and locate the intruding object.

[0012] Optionally, S1 includes:

[0013] S11: using a mobile microphone array to collect audio signals in the space; setting a reference microphone in the mobile microphone array, and obtaining a reference audio signal through the reference microphone:

[0014] ;

[0015] in, Indicates The audio signal received by a mobile microphone, Indicates The amplitude of the audio signal received by a mobile microphone, represents the exponential function, Represents the imaginary number symbol, Represents the symbol for pi, Indicates the audio signal carrier frequency, represents the Doppler shift, Indicates The phase delay of the moving microphone relative to the reference microphone;

[0016] ;

[0017] in, Represents the speed of an object in space. The speed of an ordinary object in space is , intrusion object , represents the movement speed of the mobile microphone array, Indicates the wavelength of the audio signal;

[0018] ;

[0019] in, Indicates The projection of the distance between the mobile microphone and the reference microphone in the vertical direction;

[0020] S12: Perform frequency conversion on the audio signal in the mobile microphone array collection space to obtain a sound source distribution map of the mobile microphone array; perform frequency conversion on the audio signal collected by the reference microphone to obtain a reference sound source distribution map:

[0021] ;

[0022] in, Express exist Find the integral within the range, represents the Fourier transform operator; Indicates that it comes from Sound source distribution diagram of a mobile microphone;

[0023] S13: Constructing a sound source distribution map sequence according to the sound source distribution map of the mobile microphone array:

[0024] ;

[0025] in, represents the sound source distribution map sequence, represents the number of mobile microphones in the microphone array;

[0026] Optionally, S2 includes:

[0027] Select the reference pixel point in the reference sound source distribution map ;

[0028] In the sound source distribution diagram,

[0029] exist Within the range, traverse the pixel points; among them, Indicates that the reference pixel is The maximum offset distance in the direction, Indicates that the reference pixel is The maximum offset distance in the direction, Indicates the propagation speed of audio signals. Indicates the bandwidth of the audio signal;

[0030] Find the reference pixel The pixel with the highest similarity ;

[0031] All the pixels in the sound source distribution map are Direction Translation Distance, in Direction Translation Distance, get the aligned sound source distribution map ;

[0032] Optionally, S3 includes:

[0033] The aligned sound source distribution maps are fused by direct averaging to obtain a focused sound source distribution map, and the average value of each pixel position in the aligned sound source distribution map is calculated. The specific method is:

[0034] ;

[0035] in, represents the amplitude of a pixel in the focused sound source distribution map, Aligned sound source distribution diagram The amplitude of the corresponding pixel in ;

[0036] Optionally, S4 includes:

[0037] S41: Estimate the background noise of the focused sound source distribution map based on the CFAR detection algorithm :

[0038] To set the detection threshold:

[0039] ;

[0040] in, represents the detection threshold, represents the threshold coefficient, Determined by experience;

[0041] S42: Select the pixel points of the focused sound source distribution map and compare the amplitude of the pixel points with the detection threshold ;

[0042] If the pixel amplitude is greater than or equal to the detection threshold , then mark the pixel as an object;

[0043] If the pixel amplitude is less than the detection threshold , then mark the pixel as background.

[0044] Optionally, S5 includes:

[0045] For the pixel points marked as objects, take Direction index value ;

[0046] In the focused sound source distribution diagram, The number of pixels in the direction is ;

[0047] Compare and ;

[0048] if , mark the pixel as an intrusion object;

[0049] if , mark the pixel as a normal object;

[0050] Optionally, S6 includes:

[0051] S6: Calculate the distance of the intruding object and locate the intruding object:

[0052] For the pixels marked as intrusion objects, Direction index value ;

[0053] The distance of the intruding object is expressed as:

[0054] ;

[0055] in, Indicates the distance of the intruding object, Indicates the propagation speed of audio signals. Indicates the audio signal bandwidth.

[0056] The present invention also provides an audio signal processing system based on intrusion object positioning, comprising:

[0057] A sound source distribution map sequence generation module: uses a mobile microphone array to collect audio signals in the space, performs frequency conversion on the audio signals to obtain a sound source distribution map, and sets a reference microphone in the mobile microphone array according to the sound source distribution map sequence; performs frequency conversion on the audio signals collected by the reference microphone to obtain a reference sound source distribution map;

[0058] Sound source distribution map alignment module: aligns each sound source distribution map in the sound source distribution map sequence with the reference sound source distribution map to obtain an aligned sound source distribution map;

[0059] A sound source distribution map fusion module: fusing the aligned sound source distribution maps to obtain a focused sound source distribution map;

[0060] Object detection module: Based on the focused sound source distribution map, the CFAR detection algorithm is used to detect and mark the pixel points of the focused sound source distribution map to obtain the pixel points marked as objects;

[0061] Invading object screening module: screening the pixel points marked as objects to determine the pixel points where the invading objects are located;

[0062] Intrusion object positioning module: calculates the distance of the intrusion object and locates the intrusion object.

[0063] Compared with the prior art, the present invention has the following beneficial effects:

[0064] The present invention uses a mobile microphone array to collect audio signals and perform time-frequency analysis processing to obtain a sound source distribution map that matches the object distribution; based on reference pixel points, the sound source distribution map is translated to facilitate alignment of the sound source distribution map with the reference sound source distribution map; on this basis, the aligned sound source distribution maps are fused to obtain a focused sound source distribution map; for the focused sound source distribution map, the amplitude of the pixel point is less affected by interference, which is convenient for subsequent detection processing; CFAR is used to detect the object, and then the pixel point where the intruding object is located is accurately screened by using the feature that the Doppler frequency of the intruding object is greater than 0; at the pixel point of the known intruding object, the pixel point of the intruding object is located. In the case of directional index values, the sound source distribution map is used Directional resolution enables accurate positioning of intruding objects.

[0065] The present invention locates intruding objects based on audio signals, and the proposed method is less affected by the environment; in step S2, based on the reference pixel point exist The pixel search range is set to narrow the search range, which is conducive to accurately finding the pixel with the highest similarity to the reference pixel. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A flowchart of an audio signal processing method based on intrusion object positioning provided by an embodiment of the present invention;

[0067] Figure 2 Schematic diagram of a mobile microphone array (single-line array, square array, triangle array, spherical array) according to an embodiment of the present invention. DETAILED DESCRIPTION

[0068] The present invention is further described below in conjunction with the accompanying drawings, but the present invention is not limited in any way. Any changes or substitutions made based on the teachings of the present invention belong to the protection scope of the present invention.

[0069] Embodiment 1:

[0070] An audio signal processing method based on intrusion object positioning, such as Figure 1 As shown, the following steps are included:

[0071] S1: using a mobile microphone array to collect audio signals in a space, performing frequency conversion on the audio signals, and obtaining a sound source distribution diagram sequence; setting a reference microphone in the mobile microphone array; performing frequency conversion on the audio signals collected by the reference microphone, and obtaining a reference sound source distribution;

[0072] S11: Using a mobile microphone array to collect audio signals in the space: Setting a reference microphone in the mobile microphone array, and obtaining a reference audio signal through the reference microphone:

[0073] ;

[0074] in, Indicates The audio signal received by a mobile microphone, Indicates The amplitude of the audio signal received by a mobile microphone, represents the exponential function, Represents the imaginary number symbol, Represents the symbol for pi, Indicates the audio signal carrier frequency, represents the Doppler shift, Indicates The phase delay of the moving microphone relative to the reference microphone;

[0075] ;

[0076] in, Represents the speed of an object in space. The speed of an ordinary object in space is , intrusion object , represents the movement speed of the mobile microphone array, Indicates the wavelength of the audio signal;

[0077] ;

[0078] in, Indicates The projection of the distance between the mobile microphone and the reference microphone in the vertical direction;

[0079] S12: performing frequency conversion on the audio signal in the mobile microphone array collection space to obtain a sound source distribution map of the mobile microphone array: performing frequency conversion on the audio signal collected by the reference microphone to obtain a reference sound source distribution map;

[0080] ;

[0081] in, Express exist Find the integral within the range, represents the Fourier transform operator, Indicates that it comes from Sound source distribution diagram of a mobile microphone;

[0082] S13: Constructing a sound source distribution map sequence according to the sound source distribution map of the mobile microphone array:

[0083] ;

[0084] in, represents the sound source distribution map sequence, represents the number of microphones in the mobile microphone array;

[0085] In the embodiment of the present invention, the mobile microphone array (single array, square array, triangle array, spherical array) is as follows Figure 2 As shown; the first mobile microphone in the above four arrays is selected as the reference microphone;

[0086] In a single-team array, the first, second, and third mobile microphones are arranged at equal intervals on the same horizontal line. The horizontal interval between the first and second mobile microphones is , the azimuth of the object relative to the first mobile microphone is ; The vertical projection of the distance between the second mobile microphone and the reference microphone , the vertical projection of the distance between the third mobile microphone and the reference microphone ;

[0087] In the square array, the first and second mobile microphones are on the same horizontal line, the third and fourth mobile microphones are on the same horizontal line, the first and third mobile microphones are on the same vertical line, the second and fourth mobile microphones are on the same vertical line, and the horizontal distance between the first mobile microphone and the second mobile microphone is , the vertical distance between the first microphone and the third microphone is , the azimuth of the object relative to the first mobile microphone is ; The vertical projection of the distance between the second mobile microphone and the reference microphone , the vertical projection of the distance between the third mobile microphone and the reference microphone , the vertical projection of the distance between the fourth mobile microphone and the reference microphone ;

[0088] In the triangular array, the second, third, and fourth mobile microphones are arranged at equal intervals on the same horizontal line, the first and third mobile microphones are on the same vertical line, and the vertical distance between the first and third mobile microphones is , the horizontal distance between the second and third mobile microphones is , the azimuth of the object relative to the first microphone is ; The vertical projection of the distance between the second mobile microphone and the reference microphone , the vertical projection of the distance between the third microphone and the reference microphone , the vertical projection of the distance between the 4th microphone and the reference microphone ;

[0089] In the spherical array, the second and third mobile microphones are on the same horizontal line, the first and fourth mobile microphones are on the same vertical line, and the vertical distance between the first and fourth mobile microphones is , the horizontal distance between the second and third microphones is , the azimuth of the object relative to the first microphone is ; The vertical projection of the distance between the second mobile microphone and the reference microphone , the vertical projection of the distance between the fourth mobile microphone and the reference microphone , the vertical projection of the distance between the third mobile microphone and the reference microphone .

[0090] S2: Align each sound source distribution map in the sound source distribution map sequence with the reference sound source distribution map to obtain an aligned sound source distribution map:

[0091] Select the reference pixel point in the reference sound source distribution map ;

[0092] In the sound source distribution diagram middle,

[0093] exist Within the range, traverse the pixel points; among them, Indicates that the reference pixel is The maximum offset distance in the direction, Indicates that the reference pixel is The maximum offset distance in the direction, Indicates the propagation speed of audio signals. Indicates the bandwidth of the audio signal;

[0094] Find the reference pixel The pixel with the highest similarity ;

[0095] The sound source distribution map All pixels in Direction Translation Distance, in Direction Translation Distance, get the aligned sound source distribution map ;

[0096] In the embodiment of the present invention, the sound source distribution map obtained in step S12 is The resolution of the direction is ; In the known The vertical projection of the distance between the mobile microphone and the reference microphone In the case of What you get is Compared with the reference sound source distribution diagram Theoretically, the reference pixel Corresponds to Pixels in ;because There is a certain error compared with the reference sound source distribution map, so in step S2, the pixel point traversal range is expanded; using the pixel point Relative to the reference pixel The offset, correction , get the aligned sound source distribution map .

[0097] S3: Fusing the aligned sound source distribution maps obtained in step S2 to obtain a focused sound source distribution map:

[0098] The aligned sound source distribution maps are fused by a direct average method to obtain a focused sound source distribution map, and the average value of each pixel position in the aligned sound source distribution map is calculated. The specific method is:

[0099] ;

[0100] in, represents the amplitude of a pixel in the focused sound source distribution map, Aligned sound source distribution diagram The amplitude of the corresponding pixel in .

[0101] S4: Based on the focused sound source distribution map, the CFAR detection algorithm is used to detect and mark the pixel points of the focused sound source distribution map to obtain the pixel points marked as objects:

[0102] S41: Estimate the background noise of the focused sound source distribution map based on the CFAR detection algorithm :

[0103] To set the detection threshold:

[0104] ;

[0105] in, represents the detection threshold, represents the threshold coefficient, Determined by experience;

[0106] S42: Select the pixel points of the focused sound source distribution map and compare the amplitude of the pixel points with the detection threshold :

[0107] If the pixel amplitude is greater than or equal to the detection threshold , then mark the pixel as an object;

[0108] If the pixel amplitude is less than the detection threshold , then mark the pixel as background.

[0109] S5: After the object is detected, the pixel points marked as objects obtained in step S42 are screened to determine the pixel points where the intruding object is located:

[0110] For the pixel points marked as objects obtained in step S42, Direction index value ;

[0111] In the focused sound source distribution diagram, The number of pixels in the direction is ;

[0112] Compare and ;

[0113] if , mark the pixel as an intrusion object;

[0114] if , mark the pixel as a normal object;

[0115] S6: Calculate the distance of the intruding object and locate the intruding object:

[0116] For the pixels marked as intrusion objects, Direction index value ;

[0117] The distance of the intruding object is expressed as:

[0118] ;

[0119] in, Indicates the distance of the intruding object, Indicates the propagation speed of audio signals. Indicates the bandwidth of the audio signal;

[0120] In the embodiment of the present invention, the movement speed of ordinary objects in space is , intrusion object , the moving microphone array movement speed can be ignored; in the focused sound source distribution diagram, ordinary objects are concentrated in The direction index is The position of The central axis of the direction; the intruding objects are concentrated Direction index greater than The position of The right side of the central axis of the direction; Step S5 accurately selects the pixel points where the intrusion object is located based on the above characteristics; at the known intrusion object pixel points Direction index value and Directional resolution In this case, the distance of the intruding object is calculated.

[0121] Embodiment 2: The present invention also provides an audio signal processing system based on intrusion object positioning, comprising the following modules:

[0122] A sound source distribution map sequence generation module: using a mobile microphone array to collect audio signals in the space, performing frequency conversion on the audio signals to obtain a sound source distribution map; constructing a sound source distribution map sequence according to the sound source distribution map, setting a reference microphone in the mobile microphone array; performing frequency conversion on the audio signals collected by the reference microphone to obtain a reference sound source distribution map;

[0123] Sound source distribution map alignment module: aligns each sound source distribution map in the sound source distribution map sequence with the reference sound source distribution map to obtain an aligned sound source distribution map;

[0124] A sound source distribution map fusion module: fusing the aligned sound source distribution maps to obtain a focused sound source distribution map;

[0125] Object detection module: Based on the focused sound source distribution map, the CFAR detection algorithm is used to detect and mark the pixel points of the focused sound source distribution map to obtain the pixel points marked as objects;

[0126] Intrusion object screening module: Screen the pixels marked as objects to determine the pixels where the intrusion objects are located;

[0127] Intrusion object positioning module: calculates the distance of the intrusion object and locates the intrusion object.

[0128] It should be noted that the serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. And the terms "including", "comprising" or any other variants thereof in this article are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "including a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0129] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0130] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An audio signal processing method based on intrusion object positioning, characterized in that: The method comprises: S1: using a mobile microphone array to collect audio signals in a space, performing frequency conversion on the audio signals, and obtaining a sequence of sound source distribution diagrams; setting a reference microphone in the mobile microphone array, performing frequency conversion on the audio signals collected by the reference microphone, and obtaining a reference sound source distribution diagram; S2: aligning each sound source distribution map in the sound source distribution map sequence with the reference sound source distribution map to obtain an aligned sound source distribution map; Select the reference pixel point in the reference sound source distribution map ; In the sound source distribution diagram, exist Within the range, traverse the pixel points; among them, Indicates that the reference pixel is The maximum offset distance in the direction, Indicates that the reference pixel is The maximum offset distance in the direction, Indicates the propagation speed of audio signals. Indicates the bandwidth of the audio signal; Indicates The projection of the distance between the mobile microphone and the reference microphone in the vertical direction; Find the pixel with the highest similarity to the reference pixel ; All the pixels in the sound source distribution map are Direction Translation Distance, in Direction Translation Distance, get the aligned sound source distribution map ; S3: fusing the aligned sound source distribution maps to obtain a focused sound source distribution map; S4: Based on the focused sound source distribution map, using a CFAR detection algorithm to detect and mark pixel points of the focused sound source distribution map to obtain pixel points marked as objects; S5: Screening the pixel points marked as objects to determine the pixel points where the intruding objects are located; S6: Calculate the distance of the intruding object and locate the intruding object.

2. The audio signal processing method based on intrusion object positioning according to claim 1 is characterized in that: The S1 comprises the following steps: S11: using a mobile microphone array to collect audio signals in the space; setting a reference microphone in the mobile microphone array, and obtaining a reference audio signal through the reference microphone: ； in, Indicates The audio signal received by a mobile microphone, Indicates The amplitude of the audio signal received by a mobile microphone, represents the exponential function, Represents the imaginary number symbol, Represents the symbol for pi, Indicates the audio signal carrier frequency, represents the Doppler shift, Indicates The phase delay of the moving microphone relative to the reference microphone; ； in, Represents the speed of an object in space. The speed of an ordinary object in space is , intrusion object , represents the movement speed of the mobile microphone array, Indicates the wavelength of the audio signal; ； in, Indicates The projection of the distance between the mobile microphone and the reference microphone in the vertical direction; S12: Perform frequency conversion on the audio signal collected by the mobile microphone array in the space to obtain a sound source distribution diagram of the mobile microphone array: Perform frequency conversion on the audio signal collected by the reference microphone to obtain a reference sound source distribution diagram: ； in, Express exist Find the integral within the range, represents the Fourier transform operator, Indicates Sound source distribution diagram of a mobile microphone; S13: Constructing a sound source distribution map sequence according to the sound source distribution map of the mobile microphone array: ； in, represents the sound source distribution map sequence, Indicates the number of microphones in the mobile microphone array.

3. The audio signal processing method based on intrusion object positioning according to claim 2 is characterized in that: The S3 comprises the following steps: The aligned sound source distribution maps are fused by direct averaging to obtain a focused sound source distribution map, and the average value of each pixel position in the aligned sound source distribution map is calculated. The specific method is: ； in, represents the amplitude of a pixel in the focused sound source distribution map, Represents the amplitude of the corresponding pixel in the aligned sound source distribution map.

4. The audio signal processing method based on intrusion object positioning according to claim 3 is characterized in that: The S4 comprises the following steps: S41: Estimate the background noise of the focused sound source distribution map based on the CFAR detection algorithm : To set the detection threshold: ； in, represents the detection threshold, represents the threshold coefficient, Determined by experience; S42: Select the pixel points of the focused sound source distribution map, and compare the amplitude of the pixel points with the detection threshold: If the pixel amplitude is greater than or equal to the detection threshold , then mark the pixel as an object; If the pixel amplitude is less than the detection threshold , then mark the pixel as background.

5. The audio signal processing method based on intrusion object positioning according to claim 4 is characterized in that: The S5 comprises the following steps: For the pixel points marked as objects, take Direction index value ; In the focused sound source distribution diagram, The number of pixels in the direction is ; Compare and ; if , mark the pixel as an intrusion object; if , marking the pixel as a normal object.

6. The audio signal processing method based on intrusion object positioning according to claim 5 is characterized in that: The S6 comprises the following steps: For the pixels marked as intrusion objects, Direction index value ; The distance of the intruding object is expressed as: ； in, Indicates the distance of the intruding object, Indicates the propagation speed of audio signals. Indicates the audio signal bandwidth.

7. An audio signal processing system based on intrusion object positioning, characterized in that: include: Sound source distribution map sequence generation module: uses a mobile microphone array to collect audio signals in the space, performs frequency conversion on the audio signals, and obtains a sound source distribution map; Constructing a sound source distribution map sequence according to the sound source distribution map, and setting a reference microphone in the mobile microphone array; Performing frequency conversion on the audio signal collected by the reference microphone to obtain a reference sound source distribution map; A sound source distribution map alignment module: aligns each sound source distribution map in the sound source distribution map sequence with the reference sound source distribution map to obtain an aligned sound source distribution map; A sound source distribution map fusion module: fusing the aligned sound source distribution maps to obtain a focused sound source distribution map; Object detection module: based on the focused sound source distribution map, using CFAR detection algorithm to detect and mark the pixel points of the focused sound source distribution map to obtain pixel points marked as objects; Intrusion object screening module: Screen the pixels marked as objects to determine the pixels where the intrusion objects are located; Intrusion object positioning module: calculates the distance of the intrusion object and realizes the positioning of the intrusion object; To implement an audio signal processing method based on intrusion object positioning as described in any one of claims 1-6.

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