Vector sound array sound source positioning method and device, electronic equipment and storage medium
By collecting sound pressure and acoustic velocity through a vector acoustic array, and using the acoustic velocity to constrain the equivalent source, a transfer relationship is established, which solves the problem of insufficient utilization of acoustic velocity in traditional sound source localization algorithms and achieves high-precision sound source localization.
Patent Information
- Application Number
- CN202510998064.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-21
- Publication Date
- 2025-09-16
AI Technical Summary
Traditional sound source localization algorithms find it difficult to fully utilize the acoustic velocity vector, resulting in low sound source localization accuracy. Especially when the acoustic array sensors are insufficiently distributed, the equivalent source inversion results are non-unique and the positioning accuracy is closely related to the array position, making it difficult to apply to acoustic wind tunnel testing.
The sound pressure scalar and acoustic velocity vector are collected through the vector acoustic array, the acoustic velocity is used to constrain the equivalent source, the transfer relationship between sound pressure and acoustic velocity is established, the equivalent source position and intensity are determined, and finally the sound source position is determined.
The accuracy of sound source positioning is improved, the full utilization of the acoustic velocity vector is achieved, and the sound source position is determined with high accuracy.
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Figure CN120652393A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of acoustic technology, and in particular to a vector acoustic array sound source localization method, device, electronic device and storage medium. Background Art
[0002] Acoustic array testing technology is widely used for sound source localization. The core of this technology lies in data processing algorithms, among which the equivalent source method is often used to process near-field sound pressure data. However, applying the equivalent source method to sound source localization has two drawbacks: 1. Since sound pressure is a scalar quantity that characterizes the state of sound wave propagation and cannot clearly describe the energy transport of sound waves, the equivalent source inversion results may yield non-unique solutions when the array sensor distribution is insufficient to resolve the energy transport of sound waves. 2. The sound source localization accuracy based on the equivalent source method is closely related to the position of the acoustic array, typically requiring the acoustic array to be close to the sound source surface, making it difficult to apply to acoustic wind tunnel test data processing.
[0003] In recent years, acoustic vector sensor technology, which can simultaneously measure sound pressure and three acoustic velocity components, has rapidly developed. However, an explicit theoretical relationship between the acoustic velocity vector and the sound pressure scalar has not yet been established, resulting in uncertainty about the relationship between the acoustic velocity vector and the equivalent source. Although vector acoustic arrays can simultaneously obtain both the sound pressure scalar and the acoustic velocity vector, experimental data processing still fails to fully utilize the acoustic velocity vector, effectively failing to fully exploit the advantages of vector acoustic arrays.
[0004] In summary, traditional sound source localization algorithms are difficult to fully utilize the acoustic velocity vector and have the problem of low sound source localization accuracy. Summary of the Invention
[0005] The present application discloses a vector acoustic array sound source localization method, device, electronic device and storage medium. By using the sound pressure scalar and acoustic velocity vector collected by the vector acoustic array as joint input, the sound source is localized using the acoustic velocity constrained equivalent source to obtain a sound source position with high accuracy. The entire process is sufficient to support the full utilization of the acoustic velocity vector and effectively improve the sound source localization accuracy.
[0006] The present application provides a method for localizing a sound source using a vector acoustic array, comprising the following steps: Select the equivalent source surface according to the shape characteristics of the sound source, and determine the equivalent source surface corresponding to Equivalent source positions, is an integer greater than or equal to 2; According to the The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between equivalent sources; determining the equivalent source intensity at each equivalent source position according to the transfer relationship; Determine the location of the sound source based on the intensity of each equivalent source.
[0007] Optionally, the determination of the equivalent source surface corresponding to The equivalent source position includes: discretizing the equivalent source surface into grid nodes; arrange equivalent sources at each grid node and determine the equivalent source position ;in, , indicating the number of the corresponding equivalent source position.
[0008] Optionally, the vector acoustic array sound field includes: sound pressure collected by the vector acoustic array sensor and the acoustic speed in three directions ;in, represents the angular frequency; Represents the three directions of the Cartesian coordinate system; Indicates the first The position of the vector sensor, , represents the total number of vector sensors in the vector acoustic array sensor, is an integer greater than or equal to 2; the transfer relationship includes a first transfer relationship and a second transfer relationship; the The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between the equivalent sources includes: for each equivalent source position and each vector sensor, according to the first function formula, determining the first transfer function For each equivalent source position and each vector sensor, according to the second function formula, determine the second transfer function For each of the vector sensors, the first transfer relationship is determined according to the first transfer formula; for each of the vector sensors, the second transfer relationship is determined according to the second transfer formula; wherein the first function formula is: ; The second function formula is: ; The first transfer formula is: ; The second transfer formula is: ; represents an imaginary unit; Indicates the density of the static medium; Indicates the association The position of the vector sensor and the equivalent source position The frequency domain free space Green's function; express At the stated location Chuyan Directional derivatives; Represents the equivalent source position The equivalent source intensity at .
[0009] Optionally, determining the equivalent source intensity at each equivalent source position according to the transfer relationship includes: assembling the first transfer relationship and the second transfer relationship into a linear matrix equation ; numerically solving the linear matrix equation to determine the equivalent source intensity at each equivalent source position; wherein, represents the transfer matrix; represents a column vector consisting of equivalent source intensities; represents the column vector consisting of sound pressure and acoustic velocity; Denotes the first transfer function The sub-matrix composed of The second transfer function is represented by The sub-matrix composed of express A column vector composed of the sound pressure collected by a vector sensor; express The column vector of the three components of the acoustic velocity collected by the vector sensor.
[0010] Optionally, the numerical solution of the linear matrix equation to determine the equivalent source strength at each equivalent source position includes: performing singular value decomposition on the transfer matrix to obtain a left singular vector matrix, a right singular vector matrix and a singular value matrix; constructing a minimized empirical Bayesian regularization function based on the left singular vector matrix, the right singular vector matrix and the singular value matrix; determining a target regularization parameter based on the minimized empirical Bayesian regularization function; and solving the linear matrix equation based on the target regularization parameter to obtain the equivalent source strength at each equivalent source position.
[0011] Optionally, determining the sound source position according to the equivalent source intensities includes: normalizing the equivalent source intensity according to the maximum value of the equivalent source intensities; and determining the sound source position by visualizing the normalized equivalent source intensity.
[0012] This application provides a vector acoustic array sound source localization device, including the following modules: The equivalent source position determination module is used to select the equivalent source surface according to the sound source shape characteristics and determine the equivalent source surface corresponding to the Equivalent source locations, is an integer greater than or equal to 2; A relationship determination module is used to determine the relationship according to the The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between equivalent sources; an intensity determination module, configured to determine the equivalent source intensity at each equivalent source position according to the transfer relationship; The sound source position determination module is used to determine the sound source position according to the strength of each equivalent source.
[0013] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vector acoustic array sound source localization method as described above is implemented.
[0014] An embodiment of the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the vector acoustic array sound source localization method as described above is implemented.
[0015] An embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-described vector acoustic array sound source localization methods.
[0016] The vector acoustic array sound source localization method, device, electronic device and storage medium provided in the embodiments of the present application select an equivalent source surface according to the shape characteristics of the sound source and determine the equivalent source surface corresponding to the sound source surface. Equivalent source locations, is an integer greater than or equal to 2; The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The method uses a transfer relationship between equivalent sources; based on the transfer relationship, the equivalent source intensity at each equivalent source position is determined; and based on the intensity of each equivalent source, the sound source position is determined. In this method, sound pressure is a scalar and acoustic velocity is a vector. This method uses the sound pressure scalar and acoustic velocity vector collected by the vector acoustic array as joint inputs, and uses the acoustic velocity to constrain the equivalent source to achieve sound source localization, resulting in a highly accurate sound source position. The entire process fully utilizes the acoustic velocity vector, effectively improving the accuracy of sound source localization. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0018] Figure 1 This is one of the structural diagrams of the electronic device provided in the embodiment of the present application; Figure 2 is a schematic diagram of multiple sound source localization provided by an embodiment of the present application; Figure 3 1 is a flow chart of a vector acoustic array sound source localization method provided in an embodiment of the present application; Figure 4 is a schematic diagram of an equivalent source arrangement provided by an embodiment of the present application; Figure 5 Schematic diagram of sound source localization results using different equivalent source methods provided in the embodiments of the present application; Figure 6 Schematic diagram of the structure of the vector acoustic array sound source localization device provided in an embodiment of the present application; Figure 7 This is the second structural diagram of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION
[0019] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.
[0020] In order to better understand the embodiments of the present application, the prior art is first described in detail: In recent years, acoustic vector sensor technology, which can simultaneously measure sound pressure and three acoustic velocity components, has rapidly developed. Current vector acoustic array technology typically establishes an implicit relationship between the acoustic velocity vector and the sound pressure scalar based on the linearized momentum equation, using the normal acoustic velocity acquired by the sensor to localize the sound source. However, the normal acoustic velocity is still a scalar, making the localization performance of vector acoustic array technology comparable to that of scalar acoustic array technology. Furthermore, the acoustic velocity vector clearly describes the energy transport of sound waves and has a more defined directionality than the sound pressure scalar. Theoretically, even if the acoustic array is far from the sound source, the acoustic velocity vector can accurately locate the sound source. However, an explicit theoretical relationship between the acoustic velocity vector and the sound pressure scalar has not yet been established, resulting in uncertainty in the relationship between the acoustic velocity vector and the equivalent source. Although vector acoustic arrays can simultaneously obtain both the sound pressure scalar and the acoustic velocity vector, experimental data processing still fails to fully utilize the acoustic velocity vector, effectively failing to fully exploit the advantages of vector acoustic arrays.
[0021] In summary, vector acoustic array technology is the future development trend of sound source localization, but traditional sound source localization algorithms are difficult to fully utilize the acoustic velocity vector and have the problem of low sound source localization accuracy.
[0022] In order to solve the above technical problems, the embodiments of the present application provide a vector acoustic array sound source localization method, device, electronic device and storage medium, by selecting an equivalent source surface according to the shape characteristics of the sound source, and determining the equivalent source surface corresponding to the equivalent source surface. Equivalent source positions, is an integer greater than or equal to 2; The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The method uses a transfer relationship between equivalent sources; based on the transfer relationship, the equivalent source intensity at each equivalent source position is determined; and based on the intensity of each equivalent source, the sound source position is determined. In this method, sound pressure is a scalar and acoustic velocity is a vector. This method uses the sound pressure scalar and acoustic velocity vector collected by the vector acoustic array as joint inputs, and uses the acoustic velocity to constrain the equivalent source to achieve sound source localization, resulting in a highly accurate sound source position. The entire process fully utilizes the acoustic velocity vector, effectively improving the accuracy of sound source localization.
[0023] It should be noted that the execution entity of the vector acoustic array sound source localization method provided in the embodiment of the present application can be a sound source localization device or an electronic device, which is not specifically limited here.
[0024] The electronic equipment is described in detail below: For example, Figure 1 , which is a schematic diagram of the structure of the electronic device provided by the embodiment of the present application. Figure 1 In the embodiment, the electronic device may include: a vector acoustic array sensor 100 and a sound source localization device 200.
[0025] In the embodiment of the present application, the vector acoustic array sensor 100 may include vector sensors, is an integer greater than or equal to 2.
[0026] It should be noted that the above Each of the vector sensors can collect sound pressure and acoustic velocity, and can also send the collected sound pressure and acoustic velocity to the sound source localization device 200 .
[0027] It should be noted that the above-mentioned vector acoustic array sensor is evenly distributed with A vector sensor.
[0028] Specifically, the process of determining the position of each vector sensor in the above-mentioned vector acoustic array sensor is as follows: the center coordinates of the vector acoustic array sensor are The first vector sensor is located at the endpoint of the third quadrant of the vector acoustic array sensor. After that, the vector sensors are sorted by row and then by column. The positions of the corresponding numbered vector sensors can be expressed as: rice.
[0029] in, Indicates the number of the vector sensor in the vector acoustic array sensor. Indicates the The position of the vector sensor, , represents the total number of vector sensors in the vector acoustic array sensor, is an integer greater than or equal to 2.
[0030] In the embodiment of the present application, the sound source localization device 200 may be a device with computing and processing functions, such as a computer or a server.
[0031] The server may be a single server or a server cluster consisting of multiple servers. In some embodiments, the server cluster may be a distributed cluster. Alternatively, the server may be implemented on a cloud platform. For example, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, a multi-cloud, or any combination thereof, which is not specifically limited herein.
[0032] It should be noted that the sound source localization device 200 can accurately determine the sound source location based on the sound pressure and acoustic velocity collected by each of the above vector sensors. The specific process can refer to the vector acoustic array sound source localization provided in the following embodiment, and will not be detailed here.
[0033] Optionally, the sound source localization device 200 may be a processor (e.g., a central processing unit (CPU)) in the above-mentioned electronic device; or, it may be an application (APP) installed in the above-mentioned electronic device for executing the sound source localization method; or, it may be a software system or platform deployed in the above-mentioned electronic device; or, it may be a functional module in the above-mentioned electronic device for executing the sound source localization method, etc., and is not specifically limited here.
[0034] The following describes in detail the vector acoustic array sound source localization method provided in the embodiment of the present application, taking the electronic device as the execution body and the positioning of four equally spaced monopoles in a static medium as an example: For example, Figure 2 FIG. 1 is a schematic diagram of multiple sound source positioning provided by an embodiment of the present application. Figure 2In the figure, the sound source surface 1 may include multiple sound sources 2, each sound source 2 being a monopole source, and the distance between two adjacent sound sources 2 is the sound source distance 3; the vector acoustic array sensor 5 may include multiple vector sensors 4. The distance 6 between the sound source surface 1 and the vector acoustic array sensor 5 is .
[0035] Combine Figure 2 : At the speed of sound ,density In an environment, the distance 6 between the sound source surface 1 and the vector acoustic array sensor 5 is =0.5 m, the sound source surface 1 and the vector acoustic array sensor 5 are both side length Meter square, evenly distributed on 5 vector acoustic array sensors There are 4 vector sensors with the same intensity and frequency on the sound source surface 1. The coordinates of these four sound sources are rice, rice, Mihe meters, and the signal-to-noise ratio in the environment is Gaussian white noise.
[0036] Before executing the vector sound array sound source localization method, obtain the vector sound array The sound pressure and acoustic velocity collected by each vector sensor in the vector sensors. Optionally, the time domain sound pressure collected by the sensor Sequence and time-domain acoustic velocity The sequence can be obtained by fast Fourier transform to obtain the corresponding frequency domain sound pressure and corresponding frequency domain acoustic velocity. According to the position of each vector sensor in the vector acoustic array sensor in the experiment, it can be obtained that The position of a vector sensor can be expressed as: rice.
[0037] like Figure 3 FIG. 1 is a flow chart of a method for localizing a sound source using a vector acoustic array according to an embodiment of the present invention. The method may include: 301. Select the equivalent source surface according to the shape characteristics of the sound source and determine the corresponding Equivalent source positions, is an integer greater than or equal to 2.
[0038] The aforementioned sound source shape characteristics refer to the geometric shape, size, and surface structure of the sound source in space. These characteristics will affect the radiation pattern, propagation direction, and sound field distribution of the sound waves.
[0039] The above-mentioned equivalent source surface refers to a virtual geometric surface selected near the sound source or at a specific position in order to simplify the analysis and calculation of the sound source radiation problem.
[0040] An equivalent source position refers to the position selected on the equivalent source surface. These specific points are used as equivalent sound source points to simulate the sound radiation of actual sound sources.
[0041] Next, we determine the equivalent source surface corresponding to the electronic device The equivalent source position is elaborated in detail: In some embodiments, the electronic device determines the equivalent source surface corresponding to The equivalent source position may include: the electronic device discretizes the equivalent source surface into grid nodes; the electronic device arranges an equivalent source at each grid node and determines the equivalent source position .
[0042] in, , indicating the number of the corresponding equivalent source position.
[0043] In the embodiment of the present application, after obtaining the equivalent source surface, the electronic device can discretize the equivalent source surface according to the size of the equivalent source surface to obtain The electronic device then Equivalent sources are arranged at each grid node. At this time, the electronic device can obtain Equivalent source, and then determine the equivalent source position .
[0044] For example, Figure 4 , which is a schematic diagram of an equivalent source arrangement provided by an embodiment of the present application. Figure 4 In the figure, the grid unit 8 can be used as an equivalent source surface, and the equivalent source surface can include multiple cross nodes (ie, grid nodes) 9. Each cross node 9 can be used as an equivalent source, and the spacing between equivalent sources is the equivalent source spacing 10.
[0045] Specifically, the area where the sound source may exist (such as the equivalent source surface) is represented by 3721 grid nodes are evenly discretized, and equivalent sources are arranged on each grid node. The spacing between equivalent sources is 0.01 meters. The equivalent source position can be expressed as ( 1, 2, ,3721). At this time, the above The process of determining the positions of the 3721 equivalent sources is as follows: the coordinate origin is located at the center of the equivalent source surface, the first equivalent source is located at the endpoint of the equivalent source surface in the third quadrant, and then sorted by row and then by column. The equivalent source positions of the corresponding serial numbers can be expressed as rice.
[0046] 302. According to The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between two equivalent sources.
[0047] The sound pressure and acoustic velocity included in the above-mentioned vector acoustic array sound field are both data in the frequency domain.
[0048] In some embodiments, the above-mentioned vector acoustic array sound field may include: the sound pressure collected by the vector acoustic array sensor and the acoustic speed in three directions ;in, represents the angular frequency; Represents the three directions of the Cartesian coordinate system; Indicates the first The position of the vector sensor, , represents the total number of vector sensors in the vector acoustic array sensor, is an integer greater than or equal to 2.
[0049] In some embodiments, the transfer relationship may include a first transfer relationship and a second transfer relationship. The first transfer relationship is used to characterize the above-mentioned sound pressure and The second transfer relation is used to characterize the above-mentioned acoustic velocity and The explicit association between the two equivalent sources.
[0050] Thus, electronic equipment is The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between the equivalent sources may include: the electronic device determines the first transfer function according to the first function formula for each equivalent source position and each vector sensor. The electronic device determines the second transfer function according to the second function formula for each equivalent source position and each vector sensor. The electronic device determines a first transfer relationship for each vector sensor according to a first transfer formula; the electronic device determines a second transfer relationship for each vector sensor according to a second transfer formula.
[0051] Among them, the first function formula is: ; The second function formula is: ; The first transfer formula is: ; The second transfer formula is: ; represents an imaginary unit; Indicates the density of the static medium; Indicates the associated The position of the vector sensor and equivalent source positions The frequency domain free space Green's function; express In position Chuyan Directional derivatives; Indicates the equivalent source position The equivalent source intensity at .
[0052] Optionally, the frequency domain free space Green's function The expression is: .
[0053] in, Represents the acoustic wave number, according to the formula Calculated, represents the speed of sound in a static medium; A vector sensor and The geometric distance between the equivalent sources The expression is: .
[0054] Optionally, In position Chuyan The gradient of the direction, that is, the expression of the above derivative is: ; in, Representing geometric distance exist =1,2,3 components in the three directions, that is = .
[0055] 303. Determine the equivalent source intensity at each equivalent source position based on the transfer relationship.
[0056] Among them, the equivalent source intensity refers to the intensity parameter of the equivalent source, which is used to reflect the ability of the equivalent source to generate a field.
[0057] The following is a detailed description of how electronic equipment determines the equivalent source intensity at each equivalent source position based on the transfer relationship: In some embodiments, the electronic device determines the equivalent source strength at each equivalent source position according to the transfer relationship, which may include: the electronic device assembles the first transfer relationship and the second transfer relationship into a linear matrix equation ; The electronic device numerically solves the linear matrix equation to determine the equivalent source intensity at each equivalent source position.
[0058] in, represents the transfer matrix; represents a column vector consisting of equivalent source intensities; represents the column vector consisting of sound pressure and acoustic velocity; represents the first transfer function The sub-matrix composed of represents the second transfer function The sub-matrix composed of ; express A column vector composed of the sound pressure collected by a vector sensor; express The column vector of the three components of the acoustic velocity collected by the vector sensor.
[0059] It should be noted that based on , we can get: .
[0060] in, ; ; ; ; .
[0061] The following is a detailed explanation of the regularization method, that is, the numerical solution of the linear matrix equation: In some embodiments, the electronic device numerically solves the linear matrix equation to determine the equivalent source strength at each equivalent source position, which may include: the electronic device performs singular value decomposition on the transfer matrix to obtain a left singular vector matrix, a right singular vector matrix and a singular value matrix; the electronic device constructs a minimized empirical Bayes regularization function based on the left singular vector matrix, the right singular vector matrix and the singular value matrix; the electronic device determines a target regularization parameter based on the minimized empirical Bayes regularization function; the electronic device solves the linear matrix equation based on the target regularization parameter to obtain the equivalent source strength at each equivalent source position.
[0062] Specifically, the electronic device can first transfer the matrix Perform singular value decomposition to obtain the left singular vector matrix , right singular vector matrix , and the singular value matrix .in, , H represents the conjugate transpose.
[0063] The electronics is then based on the left singular vector matrix , right singular vector matrix , and the singular value matrix , construct the minimized empirical Bayes regularization function. At this time, the expression of the minimized empirical Bayes regularization function is: ;in, represents minimizing the empirical Bayes regularization function, represents the regularization parameter; represents the summation index; Represents the singular value matrix Singular values in ; represents the Fourier parameters.
[0064] Optionally, the Fourier parameters It can be calculated using the first parameter formula.
[0065] The first parameter formula is: ; represents the left singular vector matrix The kth column The conjugate transpose of .
[0066] Then, the electronic device determines the target regularization parameter based on minimizing the empirical Bayes regularization function Optionally, the target regularization parameter It can be calculated using the second parameter formula.
[0067] Optionally, the second parameter formula is: .
[0068] Finally, the electronic device solves the linear matrix equation based on the target regularization parameter to obtain the equivalent source intensity at each equivalent source position. Optionally, the electronic device uses a target formula to solve the linear matrix equation.
[0069] Among them, the above target formula is: ; Represents the identity matrix.
[0070] 304. Determine the location of the sound source based on the intensities of each equivalent source.
[0071] The following is a detailed explanation of how electronic equipment determines the location of the sound source based on the intensity of each equivalent source: In some embodiments, the electronic device determines the location of the sound source based on the equivalent source intensities, which may include: the electronic device normalizing the equivalent source intensities based on the maximum value of the equivalent source intensities; and the electronic device determining the location of the sound source by visualizing the normalized equivalent source intensities.
[0072] Specifically, the electronic device can normalize the equivalent source intensity at each equivalent source based on the maximum equivalent source intensity in the grid unit to obtain the normalized result corresponding to each equivalent source. Then, the electronic device can visualize the spatial distribution of the normalized result corresponding to each equivalent source and determine the sound source position from the spatial distribution.
[0073] Optionally, the equivalent source position The normalized result corresponding to the equivalent source intensity at can be calculated using the normalization formula.
[0074] Among them, the normalization formula is: ; , Indicates the equivalent source position The normalized result corresponding to the equivalent source intensity at .
[0075] In the embodiment of the present application, the equivalent source surface is selected according to the shape characteristics of the sound source, and the corresponding equivalent source surface is determined. Equivalent source locations, is an integer greater than or equal to 2; The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between the equivalent sources is determined based on the transfer relationship; the equivalent source intensity at each equivalent source position is determined based on the transfer relationship; and the sound source position is determined based on the intensity of each equivalent source. In this method, sound pressure is a scalar and acoustic velocity is a vector. The method uses the sound pressure scalar and acoustic velocity vector collected by the vector acoustic array as joint input, and uses the acoustic velocity to constrain the equivalent source to achieve sound source localization, obtaining a highly accurate sound source position. The entire process is sufficient to fully utilize the acoustic velocity vector, effectively improving the accuracy of sound source localization.
[0076] Combined with the above-mentioned vector sound array sound source localization method, illustratively, as Figure 5 The figure shows the sound source localization results of different equivalent source methods provided by the embodiments of the present application. Figure 5 In FIG. 1 , 11 represents the sound source localization result of the vector acoustic array provided in the embodiment of the present application, 12 represents the sound source localization result based on the traditional sound pressure equivalent source, and 13 represents the sound source localization result based on the normal acoustic velocity equivalent source. Figure 5The area protected by the black dotted line is the area where the normalized equivalent source intensity is greater than 0.9. There is a significant difference between the sound source localization results of the existing methods and the theoretical position of the sound source. The sound source localization results of the vector acoustic array proposed in this application are consistent with the theoretical position of the sound source. On the one hand, it proves the correctness of the vector acoustic array sound source localization method provided in the embodiment of this application, and on the other hand, it reflects the superiority of the vector acoustic array sound source localization method provided in the embodiment of this application.
[0077] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, the sound source localization device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easy to realize that the technical goals in this field are combined with the units and algorithm steps of each example described in the embodiments disclosed in this article, and the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technical goals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0078] The following describes a vector acoustic array sound source localization device provided in an embodiment of the present application. The vector acoustic array sound source localization device described below and the vector acoustic array sound source localization method described above can refer to each other.
[0079] like Figure 6 FIG. 1 is a schematic diagram of the structure of a vector acoustic array sound source localization device provided in an embodiment of the present application, which may include: The equivalent source position determination module 601 is used to select an equivalent source surface according to the shape characteristics of the sound source and determine the equivalent source surface corresponding to the equivalent source surface. Equivalent source locations, is an integer greater than or equal to 2; Relationship determination module 602, for determining the relationship between the The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between equivalent sources; an intensity determination module 603, configured to determine the equivalent source intensity at each equivalent source position according to the transfer relationship; The sound source position determination module 604 is configured to determine the sound source position according to the strengths of the equivalent sources.
[0080] Optionally, the equivalent source position determination module 601 is specifically configured to discretize the equivalent source surface into grid nodes; arrange equivalent sources at each grid node and determine the equivalent source position ;in, , indicating the number of the corresponding equivalent source position.
[0081] Optionally, the vector acoustic array sound field includes: sound pressure collected by the vector acoustic array sensor and the acoustic speed in three directions ;in, represents the angular frequency; Represents the three directions of the Cartesian coordinate system; Indicates the first The position of the vector sensor, , Represents the total number of vector sensors in the vector acoustic array sensor, is an integer greater than or equal to 2; the transfer relationship includes a first transfer relationship and a second transfer relationship; The relationship determination module 602 is specifically configured to determine a first transfer function for each equivalent source position and each vector sensor according to a first function formula. For each equivalent source position and each vector sensor, according to the second function formula, determine the second transfer function For each vector sensor, the first transfer relationship is determined according to the first transfer formula; for each vector sensor, the second transfer relationship is determined according to the second transfer formula; wherein the first function formula is: ; The second function formula is: ; The first transfer formula is: ; The second transfer formula is: ; represents an imaginary unit; Indicates the density of the static medium; Indicates the association The position of the vector sensor and the equivalent source position The frequency domain free space Green's function; express At this location Chuyan Directional derivatives; Indicates the equivalent source position The equivalent source intensity at .
[0082] Optionally, the strength determination module 603 is specifically configured to assemble the first transfer relationship and the second transfer relationship into a linear matrix equation ; Numerically solve the linear matrix equation to determine the equivalent source intensity at each equivalent source position; wherein, represents the transfer matrix; represents a column vector consisting of equivalent source intensities; represents the column vector consisting of sound pressure and acoustic velocity; The first transfer function The sub-matrix composed of The second transfer function The sub-matrix composed of ; express A column vector composed of the sound pressure collected by a vector sensor; express The column vector of the three components of the acoustic velocity collected by the vector sensor.
[0083] Optionally, the intensity determination module 603 is specifically used to perform singular value decomposition on the transfer matrix to obtain a left singular vector matrix, a right singular vector matrix and a singular value matrix; based on the left singular vector matrix, the right singular vector matrix and the singular value matrix, a minimized empirical Bayes regularization function is constructed; based on the minimized empirical Bayes regularization function, a target regularization parameter is determined; based on the target regularization parameter, the linear matrix equation is solved to obtain the equivalent source intensity at each equivalent source position.
[0084] Optionally, the sound source position determination module 604 is specifically configured to normalize the equivalent source intensity according to the maximum value of the equivalent source intensity; and determine the sound source position by visualizing the normalized equivalent source intensity.
[0085] like Figure 7 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. The electronic device may include: a processor 710, a communication interface 720, a memory 730, and a communication bus 740. The processor 710, the communication interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the vector sound array sound source localization method. The method includes: selecting an equivalent source surface according to the shape characteristics of the sound source, and determining the corresponding equivalent source surface. Equivalent source positions, is an integer greater than or equal to 2; The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between the equivalent sources is determined; according to the transfer relationship, the equivalent source intensity at the position of each equivalent source is determined; according to the intensity of each equivalent source, the sound source position is determined.
[0086] In addition, the logical instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program code.
[0087] On the other hand, the present application also provides a non-transitory computer-readable storage medium having computer instructions (i.e., software instructions) stored thereon. When the computer instructions are executed by a processor, the vector acoustic array sound source localization method provided by the above methods is implemented. The method includes: selecting an equivalent source surface according to the shape characteristics of the sound source, and determining the equivalent source surface corresponding to the equivalent source surface. Equivalent source positions, is an integer greater than or equal to 2; The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between the equivalent sources is determined; according to the transfer relationship, the equivalent source intensity at the position of each equivalent source is determined; according to the intensity of each equivalent source, the sound source position is determined.
[0088] On the other hand, the present application also provides a computer instruction product, the computer instruction product includes computer instructions, the computer instructions can be stored on a non-transitory computer readable storage medium, and when the computer instructions are executed by the processor, the computer can execute the vector sound array sound source localization method provided by the above methods, the method comprising: selecting an equivalent source surface according to the shape characteristics of the sound source, and determining the equivalent source surface corresponding to the equivalent source surface. Equivalent source positions, is an integer greater than or equal to 2; The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between the equivalent sources is determined; according to the transfer relationship, the equivalent source intensity at the position of each equivalent source is determined; according to the intensity of each equivalent source, the sound source position is determined.
[0089] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.
[0090] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.
[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A vector acoustic array sound source localization method, characterized in that: include: Select the equivalent source surface according to the shape characteristics of the sound source, and determine the equivalent source surface corresponding to Equivalent source locations, is an integer greater than or equal to 2; According to the The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between equivalent sources; determining the equivalent source intensity at each equivalent source position according to the transfer relationship; Determine the location of the sound source based on the intensity of each equivalent source.
2. The vector acoustic array sound source localization method according to claim 1, characterized in that: Determining the equivalent source surface corresponding to equivalent source locations, including: According to the size of the equivalent source surface, the equivalent source surface is discretized into grid nodes; Arrange equivalent sources at each grid node and determine the equivalent source positions ; in, , indicating the number of the corresponding equivalent source position.
3. The vector acoustic array sound source localization method according to claim 2, characterized in that: The vector acoustic array sound field includes: sound pressure collected by the vector acoustic array sensor and the acoustic speed in three directions ;in, represents the angular frequency; Represents the three directions of the Cartesian coordinate system; Indicates the first The position of the vector sensor, , represents the total number of vector sensors in the vector acoustic array sensor, is an integer greater than or equal to 2; the transfer relationship includes a first transfer relationship and a second transfer relationship; According to the The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between equivalent sources includes: For each equivalent source position and each vector sensor, the first transfer function is determined according to the first function formula: ; For each equivalent source position and each vector sensor, a second transfer function is determined according to a second function formula: ; For each of the vector sensors, determining the first transfer relationship according to the first transfer formula; For each of the vector sensors, determining the second transfer relationship according to the second transfer formula; The first function formula is: ; The second function formula is: ; The first transfer formula is: ; The second transfer formula is: ; represents an imaginary unit; Indicates the density of the static medium; Indicates the association The position of the vector sensor and the equivalent source position The frequency domain free space Green's function; express At the stated location Chuyan Directional derivatives; Represents the equivalent source position The equivalent source intensity at .
4. The vector acoustic array sound source localization method according to claim 3, characterized in that: Determining the equivalent source intensity at each equivalent source position according to the transfer relationship includes: Assemble the first transfer relation and the second transfer relation into a linear matrix equation ; Numerically solving the linear matrix equation to determine the equivalent source intensity at each equivalent source position; in, represents the transfer matrix; represents a column vector consisting of equivalent source intensities; represents the column vector consisting of sound pressure and acoustic velocity; Denotes the first transfer function The sub-matrix composed of The second transfer function is represented by The sub-matrix composed of ; express A column vector composed of the sound pressure collected by a vector sensor; express The column vector of the three components of the acoustic velocity collected by the vector sensor.
5. The vector acoustic array sound source localization method according to claim 4, characterized in that: The numerically solving the linear matrix equation to determine the equivalent source intensity at each equivalent source position includes: Performing singular value decomposition on the transfer matrix to obtain a left singular vector matrix, a right singular vector matrix and a singular value matrix; Constructing a minimized empirical Bayes regularization function based on the left singular vector matrix, the right singular vector matrix, and the singular value matrix; Determining a target regularization parameter based on the minimized empirical Bayesian regularization function; The linear matrix equation is solved based on the target regularization parameter to obtain the equivalent source intensity at each equivalent source position.
6. The vector acoustic array sound source localization method according to claim 4, characterized in that: Determining the sound source position according to the intensities of each equivalent source includes: Normalizing the equivalent source intensity according to the maximum value of the equivalent source intensities; The sound source position is determined by visualization of the normalized equivalent source intensity.
7. A vector acoustic array sound source localization device, characterized in that: include: The equivalent source position determination module is used to select the equivalent source surface according to the sound source shape characteristics and determine the equivalent source surface corresponding to the Equivalent source locations, is an integer greater than or equal to 2; A relationship determination module is used to determine the relationship according to the The equivalent source position is used to determine the sound pressure and acoustic velocity of the vector acoustic array sound field. The transfer relationship between equivalent sources; an intensity determination module, configured to determine the equivalent source intensity at each equivalent source position according to the transfer relationship; The sound source position determination module is used to determine the sound source position according to the strength of each equivalent source.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the vector acoustic array sound source localization method according to any one of claims 1 to 6 is implemented.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vector acoustic array sound source localization method according to any one of claims 1 to 6 is implemented.
10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the vector acoustic array sound source localization method according to any one of claims 1 to 6 is implemented.