Method, device and equipment for positioning sound source in motion medium based on vector sound array

Abstract

The invention discloses a method, a device and equipment for positioning a sound source in a motion medium based on a vector sound array, and belongs to the technical field of acoustics. The method comprises the following steps: determining # imgabs0 # convection equivalent source positions corresponding to a vector sound array sound field and an equivalent source surface, wherein the vector sound array sound field comprises sound pressure and acoustic speed; according to the position of the # imgabs 1 # convection equivalent source, a first transfer relation between the sound pressure and the # imgabs 2 # convection equivalent source is determined, and a second transfer relation between the acoustic speed and the # imgabs 3 # convection equivalent source is determined; according to the first transfer relation and the second transfer relation, the convection equivalent source intensity at each convection equivalent source position is determined; and determining a sound source position according to each convection equivalent source intensity. According to the first transfer relation and the second transfer relation, on the basis of an acoustic velocity constraint equivalent source method with the sound pressure scalar and the acoustic velocity vector as combined input, the method fully considers the influence of the convection effect, improves the sound source positioning precision, and obtains the sound source position with high accuracy.

Description

Technical Field

[0001] The present application relates to the field of acoustic technology, and in particular to a method, device and equipment for localizing a sound source in a moving medium based on a vector acoustic array. Background Art

[0002] Among array-based sound source localization methods, the equivalent source method is often used to process near-field sound pressure data. However, it has two disadvantages when used for array-based sound source localization: 1. This sound source localization method is only applicable to static media; 2. As the distance between sensors in the array increases, many evanescent wave components will attenuate before reaching the array, resulting in exponentially amplified errors in the final measured data.

[0003] However, the convective equivalent source method in moving media, when used for acoustic array-based sound source localization, requires consideration of the convective effects of both the source and transfer functions, ensuring that they remain valid in the presence of incoming flow. Typically, modifying the free-space Green's function to a convective Green's function does not account for the influence of incoming flow on the source term. This involves taking partial derivatives of the sound source in the flow, which results in incomplete consideration of convective effects and, consequently, inaccurate source location determination. Summary of the Invention

[0004] The embodiments of the present application disclose a method, apparatus and equipment for localizing a sound source in a moving medium based on a vector acoustic array. By determining the presence of an incoming flow, based on a first transfer relationship between sound pressure and a convection equivalent source, and a second transfer relationship between acoustic velocity convection equivalent sources, on the basis of an acoustic velocity constrained equivalent source method with the sound pressure scalar and acoustic velocity vector collected by the vector acoustic array as joint input, the influence of the convection effect is fully considered, and the sound source positioning accuracy can be effectively improved to obtain a sound source position with higher accuracy.

[0005] The present application provides a method for localizing a sound source in a moving medium based on a vector acoustic array, comprising the following steps: Determine the vector acoustic array sound field and the equivalent source surface corresponding to Convection equivalent source locations, is an integer greater than 1, and the vector acoustic array sound field includes sound pressure and acoustic velocity; According to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined The second transfer relationship between the convection equivalent sources; determining the convective equivalent source intensity at each convective equivalent source position according to the first transfer relationship and the second transfer relationship; The sound source position is determined according to the convective equivalent source intensity at each convective equivalent source position.

[0006] Optionally, the determination of the vector acoustic array sound field and the equivalent source surface corresponding to The method comprises the following steps: obtaining the vector acoustic array sound field collected by the vector acoustic array sensor; selecting the equivalent source surface according to the shape characteristics of the sound source, and determining the equivalent source surface corresponding to the equivalent source surface. The location of the convection equivalent source.

[0007] Optionally, the determination of the equivalent source surface corresponding to The method comprises the following steps: according to the size of the equivalent source surface, the equivalent source surface is discretized into grid nodes; place a convection equivalent source at each grid node and determine the location of the convection equivalent source , , indicating the corresponding convection equivalent source number.

[0008] Optionally, the vector acoustic array sound field includes the sound pressure collected by the vector acoustic array sensor. and the acoustic speed in three directions ; represents the angular frequency; Represents the three directions of the Cartesian coordinate system; the vector acoustic array sensor includes vector sensors, is an integer greater than 1, Indicates the The position of the vector sensor, ; According to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined The second transfer relationship between the convection equivalent sources includes: for each convection equivalent source and each vector sensor, determining the first transfer function according to the first convection function formula For each convection equivalent source and each vector sensor, according to the second convection 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 convection function formula is: ; The second convection function formula is: ; The first transfer formula is: ; The second transfer formula is: ; Indicates the association The position of the vector sensor and the convection equivalent source position Frequency domain convection Green's function; Represents the frequency domain convection Green's function in a uniform moving medium Material derivatives of represents the frequency domain convection Green's function In the The position of the vector sensor Chuyan Directional derivatives; Represents the location of the convection equivalent source The convection equivalent source intensity at .

[0009] Optionally, determining the convective equivalent source intensity at each convective equivalent source position according to the first transfer relationship and the second transfer relationship includes: assembling the first transfer relationship and the second transfer relationship into a linear matrix equation ; numerically solve the linear matrix equation to determine the convective equivalent source intensity at each convective equivalent source position; wherein, represents the transfer matrix; represents the column vector consisting of the convection equivalent source intensity; 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; Indicates the The column vector of the three components of the acoustic velocity collected by the vector sensor.

[0010] Optionally, the numerically solving the linear matrix equation to determine the convective equivalent source intensity at each convective equivalent source position includes: Perform singular value decomposition to obtain a left singular vector matrix, a right singular vector matrix and a singular value matrix; construct a minimized empirical Bayesian regularization function based on the left singular vector matrix, the right singular vector matrix and the singular value matrix; determine a target regularization parameter based on the minimized empirical Bayesian regularization function; solve the linear matrix equation based on the target regularization parameter to obtain the convective equivalent source intensity at the position of each convective equivalent source.

[0011] Optionally, determining the sound source position according to the convective equivalent source intensity at each convective equivalent source position includes: normalizing the convective equivalent source intensity according to the maximum convective equivalent source intensity at each convective equivalent source position; and determining the sound source position by visualizing the normalized convective equivalent source intensity.

[0012] The present application provides a device for localizing a sound source in a moving medium based on a vector acoustic array, comprising the following modules: Data processing module, used to determine the vector sound array sound field and the equivalent source surface corresponding Convection equivalent source locations, is an integer greater than 1, and the vector acoustic array sound field includes sound pressure and acoustic velocity; A relationship determination module is used to determine the relationship according to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined The second transfer relationship between the convection equivalent sources; an intensity determination module, configured to determine the convective equivalent source intensity at each convective equivalent source position according to the first transfer relationship and the second transfer relationship; The sound source position determination module is used to determine the sound source position according to the convective equivalent source intensity at each convective equivalent source position.

[0013] The present application also provides an electronic device, comprising a processor and a memory; the memory stores instructions executable by the processor; when the processor is configured to execute the instructions, the electronic device implements the sound source localization method in a moving medium based on a vector acoustic array as described in any one of the above items.

[0014] The present application also provides a readable storage medium, including software instructions; when the software instructions are executed in an electronic device, the electronic device implements the method for localizing a sound source in a moving medium based on a vector acoustic array as described in any one of the above.

[0015] The present application also provides a computer instruction product, including computer instructions; when the computer instructions are executed in an electronic device, the electronic device implements the method for localizing a sound source in a moving medium based on a vector acoustic array as described in any one of the above items.

[0016] The embodiments of the present application provide a method, device and apparatus for localizing a sound source in a moving medium based on a vector acoustic array, by determining the sound field of the vector acoustic array and the corresponding equivalent source surface. Convection equivalent source locations, is an integer greater than 1, the vector acoustic array sound field includes sound pressure and acoustic velocity; according to The location of the convection equivalent source is determined by the sound pressure and The first transfer relation between the convection equivalent sources and the determination of the acoustic velocity and The second transfer relationship between the convective equivalent sources is calculated; based on the first and second transfer relationships, the convective equivalent source intensity at the location of each convective equivalent source is determined; and based on the convective equivalent source intensity at the location of each convective equivalent source, the sound source position is determined. When the presence of incoming flow is determined, based on the first transfer relationship between sound pressure and the convective equivalent source, and the second transfer relationship between the acoustic velocity convective equivalent sources, the acoustic velocity constrained equivalent source method, which uses the sound pressure scalar and acoustic velocity vector collected by the vector acoustic array as joint input, fully considers the influence of the convective effect, and can effectively improve the sound source localization accuracy to obtain a more accurate sound source location. 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 method for localizing a sound source in a moving medium based on a vector acoustic array provided in an embodiment of the present application; Figure 4 This is a schematic diagram of the arrangement of convection equivalent sources provided in 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 1 is a schematic structural diagram of a sound source localization device in a moving medium based on a vector acoustic array 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] First, the electronic device provided in the embodiment of the present application is described in detail: 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.

[0021] 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.

[0022] 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 .

[0023] Optionally, the vector acoustic array sensor 100 is evenly distributed with A vector sensor.

[0024] 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, it is sorted by row and then by column. The coordinates of the vector sensor with the corresponding sequence number can be expressed as: rice, .

[0025] 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.

[0026] 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.

[0027] 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-mentioned vector sensors. The specific process can be referred to the method for localizing a sound source in a moving medium based on a vector acoustic array provided in the following embodiment, and will not be further described here.

[0028] 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.

[0029] It should be noted that the execution subject of the method for localizing a sound source in a moving medium based on a vector acoustic array provided in the embodiment of the present application may be a sound source localization device (such as the above-mentioned sound source localization device 200) or an electronic device (such as the above-mentioned Figure 1 The electronic device shown in FIG) is not specifically limited here.

[0030] The following describes in detail the method for localizing a sound source in a moving medium based on a vector acoustic array provided in an embodiment of the present application, using an electronic device as the execution subject and four equally spaced monopoles for localizing a sound source in a dynamic 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 2 In the example, the sound source surface 1 may include multiple monopole sources 2, each monopole source 2 is a sound source, and the distance between two adjacent monopole sources 2 is the sound source distance 3; the vector acoustic array sensor 5 may include multiple vector sensors 4. Among them, the distance 6 between the sound source surface 1 and the vector acoustic array sensor 5 is .

[0031] 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 = 1.0 m, the sound source surface 1 and the vector acoustic array sensor 5 are both squares with a side length of 0.6 m, and the sound source surface 1 and the vector acoustic array sensor 5 are evenly distributed. There are 4 vector sensors and 4 intensity sensors on the sound source surface 1. and frequency The coordinates of the four monopole sources are rice, rice, Mihe meters, in this example there is a Mach number along the positive x-axis Uniform flow.

[0032] like Figure 3 FIG. 1 is a flow chart of a method for localizing a sound source in a moving medium based on a vector acoustic array according to an embodiment of the present application. The method may include: 301. Determine the vector acoustic array sound field and the equivalent source surface corresponding to Convection equivalent source locations, is an integer greater than 1, and the vector acoustic array sound field includes sound pressure and acoustic velocity.

[0033] The sound pressure and acoustic velocity included in the above-mentioned vector acoustic array sound field are both data in the frequency domain. The sound pressure is scalar data, and the acoustic velocity is vector data.

[0034] 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.

[0035] above The convection equivalent source position refers to the position selected on the equivalent source surface. These specific points are used as convection equivalent sound source points to simulate the sound radiation of actual sound sources.

[0036] Next, the electronic equipment determines the vector sound array sound field and the equivalent source surface corresponding The convection equivalent source position is elaborated in detail: In some embodiments, the electronic device determines the vector acoustic array sound field and the equivalent source surface corresponding to The position of the convection equivalent source may include: an electronic device acquiring a vector acoustic array sound field collected by a vector acoustic array sensor; the electronic device selecting an equivalent source surface according to the shape characteristics of the sound source, and determining the equivalent source surface corresponding to the sound source surface. The location of the convection equivalent source.

[0037] 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.

[0038] In the process of obtaining the vector acoustic array sound field, each vector sensor in the vector acoustic array sensor can collect sound pressure and acoustic velocity, and send the collected sound pressure and acoustic velocity to the electronic device. The electronic device then constructs the vector acoustic array sound field based on all the acquired sound pressures and all the acoustic velocities to provide data support for the subsequent sound source positioning.

[0039] Next, the equivalent source surface of the electronic equipment is selected according to the shape characteristics of the sound source, and the corresponding equivalent source surface is determined. The convection equivalent source position is elaborated in detail: In some embodiments, the electronic device determines the equivalent source surface corresponding to The convection equivalent source position may include: the electronic device discretizes the equivalent source surface into grid nodes; the electronic device arranges a convection equivalent source at each grid node and determines the position of the convection equivalent source .

[0040] in, , indicating the corresponding convection equivalent source number.

[0041] 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 A convection equivalent source is arranged at each grid node. At this time, the electronic device can obtain Convective equivalent sources, and then determine the convection equivalent source position of each convection equivalent source .

[0042] For example, Figure 4 The figure shows the arrangement diagram of the convection equivalent source provided by the embodiment of the present application. Figure 4 In FIG, the grid unit 8 can be understood as an equivalent source surface, which can include multiple cross nodes 9. Each cross node 9 can be understood as a convection equivalent source. The distance between any two adjacent convection equivalent sources is the convection equivalent source distance 10.

[0043] Specifically, the convective equivalent source position of the convective equivalent source The determination process is as follows: the coordinate origin is located at the center of the equivalent source surface, the first convective equivalent source is located at the end point of the equivalent source surface in the third quadrant, and then sorted by row and then by column. The coordinates of the convective equivalent source with the corresponding sequence number can be expressed as: rice.

[0044] 302. According to The location of the convection equivalent source is determined by the sound pressure and The first transfer relation between the convection equivalent sources and the determination of the acoustic velocity and The second transfer relationship between the convection equivalent sources.

[0045] Among them, 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 correlation between the two convective equivalent sources.

[0046] In some embodiments, the vector acoustic array sound field includes the sound pressure collected by the vector acoustic array sensor. and the acoustic speed in three directions ; represents the angular frequency; Represents the three directions of the Cartesian coordinate system; the vector acoustic array sensor includes vector sensors, is an integer greater than 1, Indicates the The position of the vector sensor, .

[0047] Thus, electronic equipment is The location of the convection equivalent source is determined by the sound pressure and The first transfer relation between the convection equivalent sources and the determination of the acoustic velocity and The second transfer relationship between the convection equivalent sources may include: for each convection equivalent source and each vector sensor, the electronic device determines the first transfer function according to the first convection function formula For each convection equivalent source and each vector sensor, the electronic device determines the second transfer function according to the second convection function formula ; For each vector sensor, the electronic device determines a first transfer relationship based on the first transfer formula; for each vector sensor, the electronic device determines a second transfer relationship based on the second transfer formula.

[0048] Among them, the first stream function formula is: ; The second stream function formula is: ; The first transfer formula is: ; The second transfer formula is: ; Indicates the association The position of the vector sensor and the convection equivalent source position Frequency domain convection Green's function; Represents the frequency domain convection Green's function in a uniform moving medium Material derivatives of represents the frequency domain convection Green's function In the The position of the vector sensor Chuyan Directional derivatives; Represents the location of the convection equivalent source The convection equivalent source intensity at .

[0049] Optionally, the frequency domain convection Green's function The expression is: ; in, represents an imaginary unit; Represents the acoustic wave number, according to the formula Calculated, represents the speed of sound in a static medium; represents the first acoustic distance; Indicates the second acoustic distance.

[0050] Optionally, the material derivative The expression is: .

[0051] in, Represents the first Mach number, according to the formula Calculated; Indicates the incoming flow Mach number Directional component; Represents the first gradient, according to the formula Calculated; represents the uniform flow convection amplification factor; Represents the second Mach number, according to the formula Calculated; Represents the second gradient, by the formula Calculated; Representing geometric distance exist =1,2,3 components in the three directions, that is = , geometric distance By the formula Calculated; Indicates the incoming flow Mach number Directional component.

[0052] Optionally, the frequency domain convection Green's function In the The position of the vector sensor Chuyan The gradient of the direction, that is, the derivative mentioned above The expression is: .

[0053] 303. Determine the convective equivalent source intensity at each convective equivalent source position according to the first transfer relationship and the second transfer relationship.

[0054] Among them, the convective equivalent source intensity refers to the intensity parameter of the convective equivalent source, which is used to reflect the ability of the convective equivalent source to generate a field.

[0055] The following describes in detail how the electronic device determines the convective equivalent source intensity at each convective equivalent source position based on the first transfer relationship and the second transfer relationship: In some embodiments, the electronic device determines the convective equivalent source intensity at each convective equivalent source position based on the first transfer relationship and the second 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 convective equivalent source intensity at each convective equivalent source location.

[0056] in, represents the transfer matrix; represents the column vector consisting of the convection equivalent source intensity; 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.

[0057] It should be noted that based on , we can get: .

[0058] in, ; ; ; ; .

[0059] in, Represents the first stream function formula.

[0060] 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 convective equivalent source intensity at each convective equivalent source position, which may include: the electronic device calculates the transfer matrix Singular value decomposition is performed 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 a linear matrix equation based on the target regularization parameter to obtain the convective equivalent source intensity at each convective equivalent source position.

[0061] 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.

[0062] 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.

[0063] Optionally, the Fourier parameters It can be calculated using the first parameter formula.

[0064] The first parameter formula is: ; represents the left singular vector matrix The kth column The conjugate transpose of .

[0065] 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.

[0066] Optionally, the second parameter formula is: .

[0067] Finally, the electronic device solves the linear matrix equation based on the target regularization parameter to obtain the equivalent source intensity at each convective equivalent source position. Optionally, the electronic device uses a target formula to solve the linear matrix equation.

[0068] Among them, the above target formula is: ; Represents the identity matrix.

[0069] 304. Determine the sound source position according to the convective equivalent source intensity at each convective equivalent source position.

[0070] The following is a detailed explanation of how electronic equipment determines the sound source position based on the convective equivalent source intensity at each convective equivalent source position: In some embodiments, the electronic device determines the sound source position based on the convective equivalent source intensity at each convective equivalent source position, which may include: the electronic device normalizes the convective equivalent source intensity based on the maximum convective equivalent source intensity at each convective equivalent source position; and the electronic device determines the sound source position by visualizing the normalized convective equivalent source intensity.

[0071] Specifically, the electronic device can normalize the convective equivalent source intensity at each convective equivalent source based on the maximum convective equivalent source intensity in the grid unit to obtain the normalized result corresponding to each convective equivalent source. Then, the electronic device can visualize the spatial distribution of the normalized result corresponding to each convective equivalent source and determine the sound source position from the spatial distribution.

[0072] Optionally, the convection equivalent source location The normalized result corresponding to the convective equivalent source intensity at can be calculated using the normalized formula.

[0073] Among them, the normalization formula is: ; , Represents the location of the convection equivalent source The normalized result corresponding to the equivalent source intensity at .

[0074] In the embodiment of the present application, the vector acoustic array sound field and the equivalent source surface corresponding to the Convection equivalent source locations, is an integer greater than 1, the vector acoustic array sound field includes sound pressure and acoustic velocity; according to The location of the convection equivalent source is determined by the sound pressure and The first transfer relation between the convection equivalent sources and the determination of the acoustic velocity and The method is suitable for post-processing of vector acoustic array test data in a moving medium. Specifically, when the presence of an incoming flow is determined, based on the first transfer relationship between the sound pressure and the convective equivalent source, and the second transfer relationship between the acoustic velocity and the convective equivalent source, the method fully considers the influence of the convective effect on the basis of the acoustic velocity constrained equivalent source method with the sound pressure scalar and the acoustic velocity vector collected by the vector acoustic array as the joint input, and can effectively improve the accuracy of sound source localization to obtain a sound source position with high accuracy.

[0075] Combined with the above-mentioned method for localizing sound sources in a moving medium based on a vector acoustic array, for example, 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 the figure, 11 represents the sound source localization result in a moving medium based on a vector acoustic array according to an embodiment of the present application, 12 represents the sound source localization result based on a conventional sound pressure convection equivalent source, and 13 represents the sound source localization result based on a normal acoustic velocity convection equivalent source. It should be noted that Figure 5 The area protected by the black dotted line is the area where the normalized convective equivalent source intensity is greater than 0.9. There is an obvious difference between the sound source localization results of the existing methods and the theoretical position of the sound source. The sound source localization results in a moving medium based on a vector acoustic array proposed in the embodiment of the present application are consistent with the theoretical position of the sound source. On the one hand, it proves the correctness of the sound source localization method in a moving medium based on a vector acoustic array provided in the embodiment of the present application, and on the other hand, it reflects the superiority of the sound source localization method in a moving medium based on a vector acoustic array provided in the embodiment of the present application.

[0076] 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.

[0077] The following describes a device for localizing a sound source in a moving medium based on a vector acoustic array provided in an embodiment of the present application. The device for localizing a sound source in a moving medium based on a vector acoustic array described below and the method for localizing a sound source in a moving medium based on a vector acoustic array described above can be referenced to each other.

[0078] like Figure 6 FIG. 1 is a schematic diagram of a sound source localization device in a moving medium based on a vector acoustic array according to an embodiment of the present application. The device may include: Data processing module 601 is used to determine the vector acoustic array sound field and the equivalent source surface corresponding Convection equivalent source locations, is an integer greater than 1, and the vector acoustic array sound field includes sound pressure and acoustic velocity; Relationship determination module 602, for determining the relationship between the The location of the convection equivalent source is determined by the sound pressure and The first transfer relationship between the convection equivalent source and the acoustic velocity is determined The second transfer relationship between the convection equivalent sources; an intensity determination module 603, configured to determine the convective equivalent source intensity at each convective equivalent source position according to the first transfer relationship and the second transfer relationship; The sound source position determination module 604 is configured to determine the sound source position according to the convective equivalent source strength at each convective equivalent source position.

[0079] Optionally, the data processing module 601 is specifically configured to obtain the vector acoustic array sound field collected by the vector acoustic array sensor; select the equivalent source surface according to the shape characteristics of the sound source, and determine the equivalent source surface corresponding to the equivalent source surface. The location of the convection equivalent source.

[0080] Optionally, the data processing module 601 is specifically configured to discretize the equivalent source surface into grid nodes; place a convection equivalent source at each grid node and determine the location of the convection equivalent source , , indicating the corresponding convection equivalent source number.

[0081] Optionally, the vector acoustic array sound field includes the sound pressure collected by the vector acoustic array sensor. and the acoustic velocity in three directions ; represents the angular frequency; Represents the three directions of the Cartesian coordinate system; the vector acoustic array sensor includes vector sensors, is an integer greater than 1, Indicates the The position of the vector sensor, Relationship determination module 602, specifically for each convection equivalent source and each vector sensor, according to the first convection function formula to determine the first transfer function For each convection equivalent source and each vector sensor, according to the second convection 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 convection function formula is: ; The second convection function formula is: ; The first transfer formula is: ; The second transfer formula is: ; Indicates the association The position of the vector sensor and the convection equivalent source position Frequency domain convection Green's function; Represents the frequency domain convection Green's function in a uniform moving medium Material derivatives of represents the frequency domain convection Green's function In the The position of the vector sensor Chuyan Directional derivatives; Represents the location of the convection equivalent source The convection 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 convective equivalent source intensity at each convective equivalent source position; wherein, represents the transfer matrix; represents the column vector consisting of the convection equivalent source intensity; 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; Indicates that 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 numerically solve the linear matrix equation to determine the convective equivalent source intensity at each convective equivalent source position, including: Perform singular value decomposition to obtain a left singular vector matrix, a right singular vector matrix and a singular value matrix; construct a minimized empirical Bayes regularization function based on the left singular vector matrix, the right singular vector matrix and the singular value matrix; determine a target regularization parameter based on the minimized empirical Bayes regularization function; solve the linear matrix equation based on the target regularization parameter to obtain the convective equivalent source intensity at each convective equivalent source position.

[0084] Optionally, the sound source position determination module 604 is specifically configured to normalize the convective equivalent source intensity according to the maximum convective equivalent source intensity at each convective equivalent source position; and determine the sound source position by visualizing the normalized convective equivalent source intensity.

[0085] like Figure 7 , 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 (processor) 710, a communication interface (Communications Interface) 720, a memory (memory) 730 and a communication bus 740, wherein 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 a method for localizing a sound source in a moving medium based on a vector acoustic array, the method comprising: determining the vector acoustic array sound field and the equivalent source surface corresponding to the sound source. Convection equivalent source locations, is an integer greater than 1, the vector acoustic array sound field includes sound pressure and acoustic velocity; according to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined a second transfer relationship between the convection equivalent sources; determining the convection equivalent source intensity at the position of each convection equivalent source according to the first transfer relationship and the second transfer relationship; determining the sound source position according to the convection equivalent source intensity at the position of each convection equivalent source.

[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, which, when executed by a processor, implements the method for localizing a sound source in a moving medium based on a vector acoustic array provided by the above methods, the method comprising: determining the vector acoustic array sound field and the equivalent source surface corresponding to the sound field; Convection equivalent source locations, is an integer greater than 1, the vector acoustic array sound field includes sound pressure and acoustic velocity; according to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined a second transfer relationship between the convection equivalent sources; determining the convection equivalent source intensity at the position of each convection equivalent source according to the first transfer relationship and the second transfer relationship; determining the sound source position according to the convection equivalent source intensity at the position of each convection equivalent source.

[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 a processor, the computer can execute the sound source localization method in a moving medium based on a vector acoustic array provided by the above methods, the method comprising: determining the vector acoustic array sound field and the equivalent source surface corresponding to the sound source localization method; Convection equivalent source locations, is an integer greater than 1, the vector acoustic array sound field includes sound pressure and acoustic velocity; according to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined a second transfer relationship between the convection equivalent sources; determining the convection equivalent source intensity at the position of each convection equivalent source according to the first transfer relationship and the second transfer relationship; determining the sound source position according to the convection equivalent source intensity at the position of each convection equivalent source.

[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 method for localizing a sound source in a moving medium based on a vector acoustic array, characterized in that: include: Determine the vector acoustic array sound field and the equivalent source surface corresponding to Convection equivalent source locations, is an integer greater than 1, and the vector acoustic array sound field includes sound pressure and acoustic velocity; According to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined The second transfer relationship between the convection equivalent sources; determining the convective equivalent source intensity at each convective equivalent source position according to the first transfer relationship and the second transfer relationship; The sound source position is determined according to the convective equivalent source intensity at each convective equivalent source position.

2. The method for localizing a sound source in a moving medium based on a vector acoustic array according to claim 1, wherein: The determination of the vector acoustic array sound field and the equivalent source surface corresponding Convection equivalent source locations, including: Acquiring the vector acoustic array sound field collected by the vector acoustic array sensor; Select the equivalent source surface according to the shape characteristics of the sound source, and determine the equivalent source surface corresponding to The location of the convection equivalent source.

3. The method for localizing a sound source in a moving medium based on a vector acoustic array according to claim 2, wherein: Determining the equivalent source surface corresponding to Convection equivalent source locations, including: According to the size of the equivalent source surface, the equivalent source surface is discretized into grid nodes; Place a convection equivalent source at each grid node and determine the location of the convection equivalent source , , indicating the corresponding convection equivalent source number.

4. The method for localizing a sound source in a moving medium based on a vector acoustic array according to claim 3, wherein: The vector acoustic array sound field includes the sound pressure collected by the vector acoustic array sensor and the acoustic speed in three directions ; represents the angular frequency; Represents the three directions of the Cartesian coordinate system; the vector acoustic array sensor includes vector sensors, is an integer greater than 1, Indicates the The position of the vector sensor, ; According to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined The second transfer relationship between the convection equivalent sources includes: For each convection equivalent source and each vector sensor, the first transfer function is determined according to the first convection function formula: ; For each of the convection equivalent sources and each of the vector sensors, a second transfer function is determined according to the second convection 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 stream function formula is: ; The second convection function formula is: ; The first transfer formula is: ; The second transfer formula is: ; Indicates the association The position of the vector sensor and the convection equivalent source position Frequency domain convection Green's function; Represents the frequency domain convection Green's function in a uniform moving medium Material derivatives of represents the frequency domain convection Green's function In the The position of the vector sensor Chuyan Directional derivatives; Represents the location of the convection equivalent source The convection equivalent source intensity at .

5. The method for localizing a sound source in a moving medium based on a vector acoustic array according to claim 4, characterized in that: The determining of the convective equivalent source intensity at each convective equivalent source position according to the first transfer relationship and the second 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 convective equivalent source intensity at the position of each convective equivalent source; in, represents the transfer matrix; represents the column vector consisting of the convection equivalent source intensity; 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; Indicates the The column vector of the three components of the acoustic velocity collected by the vector sensor.

6. The method for localizing a sound source in a moving medium based on a vector acoustic array according to claim 5, characterized in that: The numerically solving the linear matrix equation to determine the convective equivalent source intensity at each convective equivalent source position includes: Transfer matrix Perform singular value decomposition to obtain the left singular vector matrix, the right singular vector matrix and the 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 convective equivalent source intensity at the position of each convective equivalent source.

7. The method for localizing a sound source in a moving medium based on a vector acoustic array according to claim 5, characterized in that: The determining of the sound source position according to the convective equivalent source intensity at each convective equivalent source position includes: Normalizing the convective equivalent source intensity according to the maximum convective equivalent source intensity at the positions of the convective equivalent sources; The sound source position is determined by visualizing the normalized convection equivalent source intensity.

8. A sound source localization device in a moving medium based on a vector acoustic array, characterized in that: include: Data processing module, used to determine the vector sound array sound field and the equivalent source surface corresponding Convection equivalent source locations, is an integer greater than 1, and the vector acoustic array sound field includes sound pressure and acoustic velocity; A relationship determination module is used to determine the relationship according to the The convection equivalent source position is determined by the sound pressure and The first transfer relationship between the convection equivalent sources and the acoustic velocity is determined The second transfer relationship between the convection equivalent sources; an intensity determination module, configured to determine the convective equivalent source intensity at each convective equivalent source position according to the first transfer relationship and the second transfer relationship; The sound source position determination module is used to determine the sound source position according to the convective equivalent source intensity at each convective equivalent source position.

9. 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 method for localizing a sound source in a moving medium based on a vector acoustic array is implemented as described in any one of claims 1 to 7.

10. 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 method for localizing a sound source in a moving medium based on a vector acoustic array as claimed in any one of claims 1 to 7 is implemented.

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