Positioning methods and related devices

Abstract

This disclosure provides a positioning method and related equipment, relating to the field of positioning technology. The method includes: determining N target sound acquisition sensors that meet preset conditions based on the signal strength of the sound source captured by each sound acquisition sensor, where N is greater than or equal to 3; constructing a polygon based on the intersection of azimuth angles; determining the incenter coordinates as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensors; obtaining the projection height based on the projection of the sides corresponding to the pitch angle onto the target horizontal position, thereby determining the target height position of the sound source; and locating the sound source position based on the target horizontal position and the target height position. By using horizontal and height estimations from multiple sound acquisition sensors to cross-perceive the sound source position, and comprehensively utilizing spatiotemporal information and the signal strength of the sound source, the perception accuracy and stability under obstruction are improved.

Description

Technical Field

[0001] This disclosure relates to the field of positioning technology, and in particular to a positioning method and related equipment. Background Technology

[0002] Indoor positioning technology refers to the integration of technologies such as wireless communication and base station positioning to achieve location monitoring of people, objects, etc. in various indoor scenarios.

[0003] Location techniques in related fields, such as those using the Time Difference of Arrival (TDA), determine the tag's location by constructing a hyperbola based on the differences in time it takes for a signal to travel from the tag point to multiple receivers. However, this method suffers from relatively large errors, potential data distortion, low accuracy, and poor performance in multi-target scenarios.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] This disclosure provides a positioning method and related equipment, which improves positioning accuracy to at least a certain extent.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] In a first aspect, embodiments of this disclosure provide a positioning method, the method comprising:

[0008] Based on the signal strength of the sound source captured by each sound acquisition sensor, determine N target sound acquisition sensors that meet the preset conditions; N is greater than or equal to 3.

[0009] A polygon is constructed based on the intersection points formed by the azimuth angles of the target sound acquisition sensors;

[0010] Based on the coordinates of the target sound acquisition sensor, the coordinates of the incenter of the polygon are determined as the target horizontal position of the sound source.

[0011] The projected height of each target sound acquisition sensor is obtained by projecting the angle side corresponding to the pitch angle of the target sound acquisition sensor onto the horizontal position of the target.

[0012] Determine the target height position of the sound source based on each projection height;

[0013] The location of the sound source is determined based on the target's horizontal and vertical positions.

[0014] In one possible embodiment, based on the signal strength of the sound source captured by each sound acquisition sensor, N target sound acquisition sensors that meet preset conditions are determined, including:

[0015] The signal strength of the sound source captured by each sound acquisition sensor is determined by a pre-built grid sound field capture system.

[0016] Based on signal strength, N target sound acquisition sensors that meet preset conditions are identified.

[0017] In one possible embodiment, the signal strength of the sound source captured by each sound acquisition sensor is determined using a pre-built grid sound field capture system, including:

[0018] Acquire environmental maps and attribute information of each sound acquisition sensor, and pre-build a grid sound field capture system; attribute information includes: the sound acquisition distance of the sound acquisition sensor;

[0019] The signal emitted by the sound source is captured by a grid sound field capture system to determine the signal strength.

[0020] In one possible embodiment, N target sound acquisition sensors that meet preset conditions are determined based on signal strength, including:

[0021] Sort the signals according to their strength and determine the signal strength of the sound acquisition sensor ranked N+1.

[0022] Identify N target sound acquisition sensors whose signal strength meets a preset condition; wherein the preset condition is that the signal strength of the target sound acquisition sensor is greater than the signal strength of the sound acquisition sensor ranked N+1.

[0023] In one possible embodiment, N target sound acquisition sensors that meet preset conditions are determined based on signal strength, including:

[0024] The first sound acquisition sensor is determined by sorting the signals according to their strength and prior to a preset number.

[0025] Based on the grid corresponding to each first sound acquisition sensor, the target grid to which the sound source belongs is determined; wherein, a grid of the grid sound field capture system is composed of K sound acquisition sensors.

[0026] Within the target grid, N target sound acquisition sensors that meet preset conditions are identified. The preset conditions are that the N sound acquisition sensors closest to the sound source are determined based on the signal strength representing distance within the target grid. The greater the signal strength, the closer the sound acquisition sensor is to the sound source.

[0027] In one possible embodiment, determining the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensor includes:

[0028] Based on the coordinates of the target sound acquisition sensor, determine the coordinates of the intersection points that form the polygon; the incenter is the center of the inscribed circle of the polygon.

[0029] Based on the coordinates of the intersection point, the coordinates of the inner point are determined as the target horizontal position.

[0030] In one possible embodiment, the method further includes:

[0031] If multiple intersection points converge at a single target point, then the target point is the target horizontal position.

[0032] In one possible embodiment, determining the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensor includes:

[0033] If N is 3, then the polygon is a triangle. Based on the coordinates of the target sound acquisition sensor, the coordinates of the intersection points that form the triangle are determined.

[0034] Based on the coordinates of the intersection points of the triangles, the coordinates of the center are determined as the target horizontal position.

[0035] Secondly, embodiments of this disclosure provide a positioning device, including:

[0036] The first determining unit is used to determine N target sound acquisition sensors that meet preset conditions based on the signal strength of the sound source captured by each sound acquisition sensor; N is greater than or equal to 3.

[0037] The building unit is used to construct a polygon based on the intersection points formed by the azimuth angles of the target sound acquisition sensors;

[0038] The second determining unit is used to determine the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensor.

[0039] The projection unit is used to obtain the projection height of each target sound acquisition sensor based on the projection of the angle side corresponding to the pitch angle of the target sound acquisition sensor onto the horizontal position of the target.

[0040] The third determining unit is used to determine the target height position of the sound source based on each projection height;

[0041] The positioning unit is used to locate the sound source position based on the target's horizontal and vertical positions.

[0042] Thirdly, embodiments of this disclosure provide an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of the first aspect described above by executing the executable instructions.

[0043] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect above.

[0044] Fifthly, according to another aspect of this disclosure, a computer program product or computer program is also provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform any of the methods described above.

[0045] This disclosure provides a positioning method and related equipment, relating to the field of positioning technology. The method includes: determining N target sound sensors that meet preset conditions based on the signal strength of a sound source captured by each sound sensor; N being greater than or equal to 3; constructing a polygon based on the intersection points formed by the azimuth angles of the target sound sensors; determining the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound sensors; obtaining the projected height of each target sound sensor based on the projection of the sides corresponding to the pitch angles of the target sound sensors onto the target horizontal position; determining the target height position of the sound source based on each projected height; and locating the sound source position based on the target horizontal position and the target height position. By using horizontal and height estimations from multiple sound sensors to cross-perceive the sound source position, and comprehensively utilizing spatiotemporal information and the signal strength of the sound source, the perception accuracy and stability under obstruction are improved.

[0046] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0048] Figure 1 A schematic diagram illustrating one positioning method according to an embodiment of this disclosure is shown;

[0049] Figure 2 A flowchart of a positioning method according to an embodiment of this disclosure is shown;

[0050] Figure 3 This diagram illustrates a flowchart of a target sound acquisition sensor according to an embodiment of the present disclosure;

[0051] Figure 4 This diagram illustrates a grid sound field capture system according to an embodiment of the present disclosure;

[0052] Figure 5 This illustrates a flowchart of another method for determining a target sound acquisition sensor in an embodiment of this disclosure;

[0053] Figure 6 This illustrates a flowchart of another method for determining a target sound acquisition sensor according to an embodiment of the present disclosure;

[0054] Figure 7 This diagram illustrates a flowchart of determining a target horizontal position according to an embodiment of the present disclosure;

[0055] Figure 8 This diagram illustrates another flowchart for determining the target horizontal position in an embodiment of the present disclosure;

[0056] Figure 9 A schematic diagram illustrating a level estimation method according to an embodiment of this disclosure is shown;

[0057] Figure 10 A schematic diagram illustrating one height estimation method according to an embodiment of this disclosure is shown;

[0058] Figure 11 This diagram illustrates the structure of a positioning device according to an embodiment of the present disclosure.

[0059] Figure 12 A schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0060] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0061] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0062] Indoor positioning technology refers to the integration of technologies such as wireless communication and base station positioning to monitor the location of people and objects in various indoor scenarios. The application needs of indoor positioning come from fields such as security monitoring, emergency rescue, and smart furniture. With the advent of the digital and intelligent era, the consumer market has put forward new demands for indoor positioning applications, which are increasingly shifting from active positioning to passive positioning. At the same time, thanks to the development of artificial intelligence technology, the overall development direction of indoor positioning technology is also moving towards intelligence and low power consumption.

[0063] Sound field localization technology, as a key component of the IoT sensing layer, achieves target location tracking and environmental perception through the spatial propagation characteristics of sound wave signals. Its core value lies in its low cost, high concealment, and resistance to electromagnetic interference, making it particularly suitable for complex electromagnetic environments or privacy-sensitive indoor scenarios. Its main technical principle involves using a set of sensors (such as a microphone array) arranged in a specific geometric position to receive sound wave signals emitted by a sound source, and calculating the sound source's location by analyzing the signal propagation characteristics (such as time difference and intensity difference). While this localization technology is effective for static, single targets, it struggles to achieve accurate and real-time target localization in real-world scenarios with multiple moving targets.

[0064] Location techniques in related technologies, such as the Time Difference of Arrival (TDA) method, involve measuring the difference in time it takes for a signal to travel from a tag point to multiple receivers. This time difference, along with the propagation speed, is converted into a distance difference. Since sound sources travel at the same speed in the same medium, the sound source location must lie on a hyperbola with the receiver locations as its foci. The hyperbola equation is constructed based on the coordinates of each receiver and the distance difference, thus determining the sound source's location. Figure 1 A schematic diagram of one positioning method according to an embodiment of this disclosure is shown, such as... Figure 1 As shown, the hyperbola is further constructed by calculating the time difference, and then the intersection point is calculated using the hyperbola. Here, BS1 represents receiver 1, BS2 represents receiver 2, and BS3 represents receiver 3. Figure 1 The target location of the sound source is shown in the figure.

[0065] The positioning method described above has a relatively large error, possibly 0.3 meters. Data distortion may occur if there are obstructions during propagation. The accuracy will decrease under disturbance and boundary conditions, and it performs poorly in multi-target scenarios.

[0066] This disclosure provides a positioning method and related equipment, relating to the field of positioning technology. The method includes: determining N target sound acquisition sensors that meet preset conditions based on the signal strength of a sound source captured by each sound acquisition sensor; N being greater than or equal to 3; constructing a polygon based on the intersection points formed by the azimuth angles of the target sound acquisition sensors; determining the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensors; obtaining the projection height of each target sound acquisition sensor based on the projection of the sides corresponding to the pitch angles of the target sound acquisition sensors onto the target horizontal position; determining the target height position of the sound source based on each projection height; and locating the sound source position based on the target horizontal position and the target height position. By using horizontal and height estimations from multiple sound acquisition sensors to cross-perceive the sound source position, and comprehensively utilizing spatiotemporal information and the signal strength of the sound source, the perception accuracy and stability under obstruction are improved, and the positioning effect is also good for complex movements of multiple targets.

[0067] The following detailed description of this exemplary implementation method is provided in conjunction with the accompanying drawings and embodiments.

[0068] First, this disclosure provides a positioning method that can be executed by any electronic device with computing capabilities. In the following process, the electronic device is used as a server as an example.

[0069] Figure 2 A flowchart of a positioning method according to an embodiment of this disclosure is shown, such as... Figure 2 As shown, the positioning method provided in this embodiment includes the following steps:

[0070] S202: Based on the signal strength of the sound source captured by each sound acquisition sensor, determine N target sound acquisition sensors that meet the preset conditions, where N is greater than or equal to 3.

[0071] In one possible embodiment, the sound acquisition sensor can be a far-field microphone array device, and the positioning method in this disclosure can be applied to indoor positioning scenarios in the Internet of Things. Step S202 determines the target sound acquisition sensor for locating the sound source location by signal strength.

[0072] S204: Construct a polygon based on the intersection points formed by the azimuth angles of the target sound acquisition sensors.

[0073] For example, when N is 3, the polygon is a triangle; when N is 4, the polygon is a quadrilateral.

[0074] In one possible embodiment, if multiple intersection points intersect at a target point, then the target point is the target horizontal position.

[0075] S206: Determine the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensor.

[0076] In one possible embodiment, the coordinates of each intersection point in the polygon can be determined by the coordinates of the target sound acquisition sensor, which is the coordinates of each vertex of the polygon. Then, the coordinates of the center can be further determined as the target horizontal position of the sound source.

[0077] S208: Obtain the projected height of each target sound acquisition sensor based on the projection of the angle side corresponding to the pitch angle of the target sound acquisition sensor onto the horizontal position of the target.

[0078] In one possible embodiment, the determination of the azimuth and elevation angles of the sound acquisition sensor may include: determining the incident angle based on the delay and phase difference of the sound emitted by the sound source, and converting the incident angle into the corresponding azimuth and elevation angles of the sound acquisition sensor.

[0079] S210: Determine the target height position of the sound source based on each projected height.

[0080] S212: Based on the target's horizontal and vertical positions, the location of the sound source is determined.

[0081] By employing the above method, multiple sound acquisition sensors perform horizontal and vertical estimations, cross-sensing the location of the sound source. This comprehensive utilization of spatiotemporal information and the signal strength of the sound source improves sensing accuracy and stability even with obstructions. Furthermore, passive sound sensing technology consumes less power, aligning with the practical needs of the Internet of Things for green and energy-efficient operation.

[0082] Regarding S202, Figure 3 A flowchart illustrating the determination of a target sound acquisition sensor according to an embodiment of this disclosure is shown, such as... Figure 3 As shown, it includes the following steps:

[0083] S302: Determine the signal strength of the sound source captured by each sound acquisition sensor through a pre-built grid sound field capture system.

[0084] In one possible embodiment, the grid sound field capture system is constructed from sound acquisition sensors. The construction method may include: acquiring an environmental map and attribute information of each sound acquisition sensor, and pre-constructing the grid sound field capture system; the attribute information includes: the sound acquisition distance of the sound acquisition sensors; capturing signals emitted by sound sources through the grid sound field capture system, and determining the signal strength.

[0085] The constructed grid sound field capture system can determine the coordinates of the sound acquisition sensors throughout the environment. A grid of the grid sound field capture system consists of K sound acquisition sensors, and multiple grids together constitute a grid sound field capture system.

[0086] S304: Based on the signal strength, determine N target sound acquisition sensors that meet the preset conditions.

[0087] In one possible embodiment, the target sound acquisition sensor can be determined using different methods based on signal strength, thereby locating the sound source. The approximate location of the sound source can be determined by variations in signal strength, and N target sound acquisition sensors that meet preset conditions can be identified.

[0088] In a grid sound field capture system, a signal intensity matrix can be constructed based on a sound acquisition sensor. The sound acquisition sensor is used as a node, and the acquired signal intensity is used as a value in the matrix. The change in the signal intensity of the captured sound source represents the change in the value in the signal intensity matrix.

[0089] For example, if the value A in the signal strength matrix is ​​the largest, it indicates that the sound source location is closest to the node of the sound acquisition sensor corresponding to the value A. Based on the magnitude of the values ​​in the signal strength matrix, N target sound acquisition sensors that meet the preset conditions can be determined. The preset conditions are that the sound acquisition sensors are the first N values ​​in the signal strength matrix.

[0090] Figure 4 A schematic diagram of a grid sound field capture system according to an embodiment of this disclosure is shown, such as... Figure 4 As shown, black dots represent sound acquisition sensors, and white hollow circles represent sound sources. Taking four sound acquisition sensors as an example, a grid consists of four rows of sound acquisition sensors. The second row has the most sound acquisition sensors, including seven.

[0091] You can follow Figure 4 The arrangement of the sound acquisition sensors in the matrix can construct a 4x7 signal strength matrix. Nodes without sound acquisition sensors are filled with 0s to construct the signal strength matrix.

[0092] In one possible embodiment, Figure 5 A flowchart illustrating another method for determining a target sound acquisition sensor in an embodiment of this disclosure is shown, such as... Figure 5 As shown, it includes the following steps:

[0093] S502: Sort the signals according to their strength and determine the signal strength of the sound acquisition sensor ranked N+1.

[0094] S504: Determine N target sound acquisition sensors whose signal strength meets preset conditions; wherein, the preset condition is that the signal strength of the target sound acquisition sensor is greater than the signal strength of the sound acquisition sensor ranked N+1.

[0095] The signal strengths captured by the sound acquisition sensors can be sorted directly, and one of the signal strengths can be selected as a preset threshold. The preset condition can be set to the signal strength of the target sound acquisition sensor being greater than the signal strength of the sound acquisition sensor ranked N+1.

[0096] In one possible embodiment, Figure 6 A flowchart illustrating another method for determining a target sound acquisition sensor according to an embodiment of this disclosure is shown, such as... Figure 6 As shown, it includes the following steps:

[0097] S602: Sort the signals according to their strength and determine the first sound acquisition sensor that is ranked before a preset number.

[0098] S604: Determine the target grid to which the sound source belongs based on the grid corresponding to each first sound acquisition sensor, wherein a grid of the grid sound field capture system is composed of K sound acquisition sensors.

[0099] S606: In the target grid, determine N target sound acquisition sensors that meet the preset conditions. The preset conditions are that in the target grid, the distance is represented by the signal strength to determine the N sound acquisition sensors that are closest to the sound source. The greater the signal strength, the closer the sound acquisition sensor is to the sound source.

[0100] Among them, the grid sound field capture system can facilitate the initial location of the sound source, and the grid to which the sound source belongs can be initially determined based on the change in signal intensity.

[0101] For example, the labels of the first sound acquisition sensors whose signal strength is ranked in a preset number are determined. Based on each label, the grid to which the first sound acquisition sensor belongs is determined. If any grid A contains the most labels, then any grid A is determined as the target grid. In the target grid, the N nearest neighbor target sound acquisition sensors are then determined.

[0102] Where K can be greater than or equal to N, and both K and N are positive integers.

[0103] An indoor grid-based sound field capture system was built using a real-world indoor setting. Far-field microphones were placed at some grid nodes, with their placement determined by their pickup distance. A single microphone can determine the approximate location of a sound source, while the signal strength can pinpoint the local grid area where the sound source is located. Multiple far-field microphones within the grid area can further refine the sound source's location.

[0104] It should be noted that the methods for determining N target sound acquisition sensors in this embodiment of the disclosure can include various methods, and the specific execution method is not limited. The preset conditions in this embodiment of the disclosure can be preset, but they can be dynamically set and selected for different situations, and can be set according to actual needs.

[0105] It should be noted that sound acquisition sensors can be deployed on the same horizontal plane. If they are deployed on different horizontal planes, when determining the target's horizontal and vertical positions using azimuth and pitch angles, the positional differences corresponding to the height differences when different sound acquisition sensors are not on the same horizontal plane need to be considered. The new target horizontal and vertical positions should be determined separately, and then the sound source position can be located.

[0106] Regarding S206, a method for determining the horizontal position of a target through horizontal estimation is shown. Figure 7 A flowchart illustrating the determination of a target horizontal position according to an embodiment of this disclosure is shown, such as... Figure 7 As shown, it includes the following steps:

[0107] S702: Based on the coordinates of the target sound acquisition sensor, determine the coordinates of the intersection points that form the polygon, with the incenter being the center of the inscribed circle of the polygon.

[0108] S704: Based on the intersection coordinates, determine the coordinates of the center as the target horizontal position.

[0109] In one possible embodiment, the more vertices of the polygon, the more sound acquisition sensors are involved. The result of multi-sensor integrated cross-localization is more accurate and precise. The number A of target sound acquisition sensors required for the highest accuracy can be determined by testing, and N is set as the number A.

[0110] In one possible implementation, since some polygons may not have an inscribed circle, if the inscribed circle of a polygon cannot be determined, N is set to 3, a triangle consisting of three intersection points is constructed, the inscribed circle is determined, and the coordinates of the incenter are calculated.

[0111] Figure 8 Another flowchart for determining the target horizontal position is shown in an embodiment of this disclosure, such as... Figure 8 As shown, it includes the following steps:

[0112] S802: Determine the coordinates of the intersection points of the triangle formed by the target sound acquisition sensor.

[0113] In one possible embodiment, for any intersection point formed by the intersection of the azimuth angles of the two sound acquisition sensors, the abscissa of the intersection point is determined based on the abscissas of the two sound acquisition sensors and the azimuth angles of the two sound acquisition sensors.

[0114] Then, based on the x-coordinate of any intersection point and the coordinate of one of the two sound acquisition sensors, determine the y-coordinate of any intersection point, thus obtaining the coordinates of the intersection point.

[0115] S804: Based on the coordinates of the intersection points of the triangles, determine the coordinates of the center as the target horizontal position.

[0116] In one possible embodiment, Figure 9 A schematic diagram of a level estimation method according to an embodiment of this disclosure is shown, such as... Figure 9 As shown, taking N=3 as an example, there are 3 sound acquisition sensors. Figure 9 Let I0, I1, and I2 be the azimuth angles. The intersection points formed by the extensions of the azimuth angles are I01, I12, and I02. The triangle formed by the three intersection points I01, I12, and I02 is represented by the shaded area. The coordinates of I01, I12, and I02 are determined, and the center of the inscribed circle is obtained by drawing an inscribed circle.

[0117] In one possible embodiment, the coordinates of the intersection points that form the triangle are determined by the following formulas. Taking point I12 among I01, I12 and I02 as an example, the following formulas (1) and (2) are shown.

[0118] (1)

[0119] (2)

[0120] in, Represents the x-coordinate of I12. Represents the ordinate of I12. Represents the x-coordinate of I1. Represents the ordinate of I1, The azimuth angle representing the location of the sound source detected by the sound acquisition sensor I1 is... , Represents the x-coordinate of I2. The azimuth angle representing the location of the sound source detected by the sound acquisition sensor I2 is... .

[0121] After determining the coordinates of the three intersection points using the above method, we can obtain the coordinates of the three vertices of the triangle. Then, we can further determine the inscribed circle and obtain the coordinates (x, y) of the incenter.

[0122] In one possible embodiment, the projected height of each target sound acquisition sensor is obtained by projecting the angle side corresponding to the pitch angle of the target sound acquisition sensor onto the target's horizontal position in step S210. Figure 10 A schematic diagram of one height estimation method according to an embodiment of this disclosure is shown, such as... Figure 10 As shown, it includes three sound acquisition sensors, I0, I1, and I2. By projecting the extension of one side of the pitch angle onto the horizontal position of the target, three projection lines can be obtained. These three projection lines... Figure 10 Since the points in the middle overlap, we will use three points above the target horizontal position as an example.

[0123] Three projection heights can be obtained, namely h0, h1 and h2. h0 represents the projection height corresponding to the pitch angle of the sound source position detected by I0, h1 represents the projection height corresponding to the pitch angle of the sound source position detected by I1, and h2 represents the projection height corresponding to the pitch angle of the sound source position detected by I2.

[0124] For example, the projection height of any target sound acquisition sensor can be determined based on the coordinates of any target sound acquisition sensor, the coordinates of the target's horizontal position, and the pitch angle.

[0125] The projection height can be determined by the following formula (3), taking h1 as an example, as shown below.

[0126] (3)

[0127] in, This represents the pitch angle of the sound source location detected by I1.

[0128] Once the three projection heights are determined, the target height position can be determined in a variety of different ways.

[0129] For example, the average value can be determined as the target height based on each projected height, and then the target height position can be determined.

[0130] For example, the median can be selected based on the median, and the median of the projected heights can be determined as the target height based on each projected height, thereby determining the target height position.

[0131] For example, the projected heights can be sorted, and the median projected height can be selected as the target height to determine the target height position. If N is even and there may be multiple median values, the average of the median values ​​can be further determined as the target height to determine the target height position.

[0132] By constructing a triangle to obtain the inscribed circle and determine the center, the location of the sound source can be accurately determined. In this embodiment, the grid-based sensing network built with multiple sensors improves the control of target perception accuracy. Sensing via a far-field microphone array, unlike Bluetooth and other sensing devices susceptible to signal interference, provides more stable and lower-power passive sound source localization, exhibiting greater robustness even when obstructed. By comprehensively utilizing spatiotemporal information and sound source signal information, multimodal information fusion enhances positioning accuracy. The passive sound sensing technology is lower-powered, meeting the practical needs of green and energy-saving IoT. By combining horizontal and vertical estimation methods, the horizontal and vertical positions are located respectively, resulting in a more accurate overall sound source location.

[0133] Based on the same inventive concept, this disclosure also provides a positioning device, as shown in the following embodiment. Since the principle by which this device embodiment solves the problem is similar to that of the above-described method embodiment, the implementation of this device embodiment can refer to the implementation of the above-described method embodiment, and repeated details will not be described again.

[0134] Figure 11 This diagram illustrates the structure of a positioning device according to an embodiment of the present disclosure, as shown below. Figure 11 As shown, the positioning device 110 includes: a first determining unit 1101, used to determine N target sound acquisition sensors that meet preset conditions based on the signal strength of the sound source captured by each sound acquisition sensor; N is greater than or equal to 3; a constructing unit 1102, used to construct a polygon based on the intersection points formed by the azimuth angles of the target sound acquisition sensors; a second determining unit 1103, used to determine the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensors; a projection unit 1104, used to obtain the projection height of each target sound acquisition sensor based on the projection of the sides corresponding to the pitch angle of the target sound acquisition sensor onto the target horizontal position; a third determining unit 1105, used to determine the target height position of the sound source based on each projection height; and a positioning unit 1106, used to locate the sound source position based on the target horizontal position and the target height position.

[0135] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0136] The following reference Figure 12 To describe an electronic device 1200 according to such an embodiment of the present disclosure. Figure 12 The electronic device 1200 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0137] like Figure 12 As shown, the electronic device 1200 is manifested in the form of a general-purpose computing device. The components of the electronic device 1200 may include, but are not limited to: at least one processing unit 1210, at least one storage unit 1220, and a bus 1230 connecting different system components (including storage unit 1220 and processing unit 1210).

[0138] The storage unit stores program code that can be executed by the processing unit 1210, causing the processing unit 1210 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 1210 can perform the steps of any of the above-described method embodiments.

[0139] Storage unit 1220 may include readable media in the form of volatile storage units, such as random access memory (RAM) 12201 and / or cache memory 12202, and may further include read-only memory (ROM) 12203.

[0140] Storage unit 1220 may also include a program / utility 12204 having a set (at least one) of program modules 12205, such program modules 12205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0141] Bus 1230 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0142] Electronic device 1200 can also communicate with one or more external devices 1240 (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 1200, and / or any device that enables electronic device 1200 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 1250. Furthermore, electronic device 1200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 1260. As shown, network adapter 1260 communicates with other modules of electronic device 1200 via bus 1230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 1200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0143] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0144] Specifically, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods described above.

[0145] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, which may be a readable signal medium or a readable storage medium. A program product capable of implementing the methods described above is stored thereon. In some possible implementations, various aspects of this disclosure may also be implemented as a program product including program code, which, when run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0146] More specific examples of computer-readable storage media in this disclosure may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0147] In this disclosure, a computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting a program for use by or in connection with an instruction execution system, apparatus, or device.

[0148] Optionally, the program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0149] In practice, program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0150] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0151] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0152] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0153] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A positioning method, characterized in that, The method includes: Based on the signal strength of the sound source captured by each sound acquisition sensor, determine N target sound acquisition sensors that meet the preset conditions; N is greater than or equal to 3. A polygon is constructed based on the intersection points formed by the azimuth angles of the target sound acquisition sensor; Based on the coordinates of the target sound acquisition sensor, the coordinates of the incenter of the polygon are determined as the target horizontal position of the sound source; The projection height of each target sound acquisition sensor is obtained by projecting the angle side corresponding to the pitch angle of the target sound acquisition sensor onto the horizontal position of the target. The target height position of the sound source is determined based on each of the projected heights; The location of the sound source is determined based on the target's horizontal position and its vertical position.

2. The method according to claim 1, characterized in that, The step of determining N target sound acquisition sensors that meet preset conditions based on the signal strength of the sound source captured by each sound acquisition sensor includes: The signal strength of the sound source captured by each sound acquisition sensor is determined by a pre-constructed grid sound field capture system. Based on the signal strength, N target sound acquisition sensors that meet the preset conditions are determined.

3. The method according to claim 2, characterized in that, The determination of the signal strength of the sound source captured by each sound acquisition sensor through the pre-constructed grid sound field capture system includes: The environmental map and attribute information of each sound acquisition sensor are acquired, and the grid sound field capture system is pre-constructed; the attribute information includes: the sound acquisition distance of the sound acquisition sensor; The grid sound field capture system captures the signal emitted by the sound source and determines the signal strength.

4. The method according to claim 2, characterized in that, The step of determining N target sound acquisition sensors that meet preset conditions based on the signal strength includes: Based on the signal strength, the signal strength of the sound acquisition sensor ranked N+1 is determined. N target sound acquisition sensors whose signal strength meets a preset condition are identified; wherein, the preset condition is that the signal strength of the target sound acquisition sensor is greater than the signal strength of the sound acquisition sensor ranked N+1.

5. The method according to claim 2, characterized in that, The step of determining N target sound acquisition sensors that meet preset conditions based on the signal strength includes: Based on the signal strength, the first sound acquisition sensor is determined to be ranked before a preset number. Based on the grid corresponding to each of the first sound acquisition sensors, the target grid to which the sound source belongs is determined; wherein, a grid of the grid sound field capture system is composed of K sound acquisition sensors. In the target grid, N target sound acquisition sensors that meet preset conditions are identified; wherein, the preset conditions are that in the target grid, the N sound acquisition sensors closest to the sound source are determined based on the distance represented by the signal strength; the greater the signal strength, the closer the sound acquisition sensor is to the sound source.

6. The method according to claim 1, characterized in that, The step of determining the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensor includes: Based on the coordinates of the target sound acquisition sensor, the coordinates of the intersection points constituting the polygon are determined; the incenter is the center of the inscribed circle of the polygon. Based on the coordinates of the intersection point, the coordinates of the inner point are determined as the target horizontal position.

7. The method according to claim 1, characterized in that, The method further includes: If multiple intersection points intersect at a single target point, then the target point is the target horizontal position.

8. The method according to claim 1, characterized in that, The step of determining the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensor includes: If N is 3, then the polygon is a triangle. Based on the coordinates of the target sound acquisition sensor, the coordinates of the intersection points that make up the triangle are determined. Based on the coordinates of the intersection points of the triangle, the coordinates of the incenter are determined as the target horizontal position.

9. A positioning device, characterized in that, include: The first determining unit is used to determine N target sound acquisition sensors that meet preset conditions based on the signal strength of the sound source captured by each sound acquisition sensor. N is greater than or equal to 3; A construction unit is used to construct a polygon based on the intersection points formed by the azimuth angles of the target sound acquisition sensor; The second determining unit is used to determine the coordinates of the incenter of the polygon as the target horizontal position of the sound source based on the coordinates of the target sound acquisition sensor. The projection unit is used to obtain the projection height of each target sound acquisition sensor based on the projection of the angle side corresponding to the pitch angle of the target sound acquisition sensor onto the horizontal position of the target. The third determining unit is used to determine the target height position of the sound source based on each of the projected heights; The positioning unit is used to locate the sound source position based on the target's horizontal position and the target's height position.

10. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the method of any one of claims 1 to 8 by executing the executable instructions.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 8.

12. A computer program product, comprising: A computer program or instruction, characterized in that, when executed by a processor, the computer program or instruction implements the method described in any one of claims 1 to 8.

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