Aircraft sound source positioning method and device based on sound vector scalar fusion sound array

Abstract

The invention provides an aircraft sound source positioning method and device based on a sound vector scalar fusion sound array. The method comprises the following steps: firstly, constructing an acoustic vector scalar fusion acoustic array by using an acoustic vector sensor and an acoustic pressure scalar microphone which are used for simultaneously measuring a three-dimensional acoustic vector and an acoustic pressure scalar, measuring an acoustic signal emitted by a sound source of a target aircraft, and establishing a far-field signal receiving model of the acoustic vector scalar fusion acoustic array; then, projecting an acoustic vector signal of the acoustic vector scalar fusion acoustic array to an observation direction to obtain an acoustic pressure signal expression after spatial filtering of an acoustic vector sensor, and converting a receiving signal model of the acoustic vector scalar fusion acoustic array into a receiving signal model in the observation direction, which is completely formed by acoustic pressure signal forms; and finally, for the signal receiving models in different observation directions, a beam forming method or a subspace method is adopted, and sound source localization can be realized on the basis of suppressing environmental noise. Compared with a traditional sound pressure scalar sound array, the broadband sound source space position of the aircraft is obtained more accurately, and a basis is provided for aircraft acoustic performance test research, airworthiness evidence obtaining and model identification.

Description

Technical Field

[0001] This invention relates to the field of aviation technology, and in particular to a method and apparatus for locating aircraft sound sources based on acoustic vector scalar fusion acoustic arrays. Background Technology

[0002] Sound source localization of aircraft through flight tests is a complex system engineering project characterized by high cost, long cycle, high risk, and broad interdisciplinary involvement. It faces numerous technical difficulties and limitations. How to efficiently, accurately, and reliably obtain the spatial location of sound sources has become a pressing engineering problem. Currently, most sound source localization flight tests employ acoustic imaging methods based on sound pressure scalar microphone arrays (acoustic arrays). These methods improve the signal-to-noise ratio through frame-by-frame superposition processing. However, traditional scalar acoustic arrays are limited by the Rayleigh limit. Refined analysis of the characteristics and spatial localization of mid-frequency and low-frequency sound sources requires sufficiently large array apertures and a large number of array elements, resulting in high array complexity, large setup areas for flight tests, and long test cycles. Under limited human and material resources, sound source localization accuracy is low, costs are high, and cycles are long. Summary of the Invention

[0003] The purpose of this invention is as follows: In recent years, breakthroughs have been made in airborne sound vector measurement technology. Sound vector sensors that can simultaneously perform three-dimensional particle velocity and sound pressure scalar measurement are gradually being applied in engineering. By using sound vector sensors and existing sound pressure scalar microphones, a vector sound array composed of sound vector sensors can be designed to locate the sound source of an aircraft, which can yield test results with higher spatial accuracy and higher reliability. This is because, firstly, acoustic vector sensors can simultaneously measure three-dimensional particle velocity and sound pressure scalars at a single spatial measurement point, obtaining richer sound field information, increasing the dimensionality of the acoustic array signal, and improving the performance of the acoustic array under the same parameters; secondly, by pre-forming acoustic energy flow beamforming on the acoustic vector sensor, acoustic signals in a specified direction can be extracted without distortion across the entire frequency band, improving the signal-to-noise ratio of the array's received signal while preserving the time delay relationship between array elements, thereby improving the performance of the acoustic array; thirdly, scalar vector fusion arrays reduce the beamwidth of low-frequency signals, improving the spatial resolution of low-frequency signal source localization. Through careful acoustic array design and experimental design, the acoustic array aperture and the number of array elements can be reduced while obtaining relatively better performance, thus reducing the cost of the acoustic array and improving experimental efficiency.

[0004] Based on this advantage, researchers have conducted research on vector acoustic array technology, extending existing acoustic array signal processing algorithms, such as extending beamforming methods and subspace methods to vector acoustic array signal processing. In fact, to retain the advantages of sound pressure scalar acoustic array technology, such as high maturity, readily available resources, relatively low cost, and robust high-frequency performance, designing a sound vector scalar fusion acoustic array to achieve wideband aircraft sound source localization is worthy of further research.

[0005] Based on this premise, this invention proposes a method for aircraft sound source localization based on acoustic vector scalar fusion acoustic arrays, extending beamforming and subspace methods to acoustic vector scalar fusion acoustic arrays. The application of this method can reduce the cost and improve the efficiency of sound source localization experiments while achieving relatively better sound source localization performance.

[0006] The technical solution of the present invention: In order to achieve the above-mentioned objective, according to a first aspect of the present invention, a method for locating sound sources of an aircraft based on a sound vector scalar fusion acoustic array is proposed, comprising the following steps: Step 1: Construct a sound vector scalar fusion sound array using a sound vector sensor that simultaneously measures three-dimensional sound vectors and sound pressure scalars, and a sound pressure scalar microphone. Measure the sound signal emitted by the target aircraft's sound source and establish a far-field signal receiving model for the sound vector scalar fusion sound array. Step 2: Project the acoustic vector signal of the acoustic vector scalar fusion acoustic array onto the observation direction to obtain the expression of the acoustic pressure signal after spatial filtering by the acoustic vector sensor. Based on the acoustic pressure signal expression, transform the receiving signal model of the acoustic vector scalar fusion acoustic array into a receiving signal model of the observation direction consisting entirely of acoustic pressure signals. Step 3: For signal receiving models under different observation directions, beamforming or subspace methods are used to achieve sound source localization while suppressing environmental noise.

[0007] In one possible embodiment, in step 1, the acoustic vector scalar fusion acoustic array has a total of One sensor, including A sound vector sensor that simultaneously measures three-dimensional sound vectors and scalars. A scalar sensor is used to establish a Cartesian coordinate system that satisfies the right-hand rule, with the acoustic array reference point as the origin. The sound source is determined by the direction angle. Incident on the acoustic array The azimuth angle is the line pointing in the direction of the sound source incident on the horizontal plane. The projection lines inside and The included angle of the axis, The pitch angle is the angle between the line containing the incident direction of the sound source and the vertical axis. The included angle of the axis; The far-field signal receiving model of the acoustic vector scalar fusion array is expressed as follows: (1) In equation (1), Let be the directivity function of the acoustic vector sensor, then (2) In equation (2), For the density of the medium, The speed of sound in the medium; In equation (1), the array element delay is: (3) In equation (1), for Metasonic vector scalar fusion acoustic array The received signal vector of the dimensional matrix, For the incident signal, For signals that are not related dimensional noise vector, For acoustic vector scalar fusion acoustic array 3D array manifold, This refers to the number of snapshots; for Directional incident source and the first The time delay difference of each array element For the first The coordinates of each array element.

[0008] According to this receiving model, It is a linear combination of the sound pressure channel signals of each element of the acoustic vector scalar fusion acoustic array and the particle velocity vector channel signals. The particle velocity vector channel meets the requirements of traditional array signal processing.

[0009] In one possible embodiment, the specific process of obtaining the sound pressure signal expression in step 2 includes: For a sound vector sensor, the observation direction is assumed to be... ,make (4) In equation (4), To observe the azimuth angle, the line containing the observation direction must lie on the horizontal plane. The projection lines inside and The included angle of the axis, To observe the pitch angle, the line containing the observation direction intersects the vertical axis. The included angle of the axis; The projection of the particle velocity vector is (5) In equation (5), ; when, When, it is calculated by equation (5) Particle velocity after directional spatial filtering Thus, the first The expression for the sound pressure signal after spatial filtering by the acoustic vector sensor is: (6) In equation (6), For the i-th acoustic vector sensor in the observation direction Background noise signal after spatial filtering.

[0010] In one possible embodiment, the far-field signal receiving model of the acoustic vector scalar fusion acoustic array is transformed into an observation direction consisting entirely of sound pressure signals. The signal reception model, namely (7) In equation (7), Observation direction Uncorrelated with the signal dimensional noise vector, Observation direction acoustic vector scalar fusion acoustic array 3D array manifold.

[0011] Observation direction Next Channel delay has (8).

[0012] In one possible embodiment, the method for sound source localization using beamforming in step 3 includes: When conventional beamforming (CBF) is used for sound source localization, the sum of the observation direction delays yields the following: (9) In equation (9), For Frobenius norm, superscript Let represent the conjugate transpose of a matrix, and have . (10) In equation (10), the superscript This indicates the matrix transpose.

[0013] By performing spatial filtering and delayed summation beamforming on acoustic vector sensor array elements in different observation directions, sound source localization can be achieved while suppressing environmental noise.

[0014] In one possible embodiment, the method for sound source localization using beamforming in step 3 includes: The sound source is located using the Minimum Variance Distortionless Response (MVDR) beamforming method, where the observation direction has... (11) In equation (11), The sampling covariance matrix is ​​given by the superscript "-1" which indicates the generalized inverse of the matrix, and has the following properties. (12) By performing spatial filtering of acoustic vector sensor array elements in different observation directions and then performing minimum variance distortion-free beamforming, sound source localization can be achieved while suppressing environmental noise.

[0015] In one possible embodiment, the method for sound source localization using the subspace method in step 3 includes: Sound source localization is performed using the Multiple Signal Classification (MUSIC) method, where the observation directions include... (13) In equation (13), Let R be the noise subspace of the sampling covariance matrix R, and (14) In equation (14), The signal subspace matrix is ​​the sampled covariance matrix R. It is the eigenvalue matrix; By performing spatial filtering of the acoustic vector sensor array elements in different observation directions and then employing a multi-signal subspace classification method, sound source localization can be achieved while suppressing environmental noise.

[0016] According to a second aspect of the present invention, an aircraft sound source localization device based on a sound vector scalar fusion acoustic array is proposed to implement the aforementioned aircraft sound source localization method based on a sound vector scalar fusion acoustic array. The device includes a sound vector sensor that simultaneously measures three-dimensional sound vectors and sound pressure scalars, a sound pressure scalar microphone, a far-field signal receiving model construction module, a sound vector scalar fusion module, and a sound source localization module. The sound vector sensor and sound pressure scalar microphone, which simultaneously measure three-dimensional sound vectors and sound pressure scalars, form a sound vector scalar fusion acoustic array for measuring the sound signal emitted by the target aircraft sound source. The far-field signal receiving model... The model construction module receives acoustic signals and establishes a far-field signal receiving model of the acoustic vector scalar fusion acoustic array. The acoustic vector scalar fusion module projects the acoustic vector signals of the acoustic vector scalar fusion acoustic array onto the observation direction to obtain the sound pressure signal expression after spatial filtering by the acoustic vector sensor. Based on this, the receiving signal model of the acoustic vector scalar fusion acoustic array is transformed into a receiving signal model of the observation direction consisting entirely of sound pressure signals. The sound source localization module uses the signal receiving models under different observation directions to calculate the array output using beamforming methods or subspace-based methods, thereby achieving sound source localization while suppressing environmental noise.

[0017] According to a third aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform the above-described method for locating aircraft sound sources based on a sound vector scalar fusion acoustic array.

[0018] According to a fourth aspect of the present invention, a computer program product is provided, the computer program product comprising computer program code, which, when run on an electronic device, causes the electronic device to execute the above-described method for locating aircraft sound sources based on a sound vector scalar fusion acoustic array.

[0019] The beneficial effects of this invention are: This invention provides a method for locating aircraft sound sources based on an acoustic vector scalar fusion acoustic array. By employing an acoustic vector scalar fusion acoustic array for far-field acoustic signal measurement of the aircraft, the acoustic vector sensor can simultaneously perform three-dimensional particle velocity and sound pressure scalar measurements at a single spatial measurement point, obtaining richer sound field information, increasing the dimensionality of the acoustic array signal, and improving the performance of the acoustic array under the same parameters. By pre-treating the acoustic vector sensor with acoustic energy flow beamforming, the acoustic signal in a specified direction can be extracted without distortion across the entire frequency band, improving the signal-to-noise ratio of the array's received signal while preserving the time delay relationship between array elements, thereby enhancing the acoustic array performance. The acoustic vector scalar fusion array can reduce the main lobe width of low-frequency signals, improving the spatial resolution of low-frequency signal source location. Through acoustic array design and experimental design, the acoustic array aperture and the number of array elements can be reduced while achieving relatively better performance, thus lowering the acoustic array cost and improving experimental efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A sound source localization model based on acoustic vector scalar fusion acoustic array is provided as a preferred embodiment of the present invention; Figure 2 The preferred embodiment of the present invention provides the implementation steps of an aircraft sound source localization method based on acoustic vector scalar fusion acoustic array; Figure 3A The spatial spectrum of the CBF method based on sound pressure scalar acoustic array; Figure 3B The spatial spectrum is the CBF method based on acoustic vector scalar fusion acoustic array. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0024] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0026] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0028] The acoustic signals radiated by aircraft during flight are complex and exhibit certain broadband characteristics. Traditional acoustic arrays based on sound pressure scalars are limited by the Rayleigh limit in their resolving power. Refined analysis of mid- and low-frequency sound sources and their spatial localization require sufficiently large array apertures and a large number of elements, leading to high array complexity, large setup areas for flight tests, and long test cycles. Under limited resources, sound source localization accuracy is low, costs are high, and the process is lengthy. To address this, this disclosure proposes an aircraft sound source localization method based on a sound vector scalar fusion acoustic array. This method extends beamforming methods to sound vector scalar fusion arrays, reducing the main lobe width of low-frequency signals, improving the spatial resolution of low-frequency signal source localization, reducing the array aperture and the number of elements, thereby lowering array costs and improving test efficiency.

[0029] Figure 1 This disclosure provides a sound source localization model based on acoustic vector scalar fusion acoustic arrays. A Cartesian coordinate system satisfying the right-hand rule is established with the acoustic array reference point as the origin. The sound source is determined by the direction angle. Incident on the acoustic array The azimuth angle is the line pointing in the direction of the sound source incident on the horizontal plane. The projection lines inside and The included angle of the axis, The pitch angle is the angle between the line containing the incident direction of the sound source and the vertical axis. The included angle of the axis.

[0030] Figure 2 The present disclosure provides implementation steps for an aircraft sound source localization method based on acoustic vector scalar fusion acoustic array.

[0031] Example 1 First, an acoustic vector scalar fusion acoustic array is constructed using an acoustic vector sensor that simultaneously measures three-dimensional acoustic vectors and acoustic pressure scalars, and an acoustic pressure scalar microphone. The acoustic signal emitted by the target aircraft's sound source is measured, and a far-field signal receiving model of the acoustic vector scalar fusion acoustic array is established.

[0032] Assuming the acoustic vector scalar fusion acoustic array has a total of One sensor, of which A sound vector sensor that simultaneously measures three-dimensional sound vectors and scalars. A scalar sensor is used to establish a Cartesian coordinate system that satisfies the right-hand rule, with the acoustic array reference point as the origin. The sound source is determined by the direction angle. Incident on the acoustic array The azimuth angle is the line pointing in the direction of the sound source incident on the horizontal plane. The projection lines inside and The included angle of the axis, The pitch angle is the angle between the line containing the incident direction of the sound source and the vertical axis. The angle between the axes. Then... The far-field signal receiving model of the meta-vector scalar fused acoustic array is expressed as follows: (1) In equation (1), Let be the directivity function of the acoustic vector sensor, then (2) In equation (2), For the density of the medium, The speed of sound in the medium.

[0033] In equation (1), the array element delay is: (3) In equation (1), for Metasonic vector scalar fusion acoustic array The received signal vector of the dimensional matrix, For the incident signal, For signals that are not related dimensional noise vector, For acoustic vector scalar fusion acoustic array 3D array manifold, This represents the number of snapshots. for Directional incident source and the first The time delay difference of each array element For the first The coordinates of each array element. Based on this receiving model, it can be seen that... It is a linear combination of the sound pressure channel signals of each element of the acoustic vector scalar fusion acoustic array and the particle velocity vector channel signals. The particle velocity vector channel meets the requirements of traditional array signal processing.

[0034] Secondly, the acoustic vector signal of the acoustic vector scalar fusion acoustic array is projected onto the observation direction to obtain the expression of the acoustic pressure signal after spatial filtering by the acoustic vector sensor. Based on this, the receiving signal model of the acoustic vector scalar fusion acoustic array is transformed into a receiving signal model of the observation direction consisting entirely of acoustic pressure signals.

[0035] For a sound vector sensor, the observation direction is assumed to be... ,make (4) In equation (4), To observe the azimuth angle, the line containing the observation direction must lie on the horizontal plane. The projection lines inside and The included angle of the axis, To observe the pitch angle, the line containing the observation direction intersects the vertical axis. The included angle of the axis; The projection of the particle velocity vector is (5) In equation (5), ; when, When, it is calculated by equation (5) Particle velocity after directional spatial filtering Thus, the first The expression for the sound pressure signal after spatial filtering by the acoustic vector sensor is: (6) In equation (6), For the i-th acoustic vector sensor in the observation direction Background noise signal after spatial filtering.

[0036] The far-field signal receiving model of the acoustic vector scalar fusion acoustic array is transformed into an observation direction consisting entirely of sound pressure signals. The signal reception model, namely (7) In equation (7), Observation direction Uncorrelated with the signal dimensional noise vector, Observation direction acoustic vector scalar fusion acoustic array 3D array manifold.

[0037] Observation direction Next Channel delay has (8) Finally, beamforming is performed using signal receiving models under different observation directions, which can achieve sound source localization while suppressing environmental noise.

[0038] Sound source localization is performed using beamforming (BF) methods. Taking conventional beamforming (CBF) as an example, the summation of the delays in the observation directions yields the following results: (9) In equation (9), For Frobenius norm, superscript Let represent the conjugate transpose of a matrix, and have . (10) In equation (10), the superscript This indicates the matrix transpose.

[0039] By performing spatial filtering and delayed summation beamforming on acoustic vector sensor array elements in different observation directions, sound source localization can be achieved while suppressing environmental noise.

[0040] Example 2 The sound source is located using the Minimum Variance Distortionless Response (MVDR) beamforming method, where the observation direction has... (11) In equation (11), The sampling covariance matrix is ​​given by the superscript "-1" which indicates the generalized inverse of the matrix, and has the following properties. (12) By performing spatial filtering of acoustic vector sensor array elements in different observation directions and then performing minimum variance distortion-free beamforming, sound source localization can be achieved while suppressing environmental noise.

[0041] Example 3 Sound source localization is performed using the Multiple Signal Classification (MUSIC) method, where the observation directions include... (13) In equation (13), Let R be the noise subspace of the sampling covariance matrix R, and (14) In equation (14), The signal subspace matrix is ​​the sampled covariance matrix R. It is the eigenvalue matrix; By performing spatial filtering of the acoustic vector sensor array elements in different observation directions and then employing a multi-signal subspace classification method, sound source localization can be achieved while suppressing environmental noise.

[0042] Figure 3A and Figure 3B The spatial spectra of the CBF method based on sound pressure scalar acoustic array and the spatial spectra of the CBF method based on sound vector scalar fusion acoustic array are shown. In this case, there are two sound sources emitting sound incoherently. The sound pressure scalar acoustic array and the sound vector scalar fusion acoustic array have the same number of array elements and the same array aperture. It can be seen that the sound vector scalar fusion acoustic array has better spatial resolution.

[0043] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A method for locating aircraft sound sources based on acoustic vector scalar fusion acoustic arrays, characterized in that, The method includes: Step 1: Construct a sound vector scalar fusion sound array using a sound vector sensor that simultaneously measures three-dimensional sound vectors and sound pressure scalars, and a sound pressure scalar microphone. Measure the sound signal emitted by the target aircraft's sound source and establish a far-field signal receiving model for the sound vector scalar fusion sound array. Step 2: Project the acoustic vector signal of the acoustic vector scalar fusion acoustic array onto the observation direction to obtain the expression of the acoustic pressure signal after spatial filtering by the acoustic vector sensor. Based on the acoustic pressure signal expression, transform the receiving signal model of the acoustic vector scalar fusion acoustic array into a receiving signal model of the observation direction consisting entirely of acoustic pressure signals. Step 3: For signal receiving models under different observation directions, beamforming or subspace methods are used to achieve sound source localization while suppressing environmental noise.

2. The method according to claim 1, characterized in that, In step 1, the acoustic vector scalar fusion acoustic array has a total of One sensor, including A sound vector sensor that simultaneously measures three-dimensional sound vectors and scalars. A scalar sensor is used to establish a Cartesian coordinate system that satisfies the right-hand rule, with the acoustic array reference point as the origin. The sound source is determined by the direction angle. Incident on the acoustic array The azimuth angle is the line pointing in the direction of the sound source incident on the horizontal plane. The projection lines inside and The included angle of the axis, The pitch angle is the angle between the line containing the incident direction of the sound source and the vertical axis. The included angle of the axis; The far-field signal receiving model of the acoustic vector scalar fusion array is expressed as: (1) In equation (1), Let be the directivity function of the acoustic vector sensor, then (2) In equation (2), For the density of the medium, The speed of sound in the medium; In equation (1), the array element delay is: (3) In equation (1), for Metasonic vector scalar fusion acoustic array The received signal vector of the dimensional matrix, For the incident signal, For signals that are not related dimensional noise vector, For acoustic vector scalar fusion acoustic array 3D array manifold, This refers to the number of snapshots; for Directional incident source and the first The time delay difference of each array element For the first The coordinates of each array element.

3. The method according to claim 1, characterized in that, In step 2, the specific process of obtaining the sound pressure signal expression includes: For a sound vector sensor, the observation direction is assumed to be... ,make (4) In equation (4), To observe the azimuth angle, the line containing the observation direction must lie on the horizontal plane. The projection lines inside and The included angle of the axis, To observe the pitch angle, the line containing the observation direction intersects the vertical axis. The included angle of the axis; The projection of the particle velocity vector is (5) In equation (5), ; when, When, it is calculated by equation (5) Particle velocity after directional spatial filtering Thus, the first The expression for the sound pressure signal after spatial filtering by the acoustic vector sensor is: (6) In equation (6), For the i-th acoustic vector sensor in the observation direction Background noise signal after spatial filtering.

4. The method according to claim 1, characterized in that, The far-field signal receiving model of the acoustic vector scalar fusion acoustic array is transformed into an observation direction consisting entirely of sound pressure signals. The signal reception model, namely (7) In equation (7), Observation direction Uncorrelated with the signal dimensional noise vector, Observation direction acoustic vector scalar fusion acoustic array 3D array manifold; Observation direction Next Channel delay has (8)。 5. The method according to claim 1, wherein in step 3, the method for locating the sound source using beamforming includes: When conventional beamforming (CBF) is used for sound source localization, the sum of the observation direction delays yields the following: (9) In equation (9), For Frobenius norm, superscript Let represent the conjugate transpose of a matrix, and have . (10) In equation (10), the superscript Indicates matrix transpose; By performing spatial filtering and delayed summation beamforming on acoustic vector sensor array elements in different observation directions, sound source localization can be achieved while suppressing environmental noise.

6. The method according to claim 1, wherein in step 3, the method for locating the sound source using beamforming includes: Sound source localization is performed using the minimum variance distortion-free beamforming method, where the observation direction has (11) In equation (11), The sampled covariance matrix is ​​given by the superscript "-1" indicating the generalized inverse of the matrix, and has the following properties: (12) By performing spatial filtering of acoustic vector sensor array elements in different observation directions and then performing minimum variance distortion-free beamforming, sound source localization can be achieved while suppressing environmental noise.

7. The method according to claim 1, wherein in step 3, the method for sound source localization using a subspace method includes: Sound source localization is performed using a multiple signal subspace classification method, where the observation direction has (13) In equation (13), Let R be the noise subspace of the sampling covariance matrix R, and (14) In equation (14), The signal subspace matrix is ​​the sampled covariance matrix R. It is the eigenvalue matrix; By performing spatial filtering of the acoustic vector sensor array elements in different observation directions and then employing a multi-signal subspace classification method, sound source localization can be achieved while suppressing environmental noise.

8. A device for locating aircraft sound sources based on a sound vector scalar fusion acoustic array, characterized in that, A method for locating an aircraft sound source based on a scalar acoustic vector fusion array, as described in any one of claims 1-7, comprises an acoustic vector sensor that simultaneously measures three-dimensional acoustic vectors and sound pressure scalars, a sound pressure scalar microphone, a far-field signal receiving model construction module, an acoustic vector scalar fusion module, and a sound source localization module; the acoustic vector sensor and sound pressure scalar microphone that simultaneously measure three-dimensional acoustic vectors and sound pressure scalars form an acoustic vector scalar fusion array, used to measure the acoustic signal emitted by the target aircraft sound source; the far-field signal receiving model construction module receives the acoustic signal and establishes a far-field signal receiving model of the acoustic vector scalar fusion array; The acoustic vector scalar fusion module projects the acoustic vector signal of the acoustic vector fusion array onto the observation direction to obtain the sound pressure signal expression after spatial filtering by the acoustic vector sensor. Based on this, the received signal model of the acoustic vector scalar fusion array is transformed into a received signal model of the observation direction consisting entirely of sound pressure signals. The sound source localization module uses the signal receiving model under different observation directions to calculate the array output using beamforming methods or subspace-based methods, thereby achieving sound source localization while suppressing environmental noise.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes computer instructions that, when executed on an electronic device, cause the electronic device to perform the aircraft sound source localization method based on acoustic vector scalar fusion acoustic array as described in any one of claims 1-7.

10. A computer program product, characterized in that, The computer program product includes computer program code, which, when run on an electronic device, causes the electronic device to execute the aircraft sound source localization method based on acoustic vector scalar fusion acoustic array as described in any one of claims 1-7.

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