CN102890267A - Microphone array structure alterable low-elevation target locating and tracking system - Google Patents
Microphone array structure alterable low-elevation target locating and tracking system Download PDFInfo
- Publication number
- CN102890267A CN102890267A CN2012103482350A CN201210348235A CN102890267A CN 102890267 A CN102890267 A CN 102890267A CN 2012103482350 A CN2012103482350 A CN 2012103482350A CN 201210348235 A CN201210348235 A CN 201210348235A CN 102890267 A CN102890267 A CN 102890267A
- Authority
- CN
- China
- Prior art keywords
- target
- microphone array
- microphone
- array
- node
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Circuit For Audible Band Transducer (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a microphone array structure alterable low-elevation target locating and tracking system which comprises a plurality of microphone array nodes within a monitoring area, wherein the microphone array nodes are communicated with a monitoring center and used for collecting voice signals in the monitoring area, analyzing the target voice signals once a target is detected so as to acquire the estimated direction of arrival of the target, and uploading an estimation result to the monitoring center; and the monitoring center is used for fusing the data uploaded from the plurality of the microphone array nodes so as to acquire the position information of the target. According to the invention, the target appearing in the monitoring area can be located and tracked, so that the low-elevation target can be monitored and managed in real time.
Description
Technical field
The present invention relates to tracking technique field, low target location, particularly relate to a kind of low target location and tracker of microphone array structurally variable.
Background technology
Along with opening gradually of China's low altitude airspace, China progressively accelerates in the development in General Aviation field, and Chinese Forecast For Commercial Transport Market will present a kind of situation of blowout.Yet the flight of aircraft can be subject to restriction and the impact of factors, in order to keep the flight order, guarantee flight safety, air traffic control service want routed, avoid all kinds of aircrafts to bump against aloft or with the accident generation such as ground obstacle (such as the hilltop, high-rise etc.) collisions.Therefore ensure that flight safety is an important subject in present General Aviation field.Simultaneously, the low altitude airspace opening also helps the air rescue system of setting up.Because the less complex-terrain that is subjected to of common aero vehicle affects, and has various unique operation means, is bringing into play irreplaceable significant role in various rescue and relief works.In addition, General Aviation has very widely purposes at aspects such as medical aid, control of desert, oil exploitation, electric system construction maintenance, telemetry, public security in cities.The location of low target and tracking problem have become the open rear General Aviation field of low altitude airspace matter of utmost importance in the urgent need to address.
At present, China's airspace management monitoring means mainly relies on radar system, but owing to be subject to the impact of earth curvature and radar electromagnetism condition, there is the monitoring blind area in the radar observation system, especially not enough to the performance of the detectivity of low target at medium-long range, though present stage the multistatic radar system studied or the monitoring system that combines with ground radar of multi-section high-altitude radar can not eliminate the lower space of silence fully; Also there is complex structure in the Large Radar monitoring system, and logistics support requires high, is difficult to satisfy fast, moves the condition restriction such as laying.With radar detection relatively, the characteristics such as acoustic sounding has non-blind area, omnirange, the Support requirement is low, work impact low in energy consumption, that be subjected to topography and geomorphology is little.Although the altitude range of General Aviation activity is more extensive, main height is all in relative height below 3000 meters, and these zones all belong to the near-earth low latitude that the acoustic detection ability is strong, the radar detection ability is weak.
Summary of the invention
Technical matters to be solved by this invention provides a kind of low target location and tracker of microphone array structurally variable, realizing location and the tracking to the target that occurs in the guarded region, thereby realizes the Real-time Monitor Management to low target.
The technical solution adopted for the present invention to solve the technical problems is: low target location and tracker that a kind of microphone array structurally variable is provided, comprise a plurality of microphone array nodes that are arranged in the guarded region, described microphone array node realizes that with Surveillance center communication is connected, described transaudient array node is used for the voice signal in the acquisition monitoring zone, in case after detecting target, the target sound signal is carried out the direction of arrival estimation that analyzing and processing obtains target, and estimated result is uploaded to described Surveillance center; Described Surveillance center is used for the uploading data of a plurality of microphone array nodes is carried out fusion treatment, obtains the positional information of target.
Described microphone array node comprises front end microphone array probe portion and node data processing section; Described front end microphone array probe portion is used for the voice signal in the acquisition monitoring zone; The voice signal that described node data processing section is used for described front end microphone array probe portion is collected carries out analyzing and processing.
Described front end microphone array probe portion is comprised of a plurality of front end list microphone structures that are arranged in array; Described front end list microphone construction comprises microphone, the first telescopic rod, the second telescopic rod, fixed bar, data acquisition unit and three-legged support; Described three-legged support is provided with fixed bar, and described fixed bar inner sleeve has the first telescopic rod, and described the first telescopic rod inner sleeve has the second telescopic rod, on described the second telescopic rod described microphone is installed; On the described three-legged support data acquisition unit is installed, described data acquisition unit links to each other with described microphone.
Described node data processing section comprises the first central processing unit, the second central processing unit, signal acquisition module, GPS locating module, electronic compass and wireless communication module; Described signal acquisition module be used for to gather the sound signal data that front end microphone array probe portion collects, and to sound signal data amplify, filtering; Described the second central processing unit is for the treatment of through the sound signal data after the amplification filtering, and the result is sent to described the first central processing unit; Described locating module is used for receiving satellite signal the microphone array node of laying is at random positioned; Described electronic compass provides reference direction according to the result who decides the arctic for the microphone array node; The data analysis that described the first central processing unit obtains according to described the second central processing unit, locating module and electronic compass is processed the direction of arrival that obtains target and is estimated; Described communication module is used for the direction of arrival estimated result of target is sent to Surveillance center.
Described the first central processing unit also carries out algorithm of target detection to sound signal data, judges whether to carry out direction of arrival according to the algorithm of target detection result and estimates.
Described algorithm of target detection has adopted the various features joint-detection, and feature mainly comprises energy, zero-crossing rate, power spectrum.
Described the first central processing unit has adopted the virtual array method for designing, use first Khatri-Rao to amass former array extension is become on the circular array, use the algorithm of approximate maximal possibility estimation to obtain the array direction of arrival at circular array, the frequency-region signal of the variable that is about to observe is regarded the multidimensional random vector that meets normal distribution as, by the probability distribution function of calculating observation variable, obtain the maximal possibility estimation of observed reading.
Motion state parameters according to the acoustic signals measurement of azimuth sequence estimation current goal that provides target, under the nonlinear environment of non-Gauss, finish the process of Bayes's filtering with particle filter, adopt a series of stochastic sampling points to be similar to the posterior probability density of dbjective state vector, thereby replace the integral and calculating of Bayes's filtering to obtain direction of arrival estimated state estimated value with sample average.
Described particle filter is the gaussian filtering mode, is divided into measuring upgrading and two stages of renewal time, adopts the more method of new particle Gaussian Distribution Parameters in the particle renewal process.
Described Surveillance center is used for receiving the data that a plurality of microphone array nodes are uploaded, utilize the mode that the multisensor array nodal information merges that target is carried out preliminary location according to the microphone array node to the estimated result of target direction of arrival, and by the location recycling Multiple Models Algorithm of target initial position target is followed the tracks of.
Beneficial effect
Owing to adopted above-mentioned technical scheme, the present invention compared with prior art, have following advantage and good effect: the present invention utilizes the adjustable convenience of microphone array array structure, form different array formats, be convenient to carry out the array structure adjustment according to environmental parameter, target property, obtain the best monitoring result to low target.Each microphone array node is uploaded the azimuth information of target in real time, carries out use processing in monitoring center, obtains the positional information of target, realizes location and tracking to target.The present invention can remedy the deficiency of radar system well, as the safety guarantee means of low dummy section civil aircraft, and the auxiliary safety management of finishing air traffic.
Description of drawings
Fig. 1 is system architecture synoptic diagram of the present invention;
Fig. 2 is front end list microphone structural representation among the present invention;
Fig. 3 is node data processing section structural representation among the present invention;
Fig. 4 is based on the long-pending approximate maximal possibility estimation algorithm of Khatri-Rao and directly uses approximate maximal possibility estimation algorithm about the graph of a relation of resolution and signal to noise ratio (S/N ratio);
Fig. 5 is based on the target tracking algorism analogous diagram that DOA estimates;
Fig. 6 is microphone array node workflow diagram;
Fig. 7 is Surveillance center's workflow diagram.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used for explanation the present invention and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.
Embodiments of the present invention relate to a kind of low target location and tracker of microphone array structurally variable, as shown in Figure 1, comprise a plurality of microphone array nodes that are arranged in the guarded region, described microphone array node realizes that with Surveillance center communication is connected, described transaudient array node is used for the voice signal in the acquisition monitoring zone, in case after detecting target, the target sound signal is carried out the direction of arrival estimation that analyzing and processing obtains target, and estimated result is uploaded to described Surveillance center; Described Surveillance center is used for the uploading data of a plurality of microphone array nodes is carried out fusion treatment, obtains the positional information of target.Wherein, described microphone array node comprises front end microphone array probe portion and node data processing section; Described front end microphone array probe portion is used for the voice signal in the acquisition monitoring zone; The voice signal that described node data processing section is used for described front end microphone array probe portion is collected carries out analyzing and processing.
Described front end microphone array probe portion is comprised of a plurality of front end list microphone structures that are arranged in array.As shown in Figure 2, described front end list microphone construction comprises microphone 1, the first telescopic rod 3, the second telescopic rod 2, fixed bar 4, data acquisition unit 6 and three-legged support 5; Described three-legged support 5 is provided with fixed bar 4, and described fixed bar 4 inner sleeves have the first telescopic rod 3, and described the first telescopic rod 3 inner sleeves have the second telescopic rod 2, on described the second telescopic rod 2 described microphone 1 are installed; On the described three-legged support 5 data acquisition unit 6 is installed, described data acquisition unit 6 links to each other with described microphone 1.Wherein, the first telescopic rod 3 and the second telescopic rod 2 can stretch out in working order the time, and height can be regulated as requested, can take in during off working state and enter the fixed bar part, has greatly dwindled equipment volume.Data acquisition unit is responsible for the voice data in the acquisition monitoring zone.Each microphone is fixed on the three-legged support, and this three-legged support also can be adjusted angle and height with site contour, reduces parking space thereby can merge when off working state.This front end list microphone construction also possesses waterproof and dustproof lamp characteristics, has all adopted the water-proofing treatment means between microphone and the second telescopic rod, the second telescopic rod and the first telescopic rod, the first telescopic rod and the fixed bar, and coupling ratio is tightr.
Front end microphone array probe portion is comprised of a plurality of front end list microphone structures as shown in Figure 2, and can form multi-form array by the requirement of environment and monitoring objective.Front end list microphone structural design is taked scalable mode, so that this structure is easy to take in, in use three-legged support is launched, and microphone expansion link and three-legged support can be taken in when not using, and reduces array and takes up room.Simultaneously, because microphone is fixed on the support, can guarantee the fixing of microphone position, can not be subjected to the relative position between the external environment factor affecting microphone array, thereby can minimize the evaluated error that is caused by microphone position.The data line of microphone and power lead all design adopt unified data-interface to connect in inside configuration.When data acquisition, to the voice data sampling of a plurality of microphone passages, guarantee data collection synchronous between the microphone array node simultaneously.
As shown in Figure 3, described node data processing section comprises the first central processing unit, the second central processing unit, signal acquisition module, GPS locating module, electronic compass, wireless communication module, power module; Described signal acquisition module be used for to gather the sound signal data that front end microphone array probe portion collects, and to sound signal data amplify, filtering; Described the second central processing unit is for the treatment of through the sound signal data after the amplification filtering, and the result is sent to described the first central processing unit; Described locating module is used for receiving satellite signal the microphone array node of laying is at random positioned; Described electronic compass provides reference direction according to the result who decides the arctic for the microphone array node; The data analysis that described the first central processing unit obtains according to described the second central processing unit, locating module and electronic compass is processed the direction of arrival that obtains target and is estimated; Described communication module is used for the direction of arrival estimated result of target is sent to Surveillance center; Described power module is given above-mentioned modules power supply.Wherein, described the first central processing unit also carries out algorithm of target detection to sound signal data, judging whether to carry out direction of arrival according to the algorithm of target detection result estimates, thereby make node realize the purpose of low-power consumption, described algorithm of target detection has adopted the various features joint-detection, and feature mainly comprises energy, zero-crossing rate, power spectrum.
DOA estimation algorithm has adopted the virtual array method for designing in the first central processing unit, use first Khatri-Rao to amass former array extension is become on the new circular array, use the algorithm of approximate maximal possibility estimation at new array, the frequency-region signal of the variable that is about to observe is regarded the multidimensional random vector that meets normal distribution as, probability distribution function by the calculating observation variable, obtain the maximal possibility estimation of observed reading, namely the direction of arrival of array is estimated.After the process expansion of virtual array, the resolution of this array is greatly enhanced.And than low signal-to-noise ratio the time, present more excellent performance than spatial spectral estimation algorithm by the direction of arrival that maximal possibility estimation obtains, and be applicable to fast umber of beats situation seldom.See Fig. 4 based on approximate maximal possibility estimation algorithm and the direct resolution of approximate maximal possibility estimation algorithm and the graph of a relation of signal to noise ratio (S/N ratio) of using that Khatri-Rao is long-pending, under matlab2010b, finish emulation, fast umber of beats is 1000, the true angle of two signal sources is 10 degree and 12 degree, if estimate the absolute error of each the direction of arrival value obtain and true angle less than 1 degree, think that then two angles can divide.As can be seen from Figure 4, after long-pending method was processed through Khatri-Rao, resolution can obviously improve.
As shown in Figure 5, track algorithm of the present invention is based on the pure orientation tracking problem of acoustic array, utilizes DOA estimation algorithm to provide the motion state parameters of the acoustic signals measurement of azimuth sequence estimation current goal of target.Target following based on microphone array is a typical Nonlinear Filtering Problem, under the nonlinear environment of non-Gauss, finish the process of Bayes's filtering with particle filter, adopt a series of stochastic sampling points to be similar to the posterior probability density of dbjective state vector, thereby replace the integral and calculating of Bayes's filtering to obtain the state estimation value with sample average.The present invention adopts a kind of method of Gaussian particle filtering on the basis of particle filter, algorithm is divided into two stages: measure and upgrade and the time renewal.This algorithm obtains the particle collection by Gaussian density function is sampled, thereby has avoided the exhaustion of particle in communication process, and then has saved the resampling step.In the particle renewal process, the usefulness more method of new particle Gaussian Distribution Parameters replaces the one by one direct more method of new particle, takes into full account the measurement of current time, and distribution of particles is distributed near the posterior probability of dbjective state vector more.
Monitoring center comprises supervisory control comuter, remote communication interface module.The remote communication interface module is connected with supervisory control comuter by the RS232 interface on the one hand, and supervisory control comuter is handed down to each respective nodes to the instruction of node; Be connected with node by communication on the other hand, the data processed result of node is sent to supervisory control comuter.Described Surveillance center is used for receiving the data that a plurality of microphone array nodes are uploaded, utilize the mode that the multisensor array nodal information merges that target is carried out preliminary location according to the microphone array node to the estimated result of target direction of arrival, and the recycling Multiple Models Algorithm of the location by the target initial position follows the tracks of target, at last the form of tracking results with figure shown.
As shown in Figure 6, the workflow diagram of microphone array node in the low target of microphone array structurally variable of the present invention location and the tracker, concrete steps are as follows:
A) the microphone array node starts;
B) microphone array node collected sound signal;
C) carry out target detection according to signal;
If the discovery target is then carried out signal analysis and processing, i.e. the DOA(direction of arrival) estimate that the microphone array node is uploaded signal processing results to Surveillance center.
As shown in Figure 7, Surveillance center's functional flow diagram in the low target of microphone array structurally variable of the present invention location and the tracker, concrete steps are as follows:
A) Surveillance center starts;
B) supervisory control comuter and node connect by communication;
C) Surveillance center receives the monitoring node log-on message, and registers ID number and geographic position of each node;
D) data such as signal processing results of monitoring center's receiving node transmission, and operation location, track algorithm;
E) supervisory control comuter shows sensing data, node ID, node geographic position, target locating result with the form of literal, figure.
Be not difficult to find that the present invention utilizes the adjustable convenience of microphone array array structure, forms different array formats, be convenient to carry out the array structure adjustment according to environmental parameter, target property, obtain the best monitoring result to low target.Each microphone array node is uploaded the azimuth information of target in real time, carries out use processing in monitoring center, obtains the positional information of target, realizes location and tracking to target.The present invention can remedy the deficiency of radar system well, as the safety guarantee means of low dummy section civil aircraft, and the auxiliary safety management of finishing air traffic.
Claims (10)
1. the low target of a microphone array structurally variable is located and tracker, comprise a plurality of microphone array nodes that are arranged in the guarded region, described microphone array node realizes that with Surveillance center communication is connected, it is characterized in that, described transaudient array node is used for the voice signal in the acquisition monitoring zone, in case after detecting target, the target sound signal is carried out the direction of arrival estimation that analyzing and processing obtains target, and estimated result is uploaded to described Surveillance center; Described Surveillance center is used for the uploading data of a plurality of microphone array nodes is carried out fusion treatment, obtains the positional information of target.
2. the low target of microphone array structurally variable according to claim 1 location and tracker is characterized in that described microphone array node comprises front end microphone array probe portion and node data processing section; Described front end microphone array probe portion is used for the voice signal in the acquisition monitoring zone; The voice signal that described node data processing section is used for described front end microphone array probe portion is collected carries out analyzing and processing.
3. the low target of microphone array structurally variable according to claim 2 location and tracker is characterized in that described front end microphone array probe portion is comprised of a plurality of front end list microphone structures that are arranged in array; Described front end list microphone construction comprises microphone, the first telescopic rod, the second telescopic rod, fixed bar, data acquisition unit and three-legged support; Described three-legged support is provided with fixed bar, and described fixed bar inner sleeve has the first telescopic rod, and described the first telescopic rod inner sleeve has the second telescopic rod, on described the second telescopic rod described microphone is installed; On the described three-legged support data acquisition unit is installed, described data acquisition unit links to each other with described microphone.
4. the low target of microphone array structurally variable according to claim 2 is located and tracker, it is characterized in that described node data processing section comprises the first central processing unit, the second central processing unit, signal acquisition module, GPS locating module, electronic compass and wireless communication module; Described signal acquisition module be used for to gather the sound signal data that front end microphone array probe portion collects, and to sound signal data amplify, filtering; Described the second central processing unit is for the treatment of through the sound signal data after the amplification filtering, and the result is sent to described the first central processing unit; Described locating module is used for receiving satellite signal the microphone array node of laying is at random positioned; Described electronic compass provides reference direction according to the result who decides the arctic for the microphone array node; The data analysis that described the first central processing unit obtains according to described the second central processing unit, locating module and electronic compass is processed the direction of arrival that obtains target and is estimated; Described communication module is used for the direction of arrival estimated result of target is sent to Surveillance center.
5. the low target of microphone array structurally variable according to claim 4 is located and tracker, it is characterized in that, described the first central processing unit also carries out algorithm of target detection to sound signal data, judges whether to carry out direction of arrival according to the algorithm of target detection result and estimates.
6. the low target of microphone array structurally variable according to claim 5 location and tracker is characterized in that described algorithm of target detection has adopted the various features joint-detection, and feature mainly comprises energy, zero-crossing rate, power spectrum.
7. the low target of the described microphone array structurally variable of arbitrary claim location and tracker according to claim 4-6, it is characterized in that, described the first central processing unit has adopted the virtual array method for designing, use first Khatri-Rao to amass former array extension is become on the circular array, use the algorithm of approximate maximal possibility estimation to obtain the array direction of arrival at circular array, the frequency-region signal of the variable that is about to observe is regarded the multidimensional random vector that meets normal distribution as, by the probability distribution function of calculating observation variable, obtain the maximal possibility estimation of observed reading.
8. the low target of microphone array structurally variable according to claim 7 is located and tracker, it is characterized in that, motion state parameters according to the acoustic signals measurement of azimuth sequence estimation current goal that provides target, under the nonlinear environment of non-Gauss, finish the process of Bayes's filtering with particle filter, adopt a series of stochastic sampling points to be similar to the posterior probability density of dbjective state vector, thereby replace the integral and calculating of Bayes's filtering to obtain direction of arrival estimated state estimated value with sample average.
9. the low target of microphone array structurally variable according to claim 8 is located and tracker, it is characterized in that, described particle filter is the gaussian filtering mode, be divided into measuring and upgrade and two stages of renewal time, in the particle renewal process, adopt the more method of new particle Gaussian Distribution Parameters.
10. the low target of microphone array structurally variable according to claim 1 is located and tracker, it is characterized in that, described Surveillance center is used for receiving the data that a plurality of microphone array nodes are uploaded, utilize the mode that the multisensor array nodal information merges that target is carried out preliminary location according to the microphone array node to the estimated result of target direction of arrival, and by the location recycling Multiple Models Algorithm of target initial position target is followed the tracks of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210348235.0A CN102890267B (en) | 2012-09-18 | 2012-09-18 | Microphone array structure alterable low-elevation target locating and tracking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210348235.0A CN102890267B (en) | 2012-09-18 | 2012-09-18 | Microphone array structure alterable low-elevation target locating and tracking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102890267A true CN102890267A (en) | 2013-01-23 |
| CN102890267B CN102890267B (en) | 2014-03-19 |
Family
ID=47533824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210348235.0A Active CN102890267B (en) | 2012-09-18 | 2012-09-18 | Microphone array structure alterable low-elevation target locating and tracking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102890267B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105242263A (en) * | 2015-09-28 | 2016-01-13 | 中国科学院上海微***与信息技术研究所 | Vehicle existence detection apparatus and method |
| CN105466553A (en) * | 2015-12-22 | 2016-04-06 | 东南大学 | Ballscrew noise measuring method based on microphone array |
| CN106066254A (en) * | 2016-05-25 | 2016-11-02 | 浙江大学 | Factory based on Internet of Things fault detects and alignment system and method in real time |
| CN106526533A (en) * | 2016-11-14 | 2017-03-22 | 中国科学院上海微***与信息技术研究所 | Microporous MEMS acoustic array sensor and use method thereof |
| CN107515390A (en) * | 2017-09-15 | 2017-12-26 | 哈尔滨工程大学 | A kind of aerial target localization method based on single vector sensor |
| CN109471069A (en) * | 2018-09-28 | 2019-03-15 | 昆明理工大学 | A kind of random distribution microphone array |
| CN110427034A (en) * | 2019-08-13 | 2019-11-08 | 浙江吉利汽车研究院有限公司 | A kind of target tracking system and method based on bus or train route collaboration |
| CN111610492A (en) * | 2020-06-03 | 2020-09-01 | 电子科技大学 | Multi-acoustic sensor array intelligent sensing method and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020140804A1 (en) * | 2001-03-30 | 2002-10-03 | Koninklijke Philips Electronics N.V. | Method and apparatus for audio/image speaker detection and locator |
| CN101034158A (en) * | 2007-02-25 | 2007-09-12 | 四川川大智胜软件股份有限公司 | Low altitude target monitoring method based on microphones array network |
| CN101295016A (en) * | 2008-06-13 | 2008-10-29 | 河北工业大学 | Sound source independent searching and locating method |
-
2012
- 2012-09-18 CN CN201210348235.0A patent/CN102890267B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020140804A1 (en) * | 2001-03-30 | 2002-10-03 | Koninklijke Philips Electronics N.V. | Method and apparatus for audio/image speaker detection and locator |
| CN101034158A (en) * | 2007-02-25 | 2007-09-12 | 四川川大智胜软件股份有限公司 | Low altitude target monitoring method based on microphones array network |
| CN101295016A (en) * | 2008-06-13 | 2008-10-29 | 河北工业大学 | Sound source independent searching and locating method |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105242263B (en) * | 2015-09-28 | 2018-03-09 | 中国科学院上海微***与信息技术研究所 | Detection means and method be present in a kind of vehicle |
| CN105242263A (en) * | 2015-09-28 | 2016-01-13 | 中国科学院上海微***与信息技术研究所 | Vehicle existence detection apparatus and method |
| CN105466553A (en) * | 2015-12-22 | 2016-04-06 | 东南大学 | Ballscrew noise measuring method based on microphone array |
| CN105466553B (en) * | 2015-12-22 | 2019-01-29 | 东南大学 | A kind of ball screw assembly, noise measuring method based on microphone array |
| CN106066254A (en) * | 2016-05-25 | 2016-11-02 | 浙江大学 | Factory based on Internet of Things fault detects and alignment system and method in real time |
| CN106526533A (en) * | 2016-11-14 | 2017-03-22 | 中国科学院上海微***与信息技术研究所 | Microporous MEMS acoustic array sensor and use method thereof |
| CN106526533B (en) * | 2016-11-14 | 2019-03-05 | 中国科学院上海微***与信息技术研究所 | A kind of micropore diameter MEMS acoustic matrix sensor and its application method |
| CN107515390A (en) * | 2017-09-15 | 2017-12-26 | 哈尔滨工程大学 | A kind of aerial target localization method based on single vector sensor |
| CN107515390B (en) * | 2017-09-15 | 2020-07-14 | 哈尔滨工程大学 | Aerial target positioning method based on single vector sensor |
| CN109471069A (en) * | 2018-09-28 | 2019-03-15 | 昆明理工大学 | A kind of random distribution microphone array |
| CN109471069B (en) * | 2018-09-28 | 2023-05-12 | 昆明理工大学 | Random distribution microphone array |
| CN110427034A (en) * | 2019-08-13 | 2019-11-08 | 浙江吉利汽车研究院有限公司 | A kind of target tracking system and method based on bus or train route collaboration |
| CN110427034B (en) * | 2019-08-13 | 2022-09-02 | 浙江吉利汽车研究院有限公司 | Target tracking system and method based on vehicle-road cooperation |
| CN111610492A (en) * | 2020-06-03 | 2020-09-01 | 电子科技大学 | Multi-acoustic sensor array intelligent sensing method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102890267B (en) | 2014-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102890267B (en) | Microphone array structure alterable low-elevation target locating and tracking system | |
| CN103903101B (en) | A kind of General Aviation multi-source information supervising platform and method thereof | |
| CN102854881B (en) | Unmanned plane UAV automatic control system | |
| CN101840571B (en) | Flame detection method based on video image | |
| CN202046439U (en) | Hedgehopping obstacle avoiding subsystem for electric line patrol unmanned helicopter | |
| CN103472503B (en) | Sonde and upper air wind finding method based on INS | |
| CN101833099B (en) | Locked tracking method of helicopter in the inspection process of electric power circuits | |
| CN104849702B (en) | Radar system error combined estimation method is filtered using the GM EPHD of ADS B datas | |
| CN102231227A (en) | Solar fireproof monitoring and prewarning system for gridding forestry | |
| CN204679863U (en) | Based on the intelligent substation inspection system of many rotor wing unmanned aerial vehicles | |
| CN110579787A (en) | high-precision inclination monitoring method for electric power iron tower based on Beidou multi-antenna attitude measurement | |
| CN104567880A (en) | Mars ultimate approach segment autonomous navigation method based on multi-source information fusion | |
| CN111879305B (en) | Multi-mode perception positioning model and system for high-risk production environment | |
| CN107356926A (en) | Difference cloud cluster extrapolation precipitation predicting algorithm based on Hu squares | |
| CN106680533B (en) | Wind characteristic monitoring system and monitoring method based on big-dipper satellite | |
| CN103427366A (en) | Helicopter airborne system for controlling and recognizing power transmission line | |
| CN105353225A (en) | Lightning early-warning method capable of predicting trend of lightning movement | |
| CN111964645A (en) | Electric power tower instability monitoring method and system based on information fusion | |
| CN110415491A (en) | Mud-stone flow disaster Integrated Monitoring System and visualization early warning cloud platform | |
| CN105844886A (en) | Data collection system applied to ground jamming signal monitoring and positioning | |
| CN109373911A (en) | A kind of surface displacement gridding Dynamic Monitoring and method | |
| CN105610087A (en) | Power transmission line inspection system of power grid | |
| CN104200082A (en) | Typhoon landing prediction method | |
| CN102944238A (en) | Method for determining relative position of planetary probe in process of approaching target | |
| CN110941004B (en) | GNSS/UWB-based indoor and outdoor combined positioning method and device for mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |