CN105204002A - Sound source positioning method and system - Google Patents
Sound source positioning method and system Download PDFInfo
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- CN105204002A CN105204002A CN201510681532.0A CN201510681532A CN105204002A CN 105204002 A CN105204002 A CN 105204002A CN 201510681532 A CN201510681532 A CN 201510681532A CN 105204002 A CN105204002 A CN 105204002A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention discloses a sound source positioning method and system. Through the arrangement of a sound intensity sensor group in advance, specific sound sources are arranged in various testing directions with fixed intervals by taking the sound intensity sensor group as the center in sequence, and direction feature data corresponding to the specific sound sources in the various testing directions is collected; sound intensity feature data corresponding to the specific sound sources at different distances is collected to establish the attenuation characteristic of sound intensity and transmission distance; sound intensity data corresponding to a sound source to be tested is collected, the sound intensity data and the direction feature data corresponding to the testing directions are respectively subjected to correlation analysis, and the testing direction corresponding to the maximum value of correlation results is determined as the direction of the sound source to be tested; according to the sound intensity data and the attenuation characteristic, the distance between the sound source to be tested and the sound intensity sensor group is determined. The sound source positioning is realized by adoption of methods of feature matching of the sound source direction and the attenuation characteristic of the sound source distance, the implementation difficulty of sound source positioning is reduced, and meanwhile the positioning accuracy and the stability are improved.
Description
Technical field
The present invention relates to communication technique field, in particular a kind of sound localization method and system.
Background technology
Sound is a kind of mode of information interaction, because sound can freely be propagated and speed is fast, so sound is widely used in field of information interaction in media as well.In recent years, along with the development of science and technology, intelligent equipment also gradually steps into our life.The information interaction major part of intelligent equipment and people, still by cell phone platform, carries out the mutual of information by network and smart machine.But this mode gradually highlights its drawback.On the one hand, mobile phone and smart machine must be configured to network, on the other hand, in use also need to go to start manipulation by cell phone platform.These drawbacks all greatly reduce Consumer's Experience.Gradually, people wish that smart machine also can be the same with people, carry out information interaction by sound.So, only need in short just can complete to the manipulation of smart machine.Time people and smart machine carry out information interaction, in some cases, smart machine needs the position knowing people to process accordingly.Such as, according to the sound source that people speaks, be automatically moved to position that people speaks etc.For the location of sound source, security protection or some industrial circles etc. also have many application.
At present, the localization method of sound source is mainly divided into two kinds.Be that ad-hoc location in space places a sensor, then the propagation characteristic of sound source in space and parameter gathered, finally could position sound source.This localization method needs to carry out sensor layout and feature sampling to space, and implement more difficult, strongly professional, cost is high, is difficult to apply in wired home.Another kind carries out process calculating by the relative position of sensor array with the mistiming that each sensor receives sound source, draws the relative position with sound source.This localization method due to the relative position between sensor array less, each sensor is caused to receive mistiming of sound just little especially, because whole sonic location system inevitably exists interference and error, so cause the positioning precision of the method not high, the stability of location is not high yet.
Therefore, prior art has yet to be improved and developed.
Summary of the invention
The technical problem to be solved in the present invention is, provides a kind of sound localization method and system, and be intended to solve auditory localization precision in prior art not high, the stability of location is not high yet, the problem that implementation cost is high.
The technical scheme that technical solution problem of the present invention adopts is as follows:
A kind of sound localization method, wherein, comprising:
A, pre-set Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding;
B, regulate the distance of particular sound source and Sound intensity probe group, gather sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range;
C, gather sound intensity data corresponding to tested sound source by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source;
D, sound intensity data according to tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determine the distance of tested sound source and Sound intensity probe group.
Described sound localization method, wherein, described steps A specifically comprises:
A1, Sound intensity probe group comprise multiple Sound intensity probe, and multiple Sound intensity probe for the center of circle, is evenly distributed on on the specific first distance circle that is radius with the center of Sound intensity probe group; Particular sound source is placed on successively with on each measurement direction that is the center of circle of the center of Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed as second distance;
The sound intensity data that A2, collection Sound intensity probe group are corresponding to the particular sound source on each measurement direction, form the direction character data that each measurement direction is corresponding, described direction character data are:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, M, N is positive integer; I
aMrepresent the described particular sound source direction character data that all Sound intensity probes collect on M measurement direction,
represent described particular sound source wherein strength of sound source of collecting of N number of Sound intensity probe on M measurement direction.
Described sound localization method, wherein, described step B specifically comprises:
B1, gather Sound intensity probe group on certain measurement direction, sound intensity data corresponding to the particular sound source at different distance place
the corresponding attenuation characteristics model building intensity of sound and transmission range is I
dis=I
oe
-ad; Wherein,
represent at distance Sound intensity probe group switching centre and be
the strength of sound source that collects of position; I
ofor the intensity of sound of particular sound source, I
disfor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
Described sound localization method, wherein, described step C specifically comprises:
C1, gathered the sound intensity data of tested sound source by Sound intensity probe group
wherein, I
aTrepresent the sound intensity data of the tested sound source that all Sound intensity probes collect,
represent the strength of sound source of the tested sound source that N number of Sound intensity probe collects; T represents tested sound source;
C2, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, calculate correlation analysis result r
m, wherein,
wherein n=1,2,3 ... N; N is number of sensors, m=1,2,3 ... M, M are measurement direction quantity;
C3, find out maximum correlation analysis end value r
m, measurement direction corresponding for the direction character data corresponding to maximum correlation analysis result is defined as the relative direction of tested sound source and Sound intensity probe group.
Described sound localization method, wherein, described step D specifically comprises:
D1, the intensity of sound I of tested sound source collected according to Sound intensity probe group
dis, by the attenuation characteristics model I of intensity of sound and transmission range
dis=I
oe
-ad, obtain sound transmission distance
as the relative distance between Sound intensity probe group and tested sound source.
A kind of sonic location system, wherein, comprising:
Direction character data acquisition module, for pre-setting Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding;
Attenuation characteristic builds module, for regulating the distance of particular sound source and Sound intensity probe group, gathers sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range;
Sounnd source direction locating module, for being gathered sound intensity data corresponding to tested sound source by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source;
Sound source Distance positioning module, for the sound intensity data according to tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determines the distance of tested sound source and Sound intensity probe group.
Described sonic location system, wherein, described direction character data acquisition module comprises:
Setting unit, comprises multiple Sound intensity probe for arranging Sound intensity probe group, and multiple Sound intensity probe for the center of circle, is evenly distributed on on the specific first distance circle that is radius with the center of Sound intensity probe group; Particular sound source is placed on successively with on each measurement direction that is the center of circle of the center of Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed as second distance;
Direction character data acquisition unit, for gathering the Sound intensity probe group sound intensity data corresponding to the particular sound source on each measurement direction, form the direction character data that each measurement direction is corresponding, described direction character data are:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, M, N is positive integer; I
aMrepresent the described particular sound source direction character data that all Sound intensity probes collect on M measurement direction,
represent described particular sound source wherein strength of sound source of collecting of N number of Sound intensity probe on M measurement direction.
Described sonic location system, wherein, described attenuation characteristic builds module and comprises:
Attenuation characteristic construction unit, for gathering sound intensity data corresponding to the particular sound source of Sound intensity probe group to certain measurement direction, different distance place
the corresponding attenuation characteristics model building intensity of sound and transmission range is I
dis=I
oe
-ad; Wherein,
represent that at distance Sound intensity probe group switching centre be dis
nthe strength of sound source that collects of position; I
ofor the intensity of sound of particular sound source, I
disfor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
Described sonic location system, wherein, described Sounnd source direction locating module comprises:
Sound intensity collecting unit, for gathering the sound intensity data of tested sound source by Sound intensity probe group
wherein, I
aTrepresent the sound intensity data of the tested sound source that all Sound intensity probes collect,
represent the strength of sound source of the tested sound source that N number of Sound intensity probe collects; T represents tested sound source;
Correlation calculations unit, for direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, calculates correlation analysis result r
m, wherein,
wherein n=1,2,3 ... N; N is number of sensors, m=1,2,3 ... M, M are measurement direction quantity;
Direction-determining unit, for finding out maximum correlation analysis end value r
m, measurement direction corresponding for the direction character data corresponding to maximum correlation analysis result is defined as the relative direction of tested sound source and Sound intensity probe group.
Described sonic location system, wherein, described sound source Distance positioning module comprises:
Metrics calculation unit, for the intensity of sound I of tested sound source collected according to Sound intensity probe group
dis, by the attenuation characteristics model I of intensity of sound and transmission range
dis=I
oe
-ad, obtain sound transmission distance
as the relative distance between Sound intensity probe group and tested sound source.
A kind of sound localization method provided by the present invention and system, efficiently solve auditory localization precision in prior art not high, the stability of location is not high yet, the problem that implementation cost is high, by pre-setting Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding; Regulate the distance of particular sound source and Sound intensity probe group, gather sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range; Sound intensity data corresponding to tested sound source are gathered by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source; According to the sound intensity data of tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determine the distance of tested sound source and Sound intensity probe group; Adopt Sounnd source direction characteristic matching harmony spacing from attenuation characteristic method carry out auditory localization, reduce the enforcement difficulty of auditory localization, also improve positioning precision and stability simultaneously, for auditory localization can apply in fields such as wired homes the condition that provides, bring to user and facilitate greatly.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of sound localization method preferred embodiment provided by the invention.
Fig. 2 is the placement schematic diagram of Sound intensity probe group and particular sound source in sound localization method provided by the invention.
Fig. 3 is the structured flowchart of sonic location system preferred embodiment provided by the invention.
Embodiment
The invention provides a kind of sound localization method and system, for making object of the present invention, technical scheme and advantage clearly, clearly, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, Fig. 1 is the process flow diagram of sound localization method preferred embodiment provided by the invention, as shown in the figure, said method comprising the steps of:
Step S100, pre-set Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding;
Step S200, regulate the distance of particular sound source and Sound intensity probe group, gather sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range;
Step S300, gather sound intensity data corresponding to tested sound source by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source;
Step S400, sound intensity data according to tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determine the distance of tested sound source and Sound intensity probe group.
Below in conjunction with specific embodiment, above-mentioned steps is described in detail.
The present invention be directed to that the enforcement difficulty that auditory localization exists at present is large, precision and the problem such as stability is not high, adopt Sounnd source direction characteristic matching harmony spacing from attenuation characteristic method carry out auditory localization, reduce the enforcement difficulty of auditory localization, also improve positioning precision and stability simultaneously, for auditory localization can apply in fields such as wired homes the condition that provides, can be widely used in the terminals such as mobile phone, panel computer, PC, wearable device.
In the step s 100, pre-set Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding.
Specifically, described step S100 specifically comprises:
S101, Sound intensity probe group comprise multiple Sound intensity probe, and multiple Sound intensity probe for the center of circle, is evenly distributed on on the specific first distance circle that is radius with the center of Sound intensity probe group; Particular sound source is placed on successively with on each measurement direction that is the center of circle of the center of Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed as second distance;
The sound intensity data that S102, collection Sound intensity probe group are corresponding to the particular sound source on each measurement direction, form the direction character data that each measurement direction is corresponding, described direction character data are:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, M, N is positive integer; I
aMrepresent the described particular sound source direction character data that all Sound intensity probes collect on M measurement direction,
represent described particular sound source wherein strength of sound source of collecting of N number of Sound intensity probe on M measurement direction.
When practical application, sound localization method provided by the invention, when exploitation, gathers its direction character data, and be stored in memory module, in the use procedure of user, without the need to carrying out this work, the difficulty that sound localization method is implemented can be reduced.First sensor group and particular sound source are set, specifically as shown in Figure 2, Sound intensity probe group 100 comprises multiple Sound intensity probe 101, and multiple Sound intensity probe 101 for the center of circle, is evenly distributed on on the specific first distance circle that is radius with the center 102 of Sound intensity probe group; Particular sound source 200 is placed on successively with on each measurement direction that is the center of circle of the center 102 of Sound intensity probe group 100 and the distance of particular sound source and Sound intensity probe group is fixed as second distance.That is, multiple Sound intensity probes 101 horizontal homogeneous of Sound intensity probe group 100 is distributed in on the circle of its center all angles that are radius for the center of circle and the first distance, that is, the distance of adjacent two Sound intensity probes is all consistent, each Sound intensity probe is all identical from the distance in the center of circle, and this is the validity of convenience in order to calculate and data.Certainly when practical application, also can be different apart from also, calculating like this can complexity, and the validity of data is not high yet.Then particular sound source is placed on on each measurement direction that is the center of circle of the center 102 of Sound intensity probe group 100, and distance is fixed as second distance, obvious second distance is greater than the first distance, the magnitude of the first distance is little, generally maximum just a few cm, second distance is exactly tens centimetres and even several meters.Concrete numerical value does not limit.Sensor group is exactly a tablet with multiple sensor.And particular sound source is distributed on each measurement direction, the angle of measurement direction has all set.Obviously, the quantity of Sound intensity probe is more, and the quantity of measurement direction is more, and the precision of location, direction is higher.
Then, gather the sound intensity data that Sound intensity probe group is corresponding to the particular sound source on each measurement direction, form the direction character data that each measurement direction is corresponding, described direction character data are:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, M, N is positive integer; I
aMrepresent the described particular sound source direction character data that all Sound intensity probes collect on M measurement direction,
represent described particular sound source wherein strength of sound source of collecting of N number of Sound intensity probe on M measurement direction.Obviously, measurement direction is more, and the direction character data of mating during location are more, and the direction of location is more accurate.
In step s 200, regulate the distance of particular sound source and Sound intensity probe group, gather sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range.Specifically, gather Sound intensity probe group on certain measurement direction, sound intensity data corresponding to the particular sound source at different distance place
the corresponding attenuation characteristics model building intensity of sound and transmission range is I
dis=I
oe
-ad; Wherein,
represent that at distance Sound intensity probe group switching centre be dis
nthe strength of sound source that collects of position; I
ofor the intensity of sound of particular sound source, I
disfor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
When practical application, the present invention also needs to demarcate attenuation characteristic.Centered by Sound intensity probe group, gather the characteristic of same sound source in each specific distance
wherein,
represent at distance Sound intensity probe group switching centre dis
nthe strength of sound source that collects of position.When practical application, the strength of sound source mean value of each Sound intensity probe of Sound intensity probe group can be adopted to calculate.The corresponding sound intensity data gathering described particular sound source according to the multiple distances on certain measurement direction
the corresponding attenuation characteristics model building intensity of sound and transmission range is I
dis=I
oe
-ad; Wherein,
distance Sound intensity probe group switching centre dis
nposition the strength of sound source that collects of N number of sensor; I
ofor particular sound source intensity, I
disfor the intensity of sound after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.The distance gathered is more, and constructed attenuation characteristic is more close to actual environment.Here adopting the particular sound source at different distance place on certain measurement direction to test, is that the data error obtained like this is little because the position of particular sound source changes on the same line.
Preferably, according to attenuation characteristics model I
dis=I
oe
-ad, the known parameters (I of each test position
dis, I
o, d) substitute into characteristic model, obtain attenuation parameter a.The attenuation parameter that each position is tried to achieve be averaged value process, draw final attenuation parameter, finally determine decay characteristics model.Namely the multiple attenuation parameters calculated are averaging, thus make result of calculation more accurate.
In step S300, sound intensity data corresponding to tested sound source are gathered by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source.Specifically, the location of tested Sounnd source direction is that the intensity of sound data collected by each Sound intensity probe in Sound intensity probe group carry out similarity mode, using the direction of the measurement direction of the data of highest similarity as tested sound source respectively with the sound intensity data of each measurement direction collected in advance.
Further, described step S300 specifically comprises:
S301, gathered the sound intensity data of tested sound source by Sound intensity probe group
wherein, I
aTrepresent the sound intensity data of the tested sound source that all Sound intensity probes collect,
represent the strength of sound source of the tested sound source that N number of Sound intensity probe collects; T represents tested sound source;
S302, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, calculate correlation analysis result r
m, wherein,
wherein n=1,2,3 ... N; N is number of sensors, m=1,2,3 ... M, M are measurement direction quantity;
S303, find out maximum correlation analysis end value r
m, measurement direction corresponding for the direction character data corresponding to maximum correlation analysis result is defined as the relative direction of tested sound source and Sound intensity probe group.
In step S400, according to the sound intensity data of tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determine the distance of tested sound source and Sound intensity probe group.Specifically, the present invention is the attenuation characteristic according to sound transmission, by the attenuation parameter at each distance calibration sound, after determining attenuation characteristic, calculates the relative distance between Sound intensity probe group and sound source according to the intensity of sound received.
Further, described step S400 specifically comprises: S401, the intensity of sound I of tested sound source collected according to Sound intensity probe group
dis, by the attenuation characteristics model I of intensity of sound and transmission range
dis=I
oe
-ad, obtain sound transmission distance
as the relative distance between Sound intensity probe group and tested sound source.
When practical application, Sound intensity probe gathers source sound intensity I
dis, and by sound source attenuation characteristics model I
dis=I
oe
-ad, obtain sound transmission distance
as the relative distance between positioning system and sound source.
Sound localization method provided by the invention, the enforcement difficulty existed at present for auditory localization is large, precision and the problem such as stability is not high, adopt Sounnd source direction characteristic matching harmony spacing from attenuation characteristic method carry out auditory localization, reduce the enforcement difficulty of auditory localization, also improve positioning precision and stability, can apply in fields such as wired homes for auditory localization provides condition simultaneously.
Based on above-mentioned sound localization method, present invention also offers a kind of sonic location system, as shown in Figure 3, described system comprises:
Direction character data acquisition module 10, for pre-setting Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding; Specifically as described in step S100;
Attenuation characteristic builds module 20, for regulating the distance of particular sound source and Sound intensity probe group, gathers sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range; Specifically as described in step S200;
Sounnd source direction locating module 30, for being gathered sound intensity data corresponding to tested sound source by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source; Specifically as described in step S300;
Sound source Distance positioning module 40, for the sound intensity data according to tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determines the distance of tested sound source and Sound intensity probe group; Specifically as described in step S400.
Further, described direction character data acquisition module 10 comprises:
Setting unit, comprises multiple Sound intensity probe for arranging Sound intensity probe group, and multiple Sound intensity probe for the center of circle, is evenly distributed on on the specific first distance circle that is radius with the center of Sound intensity probe group; Particular sound source is placed on successively with on each measurement direction that is the center of circle of the center of Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed as second distance;
Direction character data acquisition unit, for gathering the Sound intensity probe group sound intensity data corresponding to the particular sound source on each measurement direction, form the direction character data that each measurement direction is corresponding, described direction character data are:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, M, N is positive integer; I
aMrepresent the described particular sound source direction character data that all Sound intensity probes collect on M measurement direction,
represent described particular sound source wherein strength of sound source of collecting of N number of Sound intensity probe on M measurement direction.
Further, described attenuation characteristic structure module 20 comprises:
Attenuation characteristic construction unit, for gathering sound intensity data corresponding to the particular sound source of Sound intensity probe group to certain measurement direction, different distance place
the corresponding attenuation characteristics model building intensity of sound and transmission range is I
dis=I
oe
-ad; Wherein,
represent that at distance Sound intensity probe group switching centre be dis
nthe strength of sound source that collects of position; I
ofor the intensity of sound of particular sound source, I
disfor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
Further, described Sounnd source direction locating module 30 comprises:
Sound intensity collecting unit, for gathering the sound intensity data of tested sound source by Sound intensity probe group
wherein, I
aTrepresent the sound intensity data of the tested sound source that all Sound intensity probes collect,
represent the strength of sound source of the tested sound source that N number of Sound intensity probe collects; T represents tested sound source;
Correlation calculations unit, for direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, calculates correlation analysis result r
m, wherein,
wherein n=1,2,3 ... N; N is number of sensors, m=1,2,3 ... M, M are measurement direction quantity;
Direction-determining unit, for finding out maximum correlation analysis end value r
m, measurement direction corresponding for the direction character data corresponding to maximum correlation analysis result is defined as the relative direction of tested sound source and Sound intensity probe group.
Further, described sound source Distance positioning module 40 comprises:
Metrics calculation unit, for the intensity of sound I of tested sound source collected according to Sound intensity probe group
dis, by the attenuation characteristics model I of intensity of sound and transmission range
dis=I
oe
-ad, obtain sound transmission distance
as the relative distance between Sound intensity probe group and tested sound source.
In sum, a kind of sound localization method provided by the invention and system, by pre-setting Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding; Regulate the distance of particular sound source and Sound intensity probe group, gather sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range; Sound intensity data corresponding to tested sound source are gathered by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source; According to the sound intensity data of tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determine the distance of tested sound source and Sound intensity probe group; Adopt Sounnd source direction characteristic matching harmony spacing from attenuation characteristic method carry out auditory localization, reduce the enforcement difficulty of auditory localization, also improve positioning precision and stability simultaneously, for auditory localization can apply in fields such as wired homes the condition that provides, bring to user and facilitate greatly.
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (10)
1. a sound localization method, is characterized in that, described method comprises the steps:
A, pre-set Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding;
B, regulate the distance of particular sound source and Sound intensity probe group, gather sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range;
C, gather sound intensity data corresponding to tested sound source by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source;
D, sound intensity data according to tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determine the distance of tested sound source and Sound intensity probe group.
2. sound localization method according to claim 1, is characterized in that, described steps A specifically comprises:
A1, Sound intensity probe group comprise multiple Sound intensity probe, and multiple Sound intensity probe for the center of circle, is evenly distributed on on the specific first distance circle that is radius with the center of Sound intensity probe group; Particular sound source is placed on successively with on each measurement direction that is the center of circle of the center of Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed as second distance;
The sound intensity data that A2, collection Sound intensity probe group are corresponding to the particular sound source on each measurement direction, form the direction character data that each measurement direction is corresponding, described direction character data are:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, M, N is positive integer; I
aMrepresent the described particular sound source direction character data that all Sound intensity probes collect on M measurement direction,
represent described particular sound source wherein strength of sound source of collecting of N number of Sound intensity probe on M measurement direction.
3. sound localization method according to claim 1, is characterized in that, described step B specifically comprises:
B1, gather Sound intensity probe group on certain measurement direction, sound intensity data corresponding to the particular sound source at different distance place
the corresponding attenuation characteristics model building intensity of sound and transmission range is I
dis=I
oe
-ad; Wherein,
represent that at distance Sound intensity probe group switching centre be dis
nthe strength of sound source that collects of position; I
ofor the intensity of sound of particular sound source, I
disfor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
4. sound localization method according to claim 2, is characterized in that, described step C specifically comprises:
C1, gathered the sound intensity data of tested sound source by Sound intensity probe group
wherein, I
aTrepresent the sound intensity data of the tested sound source that all Sound intensity probes collect,
represent the strength of sound source of the tested sound source that N number of Sound intensity probe collects; T represents tested sound source;
C2, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, calculate correlation analysis result r
m, wherein,
wherein n=1,2,3 ... N; N is number of sensors, m=1,2,3 ... M, M are measurement direction quantity;
C3, find out maximum correlation analysis end value r
m, measurement direction corresponding for the direction character data corresponding to maximum correlation analysis result is defined as the relative direction of tested sound source and Sound intensity probe group.
5. sound localization method according to claim 3, is characterized in that, described step D specifically comprises:
D1, the intensity of sound I of tested sound source collected according to Sound intensity probe group
dis, by the attenuation characteristics model I of intensity of sound and transmission range
dis=I
oe
-ad, obtain sound transmission distance
as the relative distance between Sound intensity probe group and tested sound source.
6. a sonic location system, is characterized in that, comprising:
Direction character data acquisition module, for pre-setting Sound intensity probe group, particular sound source to be placed on successively on each measurement direction centered by Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed, the direction character data that the particular sound source gathered successively on multiple measurement direction by Sound intensity probe group is corresponding;
Attenuation characteristic builds module, for regulating the distance of particular sound source and Sound intensity probe group, gathers sound intensity characteristic corresponding to the particular sound source at multiple different distance place by Sound intensity probe group; The sound intensity characteristic corresponding according to the particular sound source at different distance place builds the attenuation characteristic of intensity of sound and transmission range;
Sounnd source direction locating module, for being gathered sound intensity data corresponding to tested sound source by Sound intensity probe group, direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, and the measurement direction of direction character data corresponding when determining that correlation results is maximal value is the direction of tested sound source;
Sound source Distance positioning module, for the sound intensity data according to tested sound source, by the attenuation characteristic of described intensity of sound and transmission range, determines the distance of tested sound source and Sound intensity probe group.
7. sonic location system according to claim 6, is characterized in that, described direction character data acquisition module comprises:
Setting unit, comprises multiple Sound intensity probe for arranging Sound intensity probe group, and multiple Sound intensity probe for the center of circle, is evenly distributed on on the specific first distance circle that is radius with the center of Sound intensity probe group; Particular sound source is placed on successively with on each measurement direction that is the center of circle of the center of Sound intensity probe group and the distance of particular sound source and Sound intensity probe group is fixed as second distance;
Direction character data acquisition unit, for gathering the Sound intensity probe group sound intensity data corresponding to the particular sound source on each measurement direction, form the direction character data that each measurement direction is corresponding, described direction character data are:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, M, N is positive integer; I
aMrepresent the described particular sound source direction character data that all Sound intensity probes collect on M measurement direction,
represent described particular sound source wherein strength of sound source of collecting of N number of Sound intensity probe on M measurement direction.
8. sonic location system according to claim 6, is characterized in that, described attenuation characteristic builds module and comprises:
Attenuation characteristic construction unit, for gathering sound intensity data corresponding to the particular sound source of Sound intensity probe group to certain measurement direction, different distance place
the corresponding attenuation characteristics model building intensity of sound and transmission range is I
dis=I
oe
-ad; Wherein,
represent that at distance Sound intensity probe group switching centre be dis
nthe strength of sound source that collects of position; I
ofor the intensity of sound of particular sound source, I
disfor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
9. sonic location system according to claim 7, is characterized in that, described Sounnd source direction locating module comprises:
Sound intensity collecting unit, for gathering the sound intensity data of tested sound source by Sound intensity probe group
wherein, I
aTrepresent the sound intensity data of the tested sound source that all Sound intensity probes collect,
represent the strength of sound source of the tested sound source that N number of Sound intensity probe collects; T represents tested sound source;
Correlation calculations unit, for direction character data corresponding with each measurement direction for described sound intensity data are carried out correlation analysis respectively, calculates correlation analysis result r
m, wherein,
wherein n=1,2,3 ... N; N is number of sensors, m=1,2,3 ... M, M are measurement direction quantity;
Direction-determining unit, for finding out maximum correlation analysis end value r
m, measurement direction corresponding for the direction character data corresponding to maximum correlation analysis result is defined as the relative direction of tested sound source and Sound intensity probe group.
10. sonic location system according to claim 8, is characterized in that, described sound source Distance positioning module comprises:
Metrics calculation unit, for the intensity of sound I of tested sound source collected according to Sound intensity probe group
dis, by the attenuation characteristics model I of intensity of sound and transmission range
dis=I
oe
-ad, obtain sound transmission distance
as the relative distance between Sound intensity probe group and tested sound source.
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