CN105204002B - A kind of sound localization method and system - Google Patents
A kind of sound localization method and system Download PDFInfo
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- CN105204002B CN105204002B CN201510681532.0A CN201510681532A CN105204002B CN 105204002 B CN105204002 B CN 105204002B CN 201510681532 A CN201510681532 A CN 201510681532A CN 105204002 B CN105204002 B CN 105204002B
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- G—PHYSICS
- 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 kind of sound localization method and systems, by presetting Sound intensity probe group, particular sound source is placed sequentially in the corresponding direction character data of particular sound source acquired on multiple measurement directions on each measurement direction centered on Sound intensity probe group and apart from fixation；Acquire the attenuation characteristic of the particular sound source corresponding building of the sound intensity characteristic intensity of sound and transmission range at multiple and different distances；The tested corresponding sound intensity data of sound source are acquired, sound intensity data direction character data corresponding with each measurement direction are subjected to correlation analysis respectively, determine that corresponding measurement direction is the direction for being tested sound source when correlation results are maximum value；According to sound intensity data and attenuation characteristic, determine tested sound source at a distance from Sound intensity probe group；Auditory localization is carried out using the characteristic matching of Sounnd source direction and the attenuation characteristic method of sound source distance, reduces the enforcement difficulty of auditory localization, while also improving positioning accuracy and stability.
Description
Technical field
The present invention relates to communication technique field more particularly to a kind of sound localization method and systems.
Background technique
Sound is a kind of mode of information exchange, since sound can be propagated freely and speed is fast in the medium, so
Sound is widely used in field of information interaction.In recent years, with the development of science and technology, intelligent equipment is also gradually
Step into our life.The information exchange of intelligent equipment and people are most of or by cell phone platform, pass through network and intelligence
The interaction of equipment progress information.However, this mode gradually highlights its drawback.On the one hand, mobile phone and smart machine are necessary
It is configured to network, on the other hand, also needs to go to start to manipulate by cell phone platform in use.These drawbacks all drop significantly
Low user experience.Gradually, it is desirable to smart machines can also carry out information exchange by sound as people.This
Sample one only needs in short complete to the manipulation of smart machine.When people and smart machine carry out information exchange, have
In a little situations, smart machine needs to know the position of people to perform corresponding processing.For example, the sound source spoken according to people, automatically
It is moved to the position etc. that people speaks.Positioning for sound source, the application that there are many security protections or some industrial circles etc. also.
Currently, the localization method of sound source is broadly divided into two kinds.One is the specific positions in space to place sensor, then
The propagation characteristic and parameter of sound source in space are acquired, sound source could finally be positioned.Localization method needs pair
Space carries out sensor arrangement and feature sampling, implements relatively difficult, strongly professional, at high cost, it is difficult in wired home
In promoted and applied.Another kind is the time difference that sound source is received by the relative position and each sensor of sensor array
Processing calculating is carried out, obtains the relative position with sound source.The localization method is led since the relative position between sensor array is smaller
The time difference for causing each sensor to receive sound is just especially small, since entire sonic location system is inevitably present interference
And error, so causing the positioning accuracy of this method not high, the stability of positioning is not also high.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
The technical problem to be solved in the present invention is that providing a kind of sound localization method and system, it is intended to solve existing skill
Acoustic source location accuracy is not high in art, and the stability of positioning is not also high, the high problem of implementation cost.
The technical proposal for solving the technical problem of the invention is as follows:
A kind of sound localization method, wherein include:
A, Sound intensity probe group is preset, particular sound source is placed sequentially in each centered on Sound intensity probe group
On measurement direction and particular sound source is fixed at a distance from Sound intensity probe group, successively acquires multiple tests by Sound intensity probe group
The corresponding direction character data of particular sound source on direction；
B, particular sound source is adjusted at a distance from Sound intensity probe group, is acquired at multiple and different distances by Sound intensity probe group
The corresponding sound intensity characteristic of particular sound source；According to the corresponding sound intensity characteristic building sound of particular sound source at different distance
The attenuation characteristic of loudness of a sound degree and transmission range；
C, the tested corresponding sound intensity data of sound source are acquired by Sound intensity probe group, by the sound intensity data and each test
The corresponding direction character data in direction carry out correlation analysis respectively, determine that corresponding direction is special when correlation results are maximum value
The measurement direction of sign data is the direction of tested sound source；
D, quilt is determined by the attenuation characteristic of the intensity of sound and transmission range according to the sound intensity data for being tested sound source
Sound source is surveyed at a distance from Sound intensity probe group.
The sound localization method, wherein the step A is specifically included:
A1, Sound intensity probe group include multiple Sound intensity probes, and multiple Sound intensity probes are with the center of Sound intensity probe group
For the center of circle, it is evenly distributed on using specific first distance as on the circle of radius；Particular sound source is placed sequentially in and is sensed with the sound intensity
The center of device group is on each measurement direction in the center of circle and particular sound source is fixed as second distance at a distance from Sound intensity probe group；
A2, acquisition Sound intensity probe group constitute each the corresponding sound intensity data of particular sound source on each measurement direction
The corresponding direction character data of measurement direction, the direction character data are as follows:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, and M, N are positive integer；IAMIndicate the spy
Determine sound source collected direction character data of all Sound intensity probe institutes on m-th measurement direction,Indicate described specific
Sound source wherein collected strength of sound source of the N Sound intensity probe institute on m-th measurement direction.
The sound localization method, wherein the step B is specifically included:
B1, acquisition Sound intensity probe group are to the corresponding sound intensity number of particular sound source on some measurement direction, at different distance
According toThe attenuation characteristics model of corresponding building intensity of sound and transmission range is Idis=IOe-ad；Its
In,Indicate to be dis apart from Sound intensity probe group centerNThe collected strength of sound source of position institute；IOFor particular sound source
Intensity of sound, IdisFor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
The sound localization method, wherein the step C is specifically included:
C1, the sound intensity data that tested sound source is acquired by Sound intensity probe groupWherein,
IATIndicate all Sound intensity probes collected tested sound source sound intensity data,Indicate that n-th Sound intensity probe is adopted
The strength of sound source of the tested sound source collected；T indicates tested sound source；
C2, sound intensity data direction character data corresponding with each measurement direction are subjected to correlation analysis respectively,
Calculate correlation analysis result rm, whereinWherein n=1,2,3...N；N
For number of sensors, m=1,2,3...M, M are measurement direction quantity；Indicate: all Sound intensity probe institutes are collected tested
The average value of the sound intensity data of sound source,Indicate: particular sound source all Sound intensity probes on m-th measurement direction are acquired
The average value of the direction character data arrived；
C3, maximum correlation analysis end value r is found outm, maximum correlation is analyzed into direction character corresponding to result
The corresponding measurement direction of data is determined as the relative direction of tested sound source and Sound intensity probe group.
The sound localization method, wherein the step D is specifically included:
D1, according to Sound intensity probe group collected tested sound source intensity of sound Idis, pass through intensity of sound and transmission
The attenuation characteristics model I of distancedis=IOe-ad, find out sound transmission distance, as Sound intensity probe
Relative distance between group and tested sound source.
A kind of sonic location system, wherein include:
Direction character data acquisition module, for presetting Sound intensity probe group, by particular sound source be placed sequentially in
On each measurement direction centered on Sound intensity probe group and particular sound source is fixed at a distance from Sound intensity probe group, passes through the sound intensity
Sensor group successively acquires the corresponding direction character data of the particular sound source on multiple measurement directions；
Attenuation characteristic constructs module and passes through Sound intensity probe for adjusting particular sound source at a distance from Sound intensity probe group
Group acquires the corresponding sound intensity characteristic of particular sound source at multiple and different distances；It is corresponding according to the particular sound source at different distance
The sound intensity characteristic building intensity of sound and transmission range attenuation characteristic；
Sounnd source direction locating module, for acquiring the tested corresponding sound intensity data of sound source by Sound intensity probe group, by institute
It states sound intensity data direction character data corresponding with each measurement direction and carries out correlation analysis respectively, determine that correlation results are
The measurement direction of corresponding direction character data is the direction of tested sound source when maximum value；
Sound source Distance positioning module, for passing through the intensity of sound and transmission distance according to the sound intensity data for being tested sound source
From attenuation characteristic, determine tested sound source at a distance from Sound intensity probe group.
The sonic location system, wherein the direction character data acquisition module includes:
Setting unit includes multiple Sound intensity probes for Sound intensity probe group to be arranged, and multiple Sound intensity probes are with the sound intensity
The center of sensor group is the center of circle, is evenly distributed on using specific first distance as on the circle of radius；Particular sound source is successively put
It sets on each measurement direction using the center of Sound intensity probe group as the center of circle and particular sound source is at a distance from Sound intensity probe group
It is fixed as second distance；
Direction character data acquisition unit, for acquiring Sound intensity probe group to the particular sound source pair on each measurement direction
The sound intensity data answered constitute the corresponding direction character data of each measurement direction, the direction character data are as follows:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, and M, N are positive integer；IAMIndicate the spy
Determine sound source collected direction character data of all Sound intensity probe institutes on m-th measurement direction,Indicate described specific
Sound source wherein collected strength of sound source of the N Sound intensity probe institute on m-th measurement direction.
The sonic location system, wherein the attenuation characteristic constructs module and includes:
Attenuation characteristic construction unit, for acquiring Sound intensity probe group to the spy at some measurement direction, different distance
Determine the corresponding sound intensity data of sound sourceThe attenuation characteristic of corresponding building intensity of sound and transmission range
Model is Idis=IOe-ad；Wherein,Indicate to be dis apart from Sound intensity probe group centerNThe collected sound source of position institute
Intensity；IOFor the intensity of sound of particular sound source, IdisFor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
The sonic location system, wherein the Sounnd source direction locating module includes:
Sound intensity acquisition unit, for acquiring the sound intensity data of tested sound source by Sound intensity probe groupWherein, IATIndicate all Sound intensity probes collected tested sound source sound intensity data,Indicate n-th Sound intensity probe collected tested sound source strength of sound source；T indicates tested sound source；
Correlation calculations unit, for distinguishing sound intensity data direction character data corresponding with each measurement direction
Correlation analysis is carried out, correlation analysis result r is calculatedm, whereinIts
Middle n=1,2,3...N；N is number of sensors, and m=1,2,3...M, M are measurement direction quantity；Indicate: all sound intensitys pass
Sensor the sound intensity data of collected tested sound source average value,It indicates: particular sound source institute on m-th measurement direction
Have Sound intensity probe collected direction character data average value；
Direction-determining unit, for finding out maximum correlation analysis end value rm, maximum correlation is analyzed into result institute
The corresponding measurement direction of corresponding direction character data is determined as the relative direction of tested sound source and Sound intensity probe group.
The sonic location system, wherein the sound source Distance positioning module includes:
Metrics calculation unit, for according to Sound intensity probe group collected tested sound source intensity of sound Idis, pass through
The attenuation characteristics model I of intensity of sound and transmission rangedis=IOe-ad, find out sound transmission distanceMake
For 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 the essence of auditory localization in the prior art
Degree is not high, and the stability of positioning is not also high, the high problem of implementation cost, by presetting Sound intensity probe group, by specific sound
Source be placed sequentially on each measurement direction centered on Sound intensity probe group and particular sound source and Sound intensity probe group away from
From fixation, the corresponding direction character data of the particular sound source on multiple measurement directions are successively acquired by Sound intensity probe group；It adjusts
Particular sound source is saved at a distance from Sound intensity probe group, the particular sound source pair at multiple and different distances is acquired by Sound intensity probe group
The sound intensity characteristic answered；According to the corresponding sound intensity characteristic building intensity of sound of particular sound source and transmission at different distance
The attenuation characteristic of distance；The tested corresponding sound intensity data of sound source are acquired by Sound intensity probe group, by the sound intensity data and respectively
The corresponding direction character data of a measurement direction carry out correlation analysis respectively, determine corresponding when correlation results are maximum value
The measurement direction of direction character data is the direction of tested sound source；It is strong by the sound according to the sound intensity data of tested sound source
The attenuation characteristic of degree and transmission range determines tested sound source at a distance from Sound intensity probe group；Using the feature of Sounnd source direction
The attenuation characteristic method of harmonization source distance carries out auditory localization, reduces the enforcement difficulty of auditory localization, while also improving
Positioning accuracy and stability can promote and apply in fields such as wired homes for auditory localization and provide condition, bring to user
Greatly facilitate.
Detailed description of the invention
Fig. 1 is the flow chart 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 structural block diagram of sonic location system preferred embodiment provided by the invention.
Specific embodiment
The present invention provides a kind of sound localization method and system, to make the objectives, technical solutions, and advantages of the present invention more
Clear, clear, the present invention is described in more detail as follows in conjunction with drawings and embodiments.It should be appreciated that described herein
Specific embodiment is only used to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1, Fig. 1 is the flow chart of sound localization method preferred embodiment provided by the invention, as shown, institute
State method the following steps are included:
Step S100, Sound intensity probe group is preset, particular sound source is placed sequentially in Sound intensity probe group is
On each measurement direction of the heart and particular sound source is fixed at a distance from Sound intensity probe group, is successively acquired by Sound intensity probe group
The corresponding direction character data of particular sound source on multiple measurement directions；
Step S200, particular sound source is adjusted at a distance from Sound intensity probe group, it is multiple not by the acquisition of Sound intensity probe group
The corresponding sound intensity characteristic of particular sound source at same distance；According to the corresponding sound intensity characteristic of particular sound source at different distance
According to the attenuation characteristic of building intensity of sound and transmission range；
Step S300, the tested corresponding sound intensity data of sound source are acquired by Sound intensity probe group, by the sound intensity data with
The corresponding direction character data of each measurement direction carry out correlation analysis respectively, determine corresponding when correlation results are maximum value
Direction character data measurement direction be tested sound source direction；
Step S400, according to the sound intensity data for being tested sound source, by the attenuation characteristic of the intensity of sound and transmission range,
Determine tested sound source at a distance from Sound intensity probe group.
Above-mentioned steps are described in detail below with reference to specific embodiment.
The present invention be directed to auditory localization presently, there are enforcement difficulty it is big, precision and stability is not high the problems such as, use
The attenuation characteristic method of the characteristic matching of Sounnd source direction and sound source distance carries out auditory localization, reduces the implementation of auditory localization
Difficulty, while positioning accuracy and stability are also improved, it can promote and apply and provide in fields such as wired homes for auditory localization
Condition can be widely applied in the terminals such as mobile phone, tablet computer, PC, wearable device.
In the step s 100, Sound intensity probe group is preset, particular sound source is placed sequentially in Sound intensity probe group
Centered on each measurement direction on and particular sound source fixed at a distance from Sound intensity probe group, successively by Sound intensity probe group
Acquire the corresponding direction character data of particular sound source on multiple measurement directions.
Specifically, the step S100 is specifically included:
S101, Sound intensity probe group include multiple Sound intensity probes, and multiple Sound intensity probes are in Sound intensity probe group
The heart is the center of circle, is evenly distributed on using specific first distance as on the circle of radius；Particular sound source is placed sequentially in and is passed with the sound intensity
The center of sensor group be the center of circle each measurement direction on and particular sound source be fixed as at a distance from Sound intensity probe group second away from
From；
S102, acquisition Sound intensity probe group constitute each the corresponding sound intensity data of particular sound source on each measurement direction
The corresponding direction character data of a measurement direction, the direction character data are as follows:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, and M, N are positive integer；IAMIndicate the spy
Determine sound source collected direction character data of all Sound intensity probe institutes on m-th measurement direction,Indicate described specific
Sound source wherein collected strength of sound source of the N Sound intensity probe institute on m-th measurement direction.
In practical application, sound localization method provided by the invention exploitation when, to its direction character data into
Row acquisition, and be stored in memory module, in the use process of user, without carrying out the work, it can reduce auditory localization
The difficulty that method is implemented.Sensor group and particular sound source are set first, it is specific as shown in Fig. 2, Sound intensity probe group 100 includes more
A Sound intensity probe 101, multiple Sound intensity probes 101 are the center of circle with the center 102 of Sound intensity probe group, are evenly distributed on spy
Fixed first distance is on the circle of radius；Particular sound source 200 is placed sequentially in and is with the center 102 of Sound intensity probe group 100
On each measurement direction in the center of circle and particular sound source is fixed as second distance at a distance from Sound intensity probe group.That is, sound
It is the center of circle and first distance as radius that 101 horizontal homogeneous of multiple Sound intensity probes of strong sensor group 100, which is distributed in using its center,
All angles circle on, that is to say, that the distance of two neighboring Sound intensity probe is all consistent, each Sound intensity probe from
The distance in the center of circle is all the same, this is the validity of the convenience and data for calculating.Certainly in practical application, can also distance
Can also be different, calculating in this way can be complicated, and the validity of data is not also high.Then particular sound source is placed on Sound intensity probe group
100 center 102 is on each measurement direction in the center of circle, and distance is fixed as second distance, it is clear that second distance is greater than first
The magnitude of distance, first distance is small, and general maximum just several centimetres or so, second distance is exactly tens centimetres or even several meters.Specifically
Numerical value is without limitation.Sensor group is exactly a tablet with multiple sensors.And particular sound source is distributed across each survey
It tries on direction, the angle of measurement direction is all set.Obviously, the quantity of Sound intensity probe is more, the number of measurement direction
Amount is more, and the precision of direction positioning is higher.
Then, acquisition Sound intensity probe group constitutes each the corresponding sound intensity data of particular sound source on each measurement direction
The corresponding direction character data of a measurement direction, the direction character data are as follows:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, and M, N are positive integer；IAMIndicate the spy
Determine sound source collected direction character data of all Sound intensity probe institutes on m-th measurement direction,Indicate described specific
Sound source wherein collected strength of sound source of the N Sound intensity probe institute on m-th measurement direction.Obviously, measurement direction is got over
More, matched direction character data are more when positioning, and the direction of positioning is more accurate.
In step s 200, particular sound source is adjusted at a distance from Sound intensity probe group, is acquired by Sound intensity probe group more
The corresponding sound intensity characteristic of particular sound source at a different distance；It is special according to the corresponding sound intensity of particular sound source at different distance
Levy the attenuation characteristic of data building intensity of sound and transmission range.Specifically, acquisition Sound intensity probe group is to some test side
Upwards, the corresponding sound intensity data of particular sound source at different distanceCorresponding building intensity of sound
Attenuation characteristics model with transmission range is Idis=IOe-ad；Wherein,Indicate to be dis apart from Sound intensity probe group centerN
The collected strength of sound source of position institute；IOFor the intensity of sound of particular sound source, IdisFor the sound intensity after propagation distance d, a
For Acoustic Teansmission Attenuation coefficient.
In practical application, the present invention also needs to demarcate attenuation characteristic.Centered on Sound intensity probe group, each
A specific distance acquires the characteristic of same sound sourceWherein,It indicates apart from the sound intensity
Sensor group center disNThe collected strength of sound source of position institute.In practical application, each of Sound intensity probe group can be used
The strength of sound source average value of a Sound intensity probe is calculated.It is acquired at corresponding multiple distances according on some measurement direction
The sound intensity data of the particular sound sourceThe decaying of corresponding building intensity of sound and transmission range is special
Property model be Idis=IOe-ad；Wherein,Apart from Sound intensity probe group center disNPosition institute n-th sensor it is collected
Strength of sound source；IOFor particular sound source intensity, IdisFor the intensity of sound after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
Distance collected is more, and constructed attenuation characteristic is closer to actual environment.Here using different on some measurement direction
Particular sound source at distance is tested, and is obtain in this way because the position of particular sound source is to change on the same line
Data error is small.
Preferably, according to attenuation characteristics model Idis=IOe-ad, the known parameters (I of each test positiondis, IO, d)
Characteristic model is substituted into, attenuation parameter a is found out.The obtained attenuation parameter in each position is carried out average value processing, is obtained final
Attenuation parameter, it is final to determine decay characteristics model.Namely the multiple attenuation parameters being calculated are averaging, thus
So that calculated result is more accurate.
In step S300, the tested corresponding sound intensity data of sound source are acquired by Sound intensity probe group, by the sound intensity number
Correlation analysis is carried out respectively according to direction character data corresponding with each measurement direction, when determining that correlation results are maximum value
The measurement direction of corresponding direction character data is the direction of tested sound source.Specifically, it is logical for being tested the positioning of Sounnd source direction
Cross each collected intensity of sound data of Sound intensity probe institute and preparatory collected each test side in Sound intensity probe group
To sound intensity data carry out similarity mode respectively, using the measurement direction of the data of highest similarity as the side of tested sound source
To.
Further, the step S300 is specifically included:
S301, the sound intensity data that tested sound source is acquired by Sound intensity probe groupWherein,
IATIndicate all Sound intensity probes collected tested sound source sound intensity data,Indicate that n-th Sound intensity probe is adopted
The strength of sound source of the tested sound source collected；T indicates tested sound source；
S302, sound intensity data direction character data corresponding with each measurement direction are carried out to correlation point respectively
Analysis calculates correlation analysis result rmWherein,Wherein n=1,2,3...N；
N is number of sensors, and m=1,2,3...M, M are measurement direction quantity；It indicates: the collected quilt of all Sound intensity probe institutes
The average value of the sound intensity data of sound source is surveyed,Indicate: particular sound source all Sound intensity probes on m-th measurement direction are adopted
The average value of the direction character data collected；
S303, maximum correlation analysis end value r is found outm, it is special that maximum correlation is analyzed into direction corresponding to result
The corresponding measurement direction of sign data is determined 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, pass through the decaying of the intensity of sound and transmission range
Characteristic determines tested sound source at a distance from Sound intensity probe group.Specifically, the present invention is special according to the decaying of sound transmission
Property, by the attenuation parameter in each distance calibration sound, after determining attenuation characteristic, according to the intensity of sound calculating sound received
Relative distance between strong sensor group and sound source.
Further, the step S400 is specifically included: S401, according to the collected tested sound source of Sound intensity probe group institute
Intensity of sound Idis, pass through the attenuation characteristics model I of intensity of sound and transmission rangedis=IOe-ad, find out sound transmission away from
FromAs the relative distance between Sound intensity probe group and tested sound source.
In practical application, Sound intensity probe acquires source sound intensity Idis, and pass through sound source attenuation characteristics model Idis
=IOe-ad, find out sound transmission distanceAs the relative distance between positioning system and sound source.
Sound localization method provided by the invention, for auditory localization presently, there are enforcement difficulty is big, precision and stabilization
Property it is not high the problems such as, auditory localization is carried out using the characteristic matching of Sounnd source direction and the attenuation characteristic method of sound source distance, is dropped
The low enforcement difficulty of auditory localization, while positioning accuracy and stability are also improved, it is that auditory localization can be in wired home
Equal fields promote and apply offer condition.
Based on above-mentioned sound localization method, the present invention also provides a kind of sonic location systems, as shown in Fig. 3, the system
System includes:
Particular sound source is placed sequentially in by direction character data acquisition module 10 for presetting Sound intensity probe group
On each measurement direction centered on Sound intensity probe group and particular sound source is fixed at a distance from Sound intensity probe group, passes through sound
Strong sensor group successively acquires the corresponding direction character data of the particular sound source on multiple measurement directions；Specifically such as step S100 institute
It states；
Attenuation characteristic building module 20 is sensed for adjusting particular sound source at a distance from Sound intensity probe group by the sound intensity
Device group acquires the corresponding sound intensity characteristic of the particular sound source at multiple and different distances；According to the particular sound source pair at different distance
The attenuation characteristic of the sound intensity characteristic building intensity of sound and transmission range answered；Specifically as described in step S200；
Sounnd source direction locating module 30 will for acquiring the tested corresponding sound intensity data of sound source by Sound intensity probe group
Sound intensity data direction character data corresponding with each measurement direction carry out correlation analysis respectively, determine correlation results
The measurement direction of corresponding direction character data is the direction of tested sound source when for maximum value；Specifically as described in step S300；
Sound source Distance positioning module 40, for passing through the intensity of sound and transmission according to the sound intensity data for being tested sound source
The attenuation characteristic of distance determines tested sound source at a distance from Sound intensity probe group；Specifically as described in step S400.
Further, the direction character data acquisition module 10 includes:
Setting unit includes multiple Sound intensity probes for Sound intensity probe group to be arranged, and multiple Sound intensity probes are with the sound intensity
The center of sensor group is the center of circle, is evenly distributed on using specific first distance as on the circle of radius；Particular sound source is successively put
It sets on each measurement direction using the center of Sound intensity probe group as the center of circle and particular sound source is at a distance from Sound intensity probe group
It is fixed as second distance；
Direction character data acquisition unit, for acquiring Sound intensity probe group to the particular sound source pair on each measurement direction
The sound intensity data answered constitute the corresponding direction character data of each measurement direction, the direction character data are as follows:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, and M, N are positive integer；IAMIndicate the spy
Determine sound source collected direction character data of all Sound intensity probe institutes on m-th measurement direction,Indicate described specific
Sound source wherein collected strength of sound source of the N Sound intensity probe institute on m-th measurement direction.
Further, the attenuation characteristic building module 20 includes:
Attenuation characteristic construction unit, for acquiring Sound intensity probe group to the spy at some measurement direction, different distance
Determine the corresponding sound intensity data of sound sourceThe attenuation characteristic of corresponding building intensity of sound and transmission range
Model is Idis=IOe-ad；Wherein,Indicate to be dis apart from Sound intensity probe group centerNThe collected sound source of position institute
Intensity；IOFor the intensity of sound of particular sound source, IdisFor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
Further, the Sounnd source direction locating module 30 includes:
Sound intensity acquisition unit, for acquiring the sound intensity data of tested sound source by Sound intensity probe groupWherein, IATIndicate all Sound intensity probes collected tested sound source sound intensity data,Indicate n-th Sound intensity probe collected tested sound source strength of sound source；T indicates tested sound source；
Correlation calculations unit, for distinguishing sound intensity data direction character data corresponding with each measurement direction
Correlation analysis is carried out, correlation analysis result r is calculatedm, whereinIts
Middle n=1,2,3...N；N is number of sensors, and m=1,2,3...M, M are measurement direction quantity；Indicate: all sound intensitys pass
Sensor the sound intensity data of collected tested sound source average value,It indicates: particular sound source institute on m-th measurement direction
Have Sound intensity probe collected direction character data average value；
Direction-determining unit, for finding out maximum correlation analysis end value rm, maximum correlation is analyzed into result institute
The corresponding measurement direction of corresponding direction character data is determined as the relative direction of tested sound source and Sound intensity probe group.
Further, the sound source Distance positioning module 40 includes:
Metrics calculation unit, for according to Sound intensity probe group collected tested sound source intensity of sound Idis, pass through
The attenuation characteristics model I of intensity of sound and transmission rangedis=IOe-ad, find out sound transmission distanceMake
For the relative distance between Sound intensity probe group and tested sound source.
In conclusion a kind of sound localization method provided by the invention and system, by presetting Sound intensity probe group,
Particular sound source is placed sequentially on each measurement direction centered on Sound intensity probe group and particular sound source and the sound intensity sense
The distance of device group is fixed, and the corresponding direction character of particular sound source on multiple measurement directions is successively acquired by Sound intensity probe group
Data；Particular sound source is adjusted at a distance from Sound intensity probe group, the spy at multiple and different distances is acquired by Sound intensity probe group
Determine the corresponding sound intensity characteristic of sound source；It is strong according to the corresponding sound intensity characteristic building sound of particular sound source at different distance
The attenuation characteristic of degree and transmission range；The tested corresponding sound intensity data of sound source are acquired by Sound intensity probe group, by the sound intensity
Data direction character data corresponding with each measurement direction carry out correlation analysis respectively, determine that correlation results are maximum value
When corresponding direction character data measurement direction be tested sound source direction；According to the sound intensity data of tested sound source, pass through institute
The attenuation characteristic of intensity of sound and transmission range is stated, determines tested sound source at a distance from Sound intensity probe group；Using Sounnd source direction
Characteristic matching and the attenuation characteristic method of sound source distance carry out auditory localization, reduce the enforcement difficulty of auditory localization, together
When also improve positioning accuracy and stability, for auditory localization can the fields such as wired home promote and apply condition be provided, give
User, which brings, greatly to be facilitated.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of sound localization method, which is characterized in that described method includes following steps:
A, Sound intensity probe group is preset, each test particular sound source being placed sequentially in centered on Sound intensity probe group
On direction and particular sound source is fixed at a distance from Sound intensity probe group, successively acquires multiple measurement directions by Sound intensity probe group
On the corresponding direction character data of particular sound source；
B, particular sound source is adjusted at a distance from Sound intensity probe group, and the spy at multiple and different distances is acquired by Sound intensity probe group
Determine the corresponding sound intensity characteristic of sound source；It is strong according to the corresponding sound intensity characteristic building sound of particular sound source at different distance
The attenuation characteristic of degree and transmission range；
C, the tested corresponding sound intensity data of sound source are acquired by Sound intensity probe group, by the sound intensity data and each measurement direction
Corresponding direction character data carry out correlation analysis respectively, determine corresponding direction character number when correlation results are maximum value
According to measurement direction be tested sound source direction；
D, tested sound is determined by the attenuation characteristic of the intensity of sound and transmission range according to the sound intensity data for being tested sound source
Source is at a distance from Sound intensity probe group.
2. sound localization method according to claim 1, which is characterized in that the step A is specifically included:
A1, Sound intensity probe group include multiple Sound intensity probes, and multiple Sound intensity probes are circle with the center of Sound intensity probe group
The heart is evenly distributed on using specific first distance as on the circle of radius；Particular sound source is placed sequentially in Sound intensity probe group
Center be the center of circle each measurement direction on and particular sound source be fixed as second distance at a distance from Sound intensity probe group；
A2, acquisition Sound intensity probe group constitute each test to the corresponding sound intensity data of particular sound source on each measurement direction
The corresponding direction character data in direction, the direction character data are as follows:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, and M, N are positive integer；IAMIndicate the specific sound
Source collected direction character data of all Sound intensity probe institutes on m-th measurement direction,Indicate the particular sound source
The wherein collected strength of sound source of n-th Sound intensity probe institute on m-th measurement direction.
3. sound localization method according to claim 1, which is characterized in that the step B is specifically included:
B1, acquisition Sound intensity probe group are to the corresponding sound intensity data of particular sound source on some measurement direction, at different distanceThe attenuation characteristics model of corresponding building intensity of sound and transmission range is Idis=IOe-ad；Its
In,Indicate to be dis apart from Sound intensity probe group centerNThe collected strength of sound source of position institute；IOFor particular sound source
Intensity of sound, IdisFor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
4. sound localization method according to claim 2, which is characterized in that the step C is specifically included:
C1, the sound intensity data that tested sound source is acquired by Sound intensity probe groupWherein, IATIt indicates
All Sound intensity probes collected tested sound source sound intensity data,Indicate that n-th Sound intensity probe institute is collected
The strength of sound source of tested sound source；T indicates tested sound source；
C2, sound intensity data direction character data corresponding with each measurement direction are subjected to correlation analysis respectively, are calculated
Correlation analysis result rm, whereinWherein n=1,2,3...N；N is to pass
Sensor quantity, m=1,2,3...M, M are measurement direction quantity；
Indicate: all Sound intensity probes the sound intensity data of collected tested sound source average value,It indicates: particular sound source
On m-th measurement direction all Sound intensity probes collected direction character data average value；
C3, maximum correlation analysis end value r is found outm, maximum correlation is analyzed into direction character data pair corresponding to result
The measurement direction answered is determined as the relative direction of tested sound source and Sound intensity probe group.
5. sound localization method according to claim 3, which is characterized in that the step D is specifically included:
D1, according to Sound intensity probe group collected tested sound source intensity of sound Idis, pass through intensity of sound and transmission range
Attenuation characteristics model Idis=IOe-ad, find out sound transmission distanceAs Sound intensity probe group and quilt
Survey the relative distance between sound source.
6. a kind of sonic location system characterized by comprising
Particular sound source is placed sequentially in for presetting Sound intensity probe group with the sound intensity by direction character data acquisition module
On each measurement direction centered on sensor group and particular sound source is fixed at a distance from Sound intensity probe group, is sensed by the sound intensity
Device group successively acquires the corresponding direction character data of the particular sound source on multiple measurement directions；
Attenuation characteristic building module is adopted for adjusting particular sound source at a distance from Sound intensity probe group by Sound intensity probe group
Collect the corresponding sound intensity characteristic of particular sound source at multiple and different distances；According to the corresponding sound of particular sound source at different distance
The attenuation characteristic of strong characteristic building intensity of sound and transmission range；
Sounnd source direction locating module, for acquiring the tested corresponding sound intensity data of sound source by Sound intensity probe group, by the sound
Strong data direction character data corresponding with each measurement direction carry out correlation analysis respectively, determine correlation results for maximum
The measurement direction of corresponding direction character data is the direction of tested sound source when value；
Sound source Distance positioning module, for passing through the intensity of sound and transmission range according to the sound intensity data for being tested sound source
Attenuation characteristic determines tested sound source at a distance from Sound intensity probe group.
7. sonic location system according to claim 6, which is characterized in that the direction character data acquisition module packet
It includes:
Setting unit includes multiple Sound intensity probes for Sound intensity probe group to be arranged, and multiple Sound intensity probes are sensed with the sound intensity
The center of device group is the center of circle, is evenly distributed on using specific first distance as on the circle of radius；Particular sound source is placed sequentially in
Using the center of Sound intensity probe group as on each measurement direction in the center of circle and particular sound source is fixed at a distance from Sound intensity probe group
For second distance；
Direction character data acquisition unit, it is corresponding to the particular sound source on each measurement direction for acquiring Sound intensity probe group
Sound intensity data constitute the corresponding direction character data of each measurement direction, the direction character data are as follows:
Wherein, the quantity of Sound intensity probe is N, and the quantity of measurement direction is M, and M, N are positive integer；IAMIndicate the specific sound
Source collected direction character data of all Sound intensity probe institutes on m-th measurement direction,Indicate the particular sound source
The wherein collected strength of sound source of n-th Sound intensity probe institute on m-th measurement direction.
8. sonic location system according to claim 6, which is characterized in that the attenuation characteristic constructs module and includes:
Attenuation characteristic construction unit, for acquiring Sound intensity probe group to the specific sound at some measurement direction, different distance
The corresponding sound intensity data in sourceThe attenuation characteristics model of corresponding building intensity of sound and transmission range
For Idis=IOe-ad；Wherein,Indicate to be dis apart from Sound intensity probe group centerNThe collected strength of sound source of position institute；
IOFor the intensity of sound of particular sound source, IdisFor the sound intensity after propagation distance d, a is Acoustic Teansmission Attenuation coefficient.
9. sonic location system according to claim 7, which is characterized in that the Sounnd source direction locating module includes:
Sound intensity acquisition unit, for acquiring the sound intensity data of tested sound source by Sound intensity probe groupWherein, IATIndicate all Sound intensity probes collected tested sound source sound intensity data,Indicate n-th Sound intensity probe collected tested sound source strength of sound source；T indicates tested sound source；
Correlation calculations unit, for carrying out sound intensity data direction character data corresponding with each measurement direction respectively
Correlation analysis calculates correlation analysis result rm, whereinWherein n=
1,2,3...N；N is number of sensors, and m=1,2,3...M, M are measurement direction quantity；
Indicate: all Sound intensity probes the sound intensity data of collected tested sound source average value,It indicates: particular sound source
On m-th measurement direction all Sound intensity probes collected direction character data average value；
Direction-determining unit, for finding out maximum correlation analysis end value rm, maximum correlation is analyzed corresponding to result
The corresponding measurement direction of direction character data is determined as the relative direction of tested sound source and Sound intensity probe group.
10. sonic location system according to claim 8, which is characterized in that the sound source Distance positioning module includes:
Metrics calculation unit, for according to Sound intensity probe group collected tested sound source intensity of sound Idis, pass through sound
The attenuation characteristics model I of intensity and transmission rangedis=IOe-ad, find out sound transmission distanceAs sound
Relative distance between strong sensor group and tested sound source.
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| CN109709989A (en) * | 2019-01-09 | 2019-05-03 | 中德（珠海）人工智能研究院有限公司 | A kind of positioning system, localization method and augmented reality system |
| CN111854928A (en) * | 2020-05-29 | 2020-10-30 | 北汽福田汽车股份有限公司 | Method and device for acquiring sound pressure level |
| CN111693139B (en) * | 2020-06-19 | 2022-04-22 | 浙江讯飞智能科技有限公司 | Sound intensity measuring method, device, equipment and storage medium |
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