CN114631139A - 利用虚拟麦克风进行动态封顶 - Google Patents
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Abstract
通过对每个换能器对兴趣点的贡献求和,可以进行估计来自超声相控阵的场强。由于在创建会聚球面波时已经计算了这种贡献,因此可以重复使用它来为***添加虚拟麦克风。通过监控这个麦克风并使其沿着新的焦点移动,可以建立稳健的场估计和调整***。
Description
相关申请的交叉引用
本申请要求于2019年10月13日提交的美国临时专利申请号62/914,502的优先权,该专利申请通过引用整体并入本文。
于2018年4月23日提交的在先申请美国申请号15/960,113通过引用整体并入本文。
于2017年5月18日提交的在先申请美国申请号62/507,822通过引用整体并入本文。
技术领域
本公开总体上涉及向超声相控阵(ultrasound phased array)***添加虚拟麦克风。
背景技术
本公开的目标是产生合理地匹配在类似位置的静止或缓慢移动的麦克风的测量的对来自超声相控阵的声压的估计。
存在详细说明了计算场中瞬时压力或强度或其他度量的方式的方法。在此,一系列算法有效地使用计算资源来计算时间平均度量。这些对于确定和调整热点和高于期望的压力是有用的。
发明内容
经由处理器通过对每个换能器对兴趣点的贡献求和,可以进行估计来自超声相控阵的场强。当创建会聚球面波时,已经计算了这个贡献。这种计算可以重复用于向***添加虚拟麦克风。通过监控这个麦克风并使其沿着新的焦点移动,可以建立稳健的场估计和调整***。
附图说明
附图与下面的详细描述一起被结合在说明书中并形成说明书的一部分,用于进一步说明包括要求保护的发明的构思的实施例,并解释这些实施例的各种原理和优点,在附图中,相同的附图标记在各个视图中指代相同或功能相似的元件。
图1示出了双mic布置的流程图。
图2示出了N-mic、N-平均值布置的流程图。
本领域技术人员将会理解,附图中的元件是为了简单和清楚而示出的,并且不一定是按比例绘制的。例如,图中元件中的一些的尺寸可能相对于其他元件被放大,以帮助提高对本发明的实施例的理解。
在附图中,设备和方法部件在适当情况下以常规符号表示,仅示出了与理解本发明的实施例相关的那些具体细节,以便不会利用受益于本文中的描述的本领域普通技术人员容易明白的细节来模糊本公开。
具体实施方式
I.虚拟麦克风
这些换能器的n大小的阵列在相对于阵列的中心在点x处的压力输出可以写为:
Ptot(x)=∑nXnPn(x-yn), (1)
其中yn是每个换能器相对于阵列的中心的偏移,Pn是在相对于换能器的给定向量下给出复压力输出的函数/模型,并且Xn表示每个换能器的复激活系数。压力函数中包括下标n,以允许阵列内潜在的不同换能器。激活系数可以引起相移、幅度变化或两者,并且操纵这些系数可以控制声场。在实际***中,这被解释为驱动每个换能器的幅度和相位。
来自用于触觉的阵列的重要场是会聚在焦点上的球面波前的场。如果我们从每个换能器在相对于阵列的中心的点x处合成压力值列表,An=Pn(x-yn),则平凡激活解(trivial activation solution)是:
其中b是焦点处的所期望的复压力。如果我们将An=A声明为行向量并且将Xn=X声明为列向量,则写等式1的另一方式是:
A·X=b。
计算行向量A是构建这个场解的一部分。当移动焦点时,***产生新的A=A′、新的X=X′,并且***继续制造新的焦点位置。在此的关键是认识到A·X′(旧的行向量乘以当前激活向量)的重要性。这个乘法的输出是以新的激活系数进行的旧的焦点位置处的压力的估计。利用一个额外的向量乘法,***可以估计由它正在再现的当前场产生的空间中的特定点(在这种情况下是更旧的焦点位置)处的压力。通过存储旧的A并在每次激活系数被更新时执行A·X′,我们在需要最少的额外计算的情况下具有在先前的焦点位置处的场估计(虚拟麦克风或简称为“mic”)。
可以创建无限的虚拟麦克风——在先前的焦点位置处或使用An=Pn(x-yn)查询与过去的场无关的新的x。然而,每次其压力将被更新时,每个新的麦克风需要点积(dotproduct)逐向量相乘。因此,调查场中的每个点在计算上是不高效的。对于空中触觉应用,靠近焦点是最有用的。触觉曲线只有在他们沿着之前已经访问过的点被重复多次时才产生感觉——这给出了关于可能的高压力点在哪里的指导。
考虑到这一点,在本公开的一种布置中,在阵列聚焦到新的位置时,我们更新虚拟麦克风的位置。在这种情况下,我们通过以当前计算的A′覆写所存储的A,将mic“移动”到当前焦点位置。任何移动平均值(下面解释)被保留,并继续新的位置和相关联的行向量。何时移动的决策可能涉及阈值压力、外部标志或任何其他信号。一个示例是时间步骤的简单递减计数,在此被认为是Δn。如果场以一致的频率重复位置,则包括随机分量(而不是在每次移动后的固定值)防止锁定到某个位置。如果Δn是固定值,则Δn的整数倍的循环导致移动的mic被锁定到几个点上,从而可能会错过重复曲线的高压力区域。为了补救这一点,Δn可以由固定的最小值-n(nfixed)和附加的随机长度(nrandom)构成。通过使nrandom等于或大于nfixed,移动mic可以对任意长度的曲线进行同等采样。
II.移动平均值
移动平均值是使输入平滑化的计算。这对于消除随机噪声至关重要,而且对于开发用于正弦信号的度量也很有用。例如,在声学中,计算单色波中包含的能量通过对一个周期的过程内的瞬时压力平方进行平均化来实现。对于由多个频率构成的复杂信号,单个重复周期较长或者不存在。计算瞬时压力平方会过高估计声场中的能量。为了对此进行补偿,我们可以使用移动平均值来包含相邻值,并开发与声波中的能量相关的度量。
计算移动平均值的一种方法叫做“方框滤波(box filter)”。这是通过对信号中的一系列点进行平均化来实现的。随着新的点被获取,旧的点被遗忘,并计算新的平均值。看待这个问题的另一方法是利用卷积。卷积采用核(kernel)或一系列权重,并将这些权重乘以输入信号,其中核中的每个点乘以基于相对于其在核阵列中的位置同等地延迟的输入,并且然后执行求和作为其输出。例如,“方框滤波”移动平均核简单地是一系列等于1/n的等值变量,其中n是核的大小。
计算移动平均值的另一方法是递归实施方式,由此将平均值的上一计算的值与新的数据一起用于计算后续点。一种相对容易实施的特定递归计算是指数加权滚动平均值(rolling average)。这个方法通过以下进行描述,
Avgn=(1-α)Avgn-1+αx, (2)
其中Avgn是当前的滚动平均值,Avgn-1来自上一迭代的所计算的平均值,x是新的输入,并且α是常数。常数α确定了以采样速率为单位的指数加权。
声学中经常使用的特殊度量是以分贝(re 20 microPascals)表示的声压级(sound-pressure-level,SPL)。这通过压力平方的指数加权移动平均值的平方根(滚动均方根(RMS)值)来计算。根据应用和工程规范,用于精确计算的时间常数从几毫秒变化到几秒。
通过保持压力平方值(均方)的滚动平均值并在需要分贝值时求根,可以使用虚拟麦克风跟踪这个度量。如果期望的话,这个值可以用于调整(衰减)阵列输出。可替选地,可以跟踪压力平方单位,并将其用作调整值。由于平方根是单值函数,因此所得到的SPL值将是正确有界的。
其中,是来自前一时间步骤的输出,P2是当前时间步骤的压力的平方,并且α是0到1之间的常数。常数α表示以时间步骤为单位的指数时间常数。例如,以40kHz运行的1秒积分常数将由给出。这将把过去1秒的点相对于当前点通过1/e平均化。过去2秒的点将被(1/e)2加权,以此类推。
在具有基于声强的模拟的能量度量的情况下,可以采用相同的方法。能量度量的计算涉及回到的A·X′的初始计算。对于单个源,介质的向量粒子速度的每个分量可以通过将压力乘以波前法向向量除以声阻抗的相关分量来计算。由于每个元件被模拟为球面波源,波前法向向量简单地为:
由于An为Pn(x-yn),对于每个元素,忽略除以空气的恒定声阻抗的介质的向量粒子速度可以计算为如果这些法线方向保留在A旁边,它们可以合并到行向量中作为An,x、An,y和An,z。由于这些也是线性量,因此可以将这些求和并将其重构为An,x·X′、An,y·X′和An,z·X′。声强向量(再次忽略涉及声阻抗的常数项)(其幅值描述了声波在某个点的总能量)可以写为:
这提供了波的总能量的测量结果,其可以用来代替压力。由于能量具有与P平方成比例的单位,因此等式2的I的滚动平均值表示真实的能量度量。这与P平方相反,对于SPL其需要平方根来给出均方根(RMS)值。
对于具有较低采样速率的情况(或者当mic平均值不是每个周期更新时),需要调节α以表示新的值。如果需要的话,这可以实时完成,其中在每次平均值被更新时对α进行调节。
III.双Mic布置
存在具有自交叉(或来自其他点/栅瓣(grating lobe)的交叉)的一类曲线,其中以上呈现的移动mic布置可能将路径中的最高压力点错误表示多达6dB。为了弥补这一点,我们可以将这个问题分成两个分离的虚拟mic——一个总是像上面那样移动,并且另一个锁定到给定点直到移动的mic找到更高压力的位置。以这样的方式,移动的mic(在此称为“搜索(seek)”mic)对路径进行采样,直到已经找到热点,此时锁定的mic(在此称为“调整(regulation)”mic)移动到该点。只要该点是场中的“最热”点,它将停留在那里,并正确地估计人们可以测量的最大压力。只有当路径改变(并停止对“热点”有贡献)时,搜索mic才能够将调整mic拉到新的位置。
搜索mic能够快速检测热点,因为它将使用更大的α作为其滚动平均值。在功能上,这产生了这样的情况,其中相对于小α,其滚动平均值更多地朝向最近的过去加权。当焦点的运动变慢、或者阵列焦点在短时段后回到虚拟mic附近时,就出现热点。随着α越大,相比于调整αmic,搜索mic更快地接近真实(长期)P平方值的速度,并且在热点处看到尖峰。当大αP平方超过调整mic的调整αP平方一定幅度时,启动调整mic移动。然后,调整mic的P平方被设置为搜索mic的P平方,从而基本上为另外的移动设置了新的(更高的)标杆。如果调整mic确实位于热点上,那么它的小αP平方将继续增加,并超出搜索mic的大αP平方,直到***改变路径。如果移动没有将调整mic放在热点上,那么其P平方将衰减,直到它再次被移动。
在这个***中,我们还需要两个滚动平均值。第一个是小αP平方,其在移动调整mic时不会被调节。这是必要的,因为在没有它的情况下,我们就没有表示将由静止mic测量的压力的估计。被大α搜索mic P平方覆写的调整αP平方变化得更快,并且仅用作移动决策的比较。通过保持不被覆写的第二调整αP平方,***具有利用其指示调整的压力的估计。
使用搜索mic位置(其压力估计的输出)计算所需的上一P平方,但使用小α调整mic时间常数对其进行平均化。这有效地给出了仅使用单个移动虚拟麦克风实现的移动mic P平方平均值。对于某一类曲线,这个值表示了比调整mic P平方更好的路径压力估计。
转向图1,示出了用于双mic布置的决策树的图1300。新的时间步骤开始1302,随后是计算新的阵列参数1303。这些参数然后被提供给向量1317(行向量A1316和列向量X1315)。提供行向量A1316以利用A覆写A_seek,并利用固定的最小值-n(nfixed)加上附加的随机长度(nrandom)1311重置移动计数器。列向量X1315被提供给A向量组1320(A_seek 1321和A_reg 1322)。
还提供计算新的阵列参数1303来估计新的麦克风压力1304,这些新的麦克风压力被提供给A向量组1320。A_seek 1321被提供给由搜索平均快速(seek avg fast)1324和搜索平均缓慢(seek avg slow)1325组成的平均(avg)组1323。A_reg 1322被提供给由用于移动的调整(reg)平均(avg)1326和非移动调整平均(reg avg unmoving)1327组成的调整组1328。比较搜索平均缓慢1325和非移动调整平均1327,并取最大值用于调整1329。
A_seek 1321被发送以利用A_seek覆写A_reg,并利用搜索平均快速1312覆写用于移动的调整平均,然后将其发送到A_reg 1322。
搜索平均快速1324被发送以利用A_seek覆写A_reg,并利用搜索平均快速1312覆写用于移动的调整平均,并且然后将其发送到用于移动的调整平均1326。
将来自搜索平均快速1324和用于移动的调整平均1326的值进行比较,以确定哪一个更大(具有余量)1313;结果被发送以利用搜索平均快速覆写用于移动的调整平均1312,并且然后被发送到用于移动的调整平均1326。
估计新的麦克风压力1304的值被提供来更新移动平均值1305,该移动平均值被提供给:1)平均组1323;以及用于调整mic的移动决策1306,并且然后提供给用于搜索mic的移动决策1307。
计数器从上一步骤1308开始移动,并且然后递减1309。如果计数器小于或等于零1310,则发送指令以利用A覆写A_seek,并利用固定的最小值-n(nfixed)加上附加的随机长度(nrandom)重置移动计数器1311。
来自上一时间步骤的滚动平均值1314被提供给平均组1323和调整组1328。
在***的一些实施方式中,存在搜索麦克风可能正在计算平均值的时间,但是由于传播延迟,调整mic可能在几个时间步骤内不能移动到该位置。在这种情况下,一种解决方案是当调整mic不能移动到该位置时,停止将搜索mic平均到移动平均值中。这为那些特定的点引入了“盲点”(特别是在它们定期发生的情况下)。然而,由于搜索mic的移动是利用随机因子调节的,所以即使是规则的“盲点”也应该分布在任何规则的曲线上,而不表示测量中的漏洞。过度缺乏测量表示用于寻找热点的劣化性能,并且应该被最小化。
IV.N-Mic布置
为了找到热点,搜索mic仍然需要随机降落在该点。对于某些设计参数(可能的峰值压力、调整压力、Δn等),这可能需要相当大量的时间。对于给定的焦点,可以通过添加更多的搜索mic来减少这个时间。每个保持其自己的P平方值并移动计数器。在每个时间步骤,调整mic会将其P平方与所有搜索mic进行比较,如果其中他们中的任何一个最佳,则移动。随着更多的点被同时检查,热点将被更快地找到。
理想情况下,每个搜索mic在不同的物理位置进行测量。实际上,这是很难保证的,因为mic的物理位置并没有存储,并且即使其被存储了,与其他mic进行比较也需要计算。一种解决方案是简单地保证没有两个mic在同一时间步骤移动。如果两个移动计数器同时到期,移动一个mic并给另一mic的移动计数器添加某个值。这最小可以是1,或者基于***中其他mic的数量的其他值(可能地随机值)。
除了mic之外,***可以包括每个麦克风的任意数量的平均值(具有不同的α)。例如,这可以用来切换到不同的时间常数,以便进行实时调整。有些可以被覆写用于移动,而有些被保留。就可能的波动而言,这产生了更灵活的***。例如,短时α对热点更快地进行反应,但在其随机落在另一焦点的虚假交叉点上的情况下,也可以随机达到峰值。通过包括不同时间常数的几个平均值,这可以给设计者忽略快速响应值的可能性。额外的平均值也可以具有不同的度量,P平方和I是示例。例如,移动决策可能涉及多个度量。
转向图2,示出了N-mic、N-平均值布置的流程图1400的可能性。
新的时间步骤开始1401,随后是计算新的阵列参数1402。这些参数然后被提供给向量1408(行向量A1409和列向量X1407)。提供行向量A1409以用覆写A_seek,并以固定的最小值-n(nfixed)加上附加的随机长度(nrandom)重置移动计数器1421。列向量X1315被提供给A向量组1412(一个或多个A_seek和A_reg)。
来自上一时间步骤的滚动平均值1410被发送到搜索平均组1414和调整平均组1413。
还提供计算新的阵列参数1402来估计新的麦克风压力1403,这些新的麦克风压力被提供给A向量组1412。来自A向量组1412的数据被发送到搜索平均组1414。来自搜索平均组1414和调整平均组1413的数据被发送以便为调整取适当的值1416。
来自搜索平均组1414的数据被发送以覆写适当的平均值(如果指定的话),并且利用触发移动的A_seek覆写A_reg 1417。来自A向量组1412的数据也被发送以覆写适当的平均值(如果指定的话),并且利用触发移动的A_seek覆写A_reg 1417。这然后被发送到A向量组1412和调整平均组1413。
此外,将来自搜索平均组1414和调整平均组1413的数据进行比较1415,并且发送具有余量的较大值,以覆写适当的平均值(如果指定的话),并且利用触发移动的A_seek覆写A_reg 1417。
提供估计新的麦克风压力的值1403以利用每个mic的多个平均值来更新移动平均值1404,其被提供给:1)搜索平均组1414;以及2)用于调整mic 1405的移动决策,并且然后提供给用于每个mic 1406的移动决策。
从上一步骤1418开始,对于每次搜索,计数器被移动,并且然后递减1419。如果计数器小于或等于零1420,则发送指令以利用A覆写A_seek,并且利用固定的最小值n(n_fixed)加上附加的随机长度(n_random)重置移动计数器1421。此外,如果多于一个mic<=0,则向除了1外的所有计数器添加指定值1422。
V.复用
相控阵能够复用球面波以产生多个同时的焦点。对于这种类型的布置,每个焦点可以具有它自己的、独立的虚拟麦克风中的一个或多个。在这种情况下,每个点的行向量将从mic-存储的角度分离地考虑。
对于调整,一种选项是使用最高滚动压力平均值的输出作为全局调整最大值。可替选地,可以分离地调整每个焦点。另一选项是让每个焦点具有其自己的搜索mic,但只使用一个调整mic。在这种情况下,调整mic将移动到最高搜索mic的位置。在这种情况下,焦点将全部被调整到全局最大值,因为调整mic不知道哪些焦点对其平均值有贡献。
VI.控制
虚拟麦克风测量的一个用途是衰减阵列的输出,以满足用户指定的最大SPL水平。在一种布置中,阵列可以简单地检查麦克风中的一个(诸如调整麦克风)并调节输出,使得下一周期被足够地衰减以校正滚动平均值。这可以通过求解(2)得到所期望的Avgn的x,并且然后将该值用于输出来实现。不幸的是,这可能导致压力场方面的急剧变化,并可能导致不期望的可听声音。
将所测量的压力反馈回到输出的一种更平滑的方法是基于压力目标除以最高虚拟麦克风压力来设置压力目标,并让值1表示压力目标。以这样的方式,当所测量的压力远低于压力目标时,输出可以自由超过它。当压力等于压力目标时,它维持输出。当其过高时,输出被衰减。这种调整方法产生更平滑的结果,因为虚拟麦克风压力被其自身的滚动平均值自然地平滑化。
另一方法是使用标准比例积分微分(proportion-integral-differential,PID)控制器。PID是在所有控制***中使用了几十年的标准实时控制方案。它简单、灵活、且计算高效。在这种情况下,我们可以使用简单的PD(无积分项)控制器,以基于上文呈现的虚拟麦克风方案返回的P平方值来调节封顶值(capping value)。我们不需要积分项,因为滚动平均值实现了类似积分的效果,而没有饱和的不利影响。可以调节PID中的系数,以平衡响应速度与过冲和可听度。正确实施的PID控制器以受控的速率接近极限值,并且不会过度响铃,从而限制不希望的音频。
实际上,PID控制器应该使用较高者:调整mic P平方(没有被覆写)或使用小α时间常数的搜索mic P平方。
VII.附加公开内容
1.将移动平均计算与场估计相结合。
2.在具有这种关系的布置中使用2个虚拟麦克风可以表示在快速变化的声场中寻找热点的在计算方面最高效的方式。
3.一种超声相控阵,包括
具有已知相对位置和取向的多个换能器;
表示到换能器的驱动信号的幅值和相位的复激活系数;
兴趣点;
计算兴趣点处的换能器复场(complex field);
将换能器复场乘以激活系数,以返回该点的场的估计;
将这个场估计并入滚动平均值;
从属权利要求:
1.使用新生成的激活系数并乘以旧的换能器复场以获得新的估计。
2.使用这个新的估计以获得滚动平均值。
VIII.结论
虽然前面的描述公开了特定的值,但是任何其他特定的值可以用来实现类似的结果。进一步,可以选择和组合前述实施例的各种特征,以产生改进的触觉***的多种变化。
在前述说明书中,已经描述了具体实施例。然而,本领域的普通技术人员理解,在不脱离权利要求中阐述的本发明的范围的情况下,可以进行各种修改和变化。因此,说明书和附图以说明性而不是限制性的意义来看待,并且所有这些修改旨在包括在本教导的范围内。
而且,在本文档中,诸如第一和第二、顶部和顶部等关系术语可以用于将一个实体或动作与另一实体或动作区分开来,而不必要求或暗示这些实体或动作之间的任何实际的这种关系或顺序。术语、“包含(comprises或comprising)”、“具有(has或having)”、“包括(includes或including)”、“含有(contains或containing)”或其任何其他变体旨在覆盖非排他性包含,使得包含、具有、包括、含有一系列元素的过程、方法、物品或装置不仅包括那些元素,还可以包括未明确列出的或这些过程、方法、物品或装置固有的其他元素。以“包含……”,“具有……”,“包括……”、“含有……”在没有更多限制的情况下不排除在包含、具有、包括、含有该元素的过程、方法、物品或装置中存在附加的相同元素。术语“一”和“一个”被定义为一个或多个,除非在本文中另外明确说明。术语“大体上”、“基本上”、“近似”、“大约”或其任何其他形式被定义为如本领域普通技术人员所理解的那样接近。如本文所用的术语“耦合”被定义为连接,尽管不一定是直接连接,也不一定是机械连接。以某种方式“配置”的设备或结构至少以该方式配置,但也可以以未列出的方式配置。
提供本公开的摘要是为了允许读者快速确定技术公开的本质。在具有这样的理解的情况下提交的,即其将不用于解释或限制权利要求的范围或含义。此外,在前面的详细描述中,出于简化本公开的目的,在各种实施例中将各种特征分组在一起。该公开方法不应被解释为反映了要求保护的实施例需要比每个权利要求中明确陈述的更多的特征的意图。相反,如以下权利要求所反映的那样,发明主题在于少于单个公开实施方式的全部特征。因此,以下权利要求由此被结合到详细描述中,其中每个权利要求作为分离要求保护的主题独立存在。
Claims (18)
1.一种超声相控阵,包括:
多个换能器,其具有已知相对位置和取向;
至少一个复激活系数,其表示到所述多个换能器中的至少一个换能器的驱动信号的幅值和相位;
兴趣点;
处理器,其用于:
1)从所述兴趣点处的所述多个换能器中的至少一个换能器计算换能器复场;
2)将所述换能器复场乘以激活系数,以返回所述兴趣点处的场估计;以及
3)将所述场估计合并到加权平均值中。
2.根据权利要求1所述的超声相控阵,其中使用平方幅值来计算所述场估计。
3.根据权利要求1所述的超声相控阵,其中使用幅值来计算所述场估计。
4.根据权利要求1所述的超声相控阵,其中在将函数输出合并到加权平均值中之前,由函数进行所述场估计。
5.根据权利要求1所述的超声相控阵,其中所述换能器复场的多个版本存储在所述处理器中,使得所述换能器复场的多个版本中的至少两个版本与至少一个复数激活系数一起使用,以同时估计多个兴趣点。
6.根据权利要求5所述的超声相控阵,其中多个兴趣点包括多个虚拟麦克风位置。
7.根据权利要求6所述的超声相控阵,其中所述多个虚拟麦克风中的每个虚拟麦克风捕获其自己的加权平均值。
8.根据权利要求7所述的超声相控阵,其中加权平均值中的至少一个加权平均值是使用与所述加权平均值中的其他加权平均值不同的函数计算的。
9.根据权利要求6所述的超声相控阵,其中当至少一个加权平均值超过目标时,所述多个兴趣点中的至少一个兴趣点被改变。
10.根据权利要求1所述的超声相控阵,其中所述换能器复场包括所述换能器复场的先前计算的版本。
11.根据权利要求10所述的超声相控阵,其中基于来自至少一个虚拟麦克风的加权平均值的输出来选择要使用的所述换能器复场的所述先前计算的版本。
12.根据权利要求1所述的超声相控阵,其中所述加权平均值包括先前场估计的平均值。
13.根据权利要求1所述的超声相控阵,其中所述加权平均值包括压力目标除以最高虚拟麦克风压力。
14.根据权利要求1所述的超声相控阵,其中如果所述加权平均值超过压力目标,则所述至少一个复激活系数使其实部和虚部中的至少一个被改变。
15.根据权利要求14所述的超声相控阵,其中使用比例微分控制器来改变所述激活系数。
16.根据权利要求15所述的超声相控阵,其中所述比例微分控制器基于由虚拟麦克风和所述加权平均值中的至少一个返回的平方压力输出值来调节所述至少一个复激活系数值。
17.根据权利要求15所述的超声相控阵,其中所述比例微分控制器的系数被调节到限制不希望的音频的受控速率。
18.根据权利要求15所述的超声相控阵,其中所述比例微分控制器使用以下中的较大者:1)调整虚拟麦克风平方压力输出;或者2)搜索虚拟麦克风平方压力输出。
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