基于到达时间差的声源定位算法与实现-叶诚

300384....TP391Adoi10.3969/j.issn.1673-095X.2015.02.012SoundsourcelocalizationalgorithmanditsimplementationbasedontimedifferenceofarrivalYEChengYANGShu-yingSchoolofComputerandCommunicationEngineeringTianjinUniversityofTechnologyTianjin300384ChinaAbstractSoundsourcelocalizationbasedonthetimedifferenceofarrival（TDOA）consistsoftwoparts-timedelayestimationandlocationestimation.Thesetwopartswillcausecumulativeerrorsandaffectthefinalaccuracyoflocalization.Aimingatthisproblem，thispaperproposesanimprovedaccumulatedmulti-framecrosspowerspectrumphase（CSP）timedelayestimationalgorithm，andonthisbasis，itimprovesthesphericalinterpolation（SI）algorithmtoderivethesourcelocation.Inordertoverifytheeffectivenessofthealgorithm，athree-dimensionalsoundsourcelocalizationsystemisestablishedunderthepracticalconditions.Thisresultofexperimentsshowsthattheproposedmethodcaneffectivelyreducetheerrorsandimprovethepositioningaccuracy.KeywordssoundsourcelocalizationTDOACSPSI2014-09-30.1989—[e-mail].1964—[e-mail]..[1-2].3[3][4][5-6]..[7-8]..[9].1673-095X201502-0050-05JOURNALOFTIANJINUNIVERSITYOFTECHNOLOGY31220154Vol.31No.2Apr.2015201541VoiceactivitydetectionVAD.300~4kHz4kHz300Hz..[10-11].22.1xin=αisn-τi+εi1xjn=αjsn-τj+εj212snαiαjεiεjsnεiεjxinxjnRijτ=E[xinxjn-τ]=αiαjE[sn-τisn-τj-τ]3Rijτ=αiαjRsτ-τi-τjττ4Rssn4τ=τi-τjτ.Rijτ=12π∞-∞乙Gijωejωτdω5Gijωxixj..Rijgτ=12π∞-∞乙ψijωGijωejωτdω66ψijkψijk1/Gijω.τMiMj.τij=argmaxRijτττ72.2CSPCSP.CSP.ψacc-mcspf=flenk=1Σ1Gijkfp+min[rijk2f]8flenrijfrij2f]=Gijkf2GiifGjjf9ρ[0.51].σρ=ρ0σσ0[ρ0ρ1/σ0σ1]σ0σ1+ρ1σ0≤σ≤σ1ρ1σσ11111111111110σ0σ1ρ0ρ1ρ0ρ1.121Fig.1Thetraditionalcross-powerspectrumfunction2Fig.2Theimprovedcross-powerspectrumfunction-2000200001.00.50.0-0.5-1.0-2000200001.00.50.0-0.5-1.051··312..7.33.1、334.3.TDOA..M0、M1Q4.M0MiQRi=‖ri‖Rs=‖rs‖.riMiM0xiyizirsM0Qxsyszs.QMiDi=‖ri-rs‖=xi-xs2+yi-ys2+zi-zs2姨11Di=di0+Rs12di0=Di-D0MiM0Q.12R2i-di02-2Rsdi0-2riTrs=013di0ε=R2i-dij2-2Rsdij-2riTrs14M1MNM0N14Nε=δ-2Rsd-2Prs15δ=R21-d102R22-d202…R2N-dN02000000000000000000000000000000d=d10d20…dN0000000000000000000000000000000P=x1y1z1x2y2z2………xNyNzN000000000000000000000000000000RsrsRsrs=12P*wδ-2Rsd15P*w=PTP-1PTrsrs=12P*wδ-2RsdRsRsrs=12P*wδ-2Rsdr赞s。3.2Rsr赞sr赞s.15ε=Aθ-b16A=[P｜d]θ=rsRs00b=12δ.143Fig.3ThegeometryofmicrophonearrayyM2M0M1θr准OM3zxMxyz4M0、M1QFig.4ThegeometricdiagramofM0M1andQM0MiRiQRs+di0Rs52··20154θ赞=ATA-1ATb17PTPPTddTPdTddddddddddddddddddd=QvvTkdd18v=-PTP-PTddTPdTd-1PTddTdQ=PTP-1[I-PTdvT]k=1-dTPvdTdPdPd=I-ddTdTd1918r赞sSI=PTPbP-1PTPdb20.4.USB2831450kHz.40000.5m0000.5m0000.5m..5.2.23.21.1η=r-r赞rrr赞.10%.....75°2~10m1m9252256.│准i-准│≤5°│ri-r│≤20cm25.准iri准r5Fig.5TheresultofVADstartend500015000100001.00.50.0-0.5-1.01Tab.1Experimentalresults/m/°/°/m/°/°/m/°/°244.6130.112.4347.2738.242.1845.7434.57468.2360.364.2770.2564.754.0868.9462.36675.6990.256.3776.4895.276.1476.4393.14879.28120.248.2479.94124.378.0979.77122.751081.50150.4710.4183.21156.1910.1782.26153.476Fig.6Therelationshipofrecognitionrateanddistance/m0.90.80.70.60.50.410684253··312.5~8m75%5m8m..0°180°15°6m1320260.7.76m0°～30°150°～180°60%.6m30°～150°70%85%..5..［1］，，，.［J］.，2009（3）：199-205.［2］，.［J］.，2004（5）：19-23.［3］FrancoisG，DominicL，FrancoisF，etal.TheManyEarsopenframework：microphonearrayopensoftwareandopenhardwaresystemforroboticapplications［J］.AutonomousRobots，2013，34（3）：217-232.［4］LarisaD，GuillermoP，IsmaelLL，etal.Materialsoundsourcelocalizationthroughheadphonesl［J］.AcousticalPh-ysics，2012，58（5）：610-617.［5］，.［J］.，2007（1）：67-70.［6］XinwangWan，ZhenyangWu.Soundsourcelocalizationbasedondiscriminationofcross-correlationfunctions［J］.AppliedAcoustics，2013，35（2）：741-748.［7］，，，.［J］.，2013（8）：1015-1019.［8］MehdiBD，HamidRA，MohammadRT.Soundsourcelo-calizationusingcompressivesensing-basedfeatureextrac-tionandspatialsparsity［J］.DigitalSignalProcessing，2013，27（5）：234-241.［9］RobertoC，AlessandraDeR.Sphericalinterpolationusingthepartitionofunitymethod：Anefficientandflexibleal-gorithm［J］.AppliedMathematicsLetters，2012，63（2）：2510-2519.［10］.［J］.，2006（1）：142-144.［11］KentaroI，TomohiroN，MasakiyoF，etal.Noiserobustvoiceactivitydetectionbasedonperiodictoaperiodiccomponentratio［J］.SpeechCommunication，2009，43（5）：521-528.7Fig.7Therelationshipofrecognitionrateandazimuth/°1.00.80.60.40.205010015020054··