基于正四棱锥结构的机器人声源定位系统研究
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摘要
针对当前声源定位精度不理想、实时性不佳等问题,提出了一种正四棱锥麦克风阵列声源定位结构。采用时间延迟估计的声源定位方法,并提出时延值的快速搜索策略;推导了该结构的基于信号时延的时空映射关系,建立了声源目标位置的几何计算模型,并依据正四棱锥结构特点及冗余的时延值对值域划分,缩小求解范围,运用迭代算法得到声源的位置坐标,并通过双重筛选机制剔除错误的定位结果。实验结果证明了该结构及定位算法在提高系统定位精度和实时性能方面的有效性,能满足机器人应用中对声源定位的需求。
This paper proposed a localization model based on the multi-microphone with the rectangular pyramid structure.Firstly,the system employed the time delay estimation( TDE) method based on the cross-power spectral phase algorithm and a fast search strategy of peak value to estimate the time delay differences. And then,it established the geometric equation based on the time-space mapping relationship to calculate the position of the sound source. For fast solving the equations,it divided the multi-microphone array space into several subspaces to narrow the solution range according to the characteristics of rectangular pyramid structure and the redundant time differences,and introduced Newton iterative algorithm to solve the equations,which eliminated its solution with a large error by the double screening mechanism. The experimental results show that the model and the algorithm are effective in improving the localization accuracy and real-time performance,which can meet the demand of sound source localization in robot application.
This paper proposed a localization model based on the multi-microphone with the rectangular pyramid structure.Firstly,the system employed the time delay estimation( TDE) method based on the cross-power spectral phase algorithm and a fast search strategy of peak value to estimate the time delay differences. And then,it established the geometric equation based on the time-space mapping relationship to calculate the position of the sound source. For fast solving the equations,it divided the multi-microphone array space into several subspaces to narrow the solution range according to the characteristics of rectangular pyramid structure and the redundant time differences,and introduced Newton iterative algorithm to solve the equations,which eliminated its solution with a large error by the double screening mechanism. The experimental results show that the model and the algorithm are effective in improving the localization accuracy and real-time performance,which can meet the demand of sound source localization in robot application.
引文
[1]任福继,孙晓.智能机器人的现状及发展[J].科技导报,2015,33(21):32-38.(Ren Fuji,Sun Xiao.Present situation and development of intelligent robots[J].Science&Technology Review,2015,33(21):32-38.)
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[9]刘慧珠.基于麦克风阵列的声源方位估计算法研究[D].成都:西南交通大学,2015.(Liu Huizhu.Study on sound source orientation estimation algorithms based on microphone array[D].Chengdu:Southwest Jiaotong University,2015.)
[10]Pourmohammad A,Ahadi S M.The real time high accuracy 3-Dphat-based sound source localization using a simple 4-microphone arrangement[J].IEEE Systems Journal,2012,6(3):455-468.
[11]Tsiami A,Katsamanis A,Maragos P,et al.Experiments in acoustic source localization using sparse arrays in adverse indoors environments[C]//Proc of the 22nd European Signal Processing Conference.Piscataway,NJ:IEEE Press,2014:2390-2394.
[12]Kim U H,Mizumoto T,Ogata T,et al.Improvement of speaker localization by considering multipath interference of sound wave for binaural robot audition[C]//Proc of IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEEPress,2011:2910-2915.
[13]Li Xiaofei,Liu Hong,Yang Xuesong,et al.Sound source localization for mobile robot based on time difference feature and space grid matching[C]//Proc of IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE Press,2011:2879-2886.
[14]Nesta F,Omologo M.Generalized state coherence transform for multidimensional TDOA estimation of multiple sources[J].IEEE Trans on Audio,Speech,and Language Processing,2012,20(1):246-260.
[15]张雷岳,张兴敢,刘超.麦克风阵列声源定位中时延估计的改进[J].南京大学学报:自然科学版,2015,51(1):25-30.(Zhang Leiyue,Zhang Xinggan,Liu Chao.The improvement of time delay estimation in the microphone array sound localization system[J].Journal of Nanjing University:Natural Science Edition,2015,51(1):25-30.)
[16]孙昊,仲维灿,刘贺洋.正四面体麦克风阵列声源定位模型研究[J].计算机仿真,2015,32(2):378-382.(Sun Hao,Zhong Weican,Liu Heyang.Research on tetrahedral microphone array sound source localization model[J].Journal of Computer Simulation,2015,32(2):378-382.)
[2]Marinescu R S,Buzo A,Cucu H,et al.Fast accurate time delay estimation based on enhanced accumulated cross-power spectrum phase[C]//Proc of the 21st European Signal Processing Conference(EU-SIPCO).Piscataway,NJ:IEEE Press,2013:1-5.
[3]Mayyas K,Momani F.An LMS adaptive algorithm with a new stepsize control equation[J].Journal of the Franklin Institute,2011,348(4):589-605.
[4]Valin J M,Michaud F,Rouat J,et al.Robust sound source localization using a microphone array on a mobile robot[C]//Proc of IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE Press,2003:1228-1233.
[5]Brutti A.Tracking of multidimensional TDOA for multiple sound sources with distributed microphone pairs[J].Computer Speech&Language,2013,27(3):660-682.
[6]Baumgartner R,Majdak P.Assessment of Sagittal-plane sound location performance in spatial-audio[M].Berlin:Springer,2013:93-119.
[7]Sachar J M,Silverman H F,Patterson W R.Microphone position and gain calibration for a large-aperture microphone array[J].IEEETrans on Speech and Audio Processing,2005,13(1):42-52.
[8]Salvati D,Canazza S.Adaptive time delay estimation using filter length constraints for source localization in reverberant acoustic environments[J].IEEE Signal Processing Letters,2013,20(5):507-510.
[9]刘慧珠.基于麦克风阵列的声源方位估计算法研究[D].成都:西南交通大学,2015.(Liu Huizhu.Study on sound source orientation estimation algorithms based on microphone array[D].Chengdu:Southwest Jiaotong University,2015.)
[10]Pourmohammad A,Ahadi S M.The real time high accuracy 3-Dphat-based sound source localization using a simple 4-microphone arrangement[J].IEEE Systems Journal,2012,6(3):455-468.
[11]Tsiami A,Katsamanis A,Maragos P,et al.Experiments in acoustic source localization using sparse arrays in adverse indoors environments[C]//Proc of the 22nd European Signal Processing Conference.Piscataway,NJ:IEEE Press,2014:2390-2394.
[12]Kim U H,Mizumoto T,Ogata T,et al.Improvement of speaker localization by considering multipath interference of sound wave for binaural robot audition[C]//Proc of IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEEPress,2011:2910-2915.
[13]Li Xiaofei,Liu Hong,Yang Xuesong,et al.Sound source localization for mobile robot based on time difference feature and space grid matching[C]//Proc of IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE Press,2011:2879-2886.
[14]Nesta F,Omologo M.Generalized state coherence transform for multidimensional TDOA estimation of multiple sources[J].IEEE Trans on Audio,Speech,and Language Processing,2012,20(1):246-260.
[15]张雷岳,张兴敢,刘超.麦克风阵列声源定位中时延估计的改进[J].南京大学学报:自然科学版,2015,51(1):25-30.(Zhang Leiyue,Zhang Xinggan,Liu Chao.The improvement of time delay estimation in the microphone array sound localization system[J].Journal of Nanjing University:Natural Science Edition,2015,51(1):25-30.)
[16]孙昊,仲维灿,刘贺洋.正四面体麦克风阵列声源定位模型研究[J].计算机仿真,2015,32(2):378-382.(Sun Hao,Zhong Weican,Liu Heyang.Research on tetrahedral microphone array sound source localization model[J].Journal of Computer Simulation,2015,32(2):378-382.)