CN113484865A - Non-visual field sound source target detection and positioning method based on acoustic sensor array - Google Patents
Non-visual field sound source target detection and positioning method based on acoustic sensor array Download PDFInfo
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Abstract
The invention discloses a non-visual field sound source target detection and positioning method based on an acoustic sensor array, which comprises the following steps: step 1, detecting a non-visual field sound source target by using an acoustic sensor array; step 2, establishing an acoustic transmission model according to the reflection characteristic of the medium surface to the acoustic wave; step 3, processing the signals received by the array, and calculating the time of the target signals reaching each array element; step 4, constructing an acoustic equation set according to the array space position and the time of reaching each array element; and 5, solving an acoustic equation set to obtain the three-dimensional space position of the non-visual field sound source target. The invention can position the sound source target in the non-vision scene, and has high positioning precision.
Description
Technical Field
The invention belongs to the technical field of non-visual field sound source target positioning, relates to array signal processing, and particularly relates to a non-visual field sound source target detection and positioning method based on an acoustic sensor array.
Background
The acoustic wave has a longer wavelength than an electromagnetic wave such as light, and has a stronger reflection characteristic on an intermediate surface for revealing information of a hidden scene, thereby making it easier to detect the information of the hidden scene and less affected by noise. In the aspect of a signal detector, compared with a high-resolution fringe camera and a single-photon detector, the microphone is lower in price and more suitable for daily production and life.
The target positioning technology in the field of view has many application requirements in both military and civil fields, and the related theory and method are continuously and widely concerned and researched. When a shielding object exists between the target and the sensor array, sound signals emitted by the target can reach the sensor through various ways such as diffraction, transmission, reflection of other reflecting surfaces and the like, the sound field is complex, and the existing method cannot perform positioning. In order to make the target positioning be applied in more complex scenes, a method for positioning the target in the situation that a sound source signal generated by the target cannot reach a sensor in a straight line is provided.
Disclosure of Invention
The invention aims to provide a novel non-visual field sound source target detection and positioning method based on an acoustic sensor array aiming at the existing non-visual field sound source target positioning method, which is used for positioning a target in a complex scene, has rigorous data processing and data analysis, is high in prediction precision, and can effectively eliminate noise interference.
The purpose of the invention is realized by the following technical scheme:
a non-visual field sound source target detection and positioning method based on an acoustic sensor array comprises the following steps:
detecting a non-visual field sound source target by using an acoustic sensor array;
step two, establishing an acoustic transmission model according to the reflection characteristic of the medium surface to the acoustic wave;
processing the signals received by the array, and calculating the time of the target signals reaching each array element;
step four, constructing an acoustic equation set according to the array space position and the time of reaching each array element;
and step five, solving an acoustic equation set to obtain the three-dimensional space position of the non-visual field sound source target.
In a further improvement, the specific steps of the first step are as follows:
the method comprises the steps of using a microphone as an array element of an acoustic sensor array, placing the acoustic sensor array in a visual field, obtaining the distance j from a central array element to a middle interface, and receiving a sound signal generated by a non-visual field sound source object. And establishing a space rectangular coordinate system, taking the central array element of the acoustic sensor array as an origin of coordinates, wherein the direction parallel to the medium surface is the positive direction of an x axis, the direction parallel to the medium surface is the positive direction of a y axis, and the direction of the origin pointing to the medium interface is the positive direction of a z axis.
Further improvement, the specific steps of the second step are as follows:
according to the reflection characteristic of the medium surface to the sound wave, establishing an acoustic transmission model:
wherein, t is the signal receiving time, Ω { (x, y, z) ∈ x }, which is the whole real number set, x, y, z are the space rectangular coordinates, n is the array element number, (x) is the signal receiving time, n is the space rectangular coordinate, and (x) is the signal receiving timen,yn,zn) Is the space rectangular coordinate of n array elements of the microphone array, the value range of n is 1 to the number of the array elements in the acoustic sensor array, taunIs the sound signal received by n array elements, g is the sound source signal emission model,
as a function of the two-way reflection profile of the acoustic wave at the intermediate surface,
the reflection point i points to the direction vector of the n-numbered array elements,
for the direction vector of the reflection point i pointing to the sound source s,
a is the attenuation index of the sound wave through the reflection path, rn＝tnc is the total acoustic path of the reflected path, tnThe propagation time of the sound wave received by the n number array elements on the reflection path, c is the sound velocity, hn(t) is a noise term of n number array elements; d is the differential sign.
Further improvement, the third step comprises the following specific steps:
the time of the sound signal generated by the target reaching each array element and the time difference of the sound signal reaching every two array elements are obtained by correspondingly processing and analyzing the signals received by the acoustic sensor array.
In a further improvement, the specific steps of the fourth step are as follows:
after step three is completed, we know the available sound source position solving conditions as: speed of sound c, array coordinate (x)n,yn,zn) The value range of n is 1 to the number of array elements in the acoustic sensor array, and the time difference of the sound wave from the sound source to the two array elements, and the sound source position resolving formula is as follows:
wherein
Representing the sound path of the sound wave to the nth array element, (x)V',yV',zV') Three-dimensional space coordinates of a mirror image object V' having a mirror surface as a medium surface for a non-visual field sound source object.
Further improvement, the concrete steps of the fifth step are as follows:
and solving the acoustic equation set in the step four to obtain the three-dimensional space position of the non-visual field sound source target.
In a further improvement, the step of solving the acoustic equation set is as follows: the fitness function in the particle swarm optimization algorithm is constructed as follows:
fit is a fitness function, s is the three-dimensional spatial position of the particle, bs1Three-dimensional space coordinate (x) of central array element of acoustic sensor array1,y1,z1)，bsiThree-dimensional space coordinate (x) of other array elements of acoustic sensor arrayi,yi,zi) The acoustic sensor array has n array elements, f1As a central array element bs1Peak frequency of fiIs at spatial position bsiThe peak frequency of (d); the solution is iterated according to the following steps:
s1: initializing the total number of particles, initial speed, maximum number of iterations, maximum speed of a single particle, spatial range limitation of the particles, inertia weight of the single particle, individual learning factor and social learning factor;
s2: determining a fitness function, calculating fitness function values of all particles in the particle swarm, and then determining an individual optimal value pbest by a comparison updating methodi(k +1) is represented by the following formula:
wherein, fit(s)i(k) Represents particles s)iFitness value after k iterations, pbesti(k) For historical optimal location of the particle, fit (pbest)i(k) Fitness value representing the historical optimal location of the individual;
s3: determining a global optimal position gbesti(k +1), as follows:
gbest(k+1)＝argmin{fit(pbest1(k+1)),...,fit(pbestn(k+1))}
s4: updating the speed of the particles in the population through the inertia weight, the individual learning factor and the sociological factor;
s5: controlling the current speed and the current position of all the particles to be within the set interval range;
s6: and (4) performing loop iteration, when the optimal result is not achieved, repeatedly executing the second step in the flow, and continuously cycling the process for multiple times until the condition of the solution is met.
Solving to obtain the three-dimensional space position (x) of the non-vision field mirror image sound source objectV',yV',zV') Then according toThe distance j from the central array element to the middle interface can obtain the three-dimensional space position of the non-visual field sound source object: x is the number ofV＝xV'，yV＝j-(yV'-j)，zV＝zV'。
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a two-dimensional schematic view of a non-visual field sound source object localization scene;
FIG. 3 is a sensor array topology layout;
FIG. 4 shows an array element of an acoustic sensor array receiving signals;
FIG. 5 is a time estimate of the arrival of a target sound source at an array element;
FIG. 6 is an estimate of the time of arrival at a signal-to-noise ratio of-5 dB.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following examples.
The invention relates to a non-visual field sound source target detection and positioning method based on an acoustic sensor array, which comprises the following steps:
step one, detecting a non-visual field sound source target by using an acoustic sensor array:
MEMS microphones are used as array elements in an acoustic sensor array. The design of the acoustic sensor array is divided into two groups, one group is a quinary cross array, the number of the microphones is respectively 1, 2, 3, 4 and 8, the interval between each array element is 25cm, the other group is a quaternary T-shaped array, the number of the microphones is 5, 6, 7 and 8, the interval between each array element is about 28.28cm, the whole array is totally eight array elements, the same central array element is shared, and the number of the central array element is 8. With a certain array size, the uniformly arranged acoustic sensor array is more prone to spatial aliasing. And placing an acoustic sensor array in the visual field, obtaining the distance j from the central array element to the middle interface, and receiving the sound signal generated by the non-visual field sound source target. And establishing a space rectangular coordinate system, taking the central array element of the acoustic sensor array as an origin of coordinates, wherein the direction parallel to the medium surface is the positive direction of an x axis, the direction parallel to the medium surface is the positive direction of a y axis, and the direction of the origin pointing to the medium interface is the positive direction of a z axis.
Step two, establishing an acoustic transmission model according to the reflection characteristic of the medium surface to the acoustic wave;
according to the reflection characteristic of the medium surface to the sound wave, establishing an acoustic transmission model:
wherein, t is the signal receiving time, Ω { (x, y, z) ∈ x }, which is the whole real number set, x, y, z are the space rectangular coordinates, n is the array element number, (x) is the signal receiving time, n is the space rectangular coordinate, and (x) is the signal receiving timen,yn,zn) Is the space rectangular coordinate of n array elements of the microphone array, the value range of n is 1 to the number of the array elements in the acoustic sensor array, taunIs the sound signal received by n array elements, g is the sound source signal emission model,
as a function of the two-way reflection profile of the acoustic wave at the intermediate surface,
the reflection point i points to the direction vector of the n-numbered array elements,
for the direction vector of the reflection point i pointing to the sound source s,
a is the attenuation index of the sound wave through the reflection path, rn＝tnc is the total acoustic path of the reflected path, tnThe propagation time of the sound wave received by the n number array elements on the reflection path, c is the sound velocity, hn(t) is a noise term of n number array elements;
in the scheme, the wall surface is used as a medium interface, the concave-convex change of the wall surface is far smaller than the wavelength of sound waves, in other words, the wall surface is flat relative to the wavelength, the directional reflection occupies a dominant position, and a bidirectional reflection distribution function f can be modeled as an incremental function given by Snell law, as shown in the following formula:
f(ωr,ωi)＝δ(ωr-(2<l,ωi>l-ωi))
wherein l is a normal vector of the wall surface, and < · > is an inner product operation expression. The acoustic transmission model of the final non-field scene is shown as follows:
processing the signals received by the array, and calculating the time of the target signals reaching each array element:
the time of the sound signal generated by the target reaching each array element and the time difference of the sound signal reaching every two array elements are obtained by correspondingly processing and analyzing the signals received by the acoustic sensor array.
Step four, constructing an acoustic equation set according to the array space position and the time of reaching each array element:
after step three is completed, we know the available sound source position solving conditions as: speed of sound c, array coordinate (x)n,yn,zn) The value range of n is 1 to the number of array elements in the acoustic sensor array, and the time difference of the sound wave from the sound source to the two array elements, and the sound source position resolving formula is as follows:
wherein
Representing the sound path of the sound wave to the nth array element, (x)V',yV',zV') Is the three-dimensional space coordinates of the mirror object V'.
And step five, solving an acoustic equation set to obtain the three-dimensional space position of the non-visual field sound source target.
And solving the acoustic equation set in the step four to obtain the three-dimensional space position of the non-visual field sound source target.
Constructing a fitness function in a particle swarm optimization algorithm:
fit is a fitness function, s is the three-dimensional spatial position of the particle, bs1Three-dimensional space coordinate (x) of central array element of acoustic sensor array1,y1,z1)，bsiThree-dimensional space coordinate (x) of other array elements of acoustic sensor arrayi,yi,zi) The acoustic sensor array has n array elements, f1As a central array element bs1Peak frequency of fiIs at spatial position bsiThe peak frequency of (c). The solution is iterated according to the following steps:
s1: initializing the total number of particles, initial speed, maximum number of iterations, maximum speed of a single particle, spatial range limitation of the particles, inertia weight of the single particle, individual learning factor and social learning factor;
s2: determining a fitness function, calculating fitness function values of all particles in the particle swarm, and then determining an individual optimal value pbest by a comparison updating methodi(k +1) is represented by the following formula:
wherein, fit(s)i(k) Represents particles s)iFitness value after k iterations, pbesti(k) For historical optimal location of the particle, fit (pbest)i(k) Fitness value representing the historical optimal location of the individual;
s3: determining a global optimal position gbesti(k +1), as follows:
gbest(k+1)＝argmin{fit(pbest1(k+1)),...,fit(pbestn(k+1))}
s4: updating the speed of the particles in the population through the inertia weight, the individual learning factor and the sociological factor;
s5: controlling the current speed and the current position of all the particles to be within the set interval range;
s6: and (4) performing loop iteration, when the optimal result is not achieved, repeatedly executing the second step in the flow, and continuously cycling the process for multiple times until the condition of the solution is met.
Solving to obtain the three-dimensional space position (x) of the non-vision field mirror image sound source objectV',yV',zV') Then, according to the distance j from the central array element to the middle interface, the three-dimensional space position of the non-visual field sound source target can be obtained: x is the number ofV＝xV'，yV＝j-(yV'-j)，zV＝zV'。
Table 1 shows the results of the non-visual field sound source object localization based on the acoustic sensor array of this embodiment
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the protection scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. A non-visual field sound source target detection and positioning method based on an acoustic sensor array is characterized by comprising the following steps:
detecting a non-visual field sound source target by using an acoustic sensor array;
step two, establishing an acoustic transmission model according to the reflection characteristic of the medium surface to the acoustic wave;
processing the signals received by the array, and calculating the time of the target signals reaching each array element;
step four, constructing an acoustic equation set according to the array space position and the time of reaching each array element;
and step five, solving an acoustic equation set to obtain the three-dimensional space position of the non-visual field sound source target.
2. The method for detecting and positioning the non-visual field sound source target based on the acoustic sensor array according to claim 1, wherein the specific steps of the first step are as follows:
the method comprises the steps of using a microphone as an array element of an acoustic sensor array, placing the acoustic sensor array in a visual field, obtaining the distance j from a central array element to a middle interface, and receiving a sound signal generated by a non-visual field sound source object.
3. The method for detecting and positioning the non-visual field sound source target based on the acoustic sensor array according to claim 1, wherein the specific steps of the second step are as follows:
according to the reflection characteristic of the medium surface to the sound wave, establishing an acoustic transmission model:
wherein, t is the signal receiving time, Ω { (x, y, z) ∈ x }, which is the whole real number set, x, y, z are the space rectangular coordinates, n is the array element number, (x) is the signal receiving time, n is the space rectangular coordinate, and (x) is the signal receiving timen,yn,zn) Is the space rectangular coordinate of n array elements of the microphone array, the value range of n is 1 to the number of the array elements in the acoustic sensor array, taunIs the sound signal received by n array elements, g is the sound source signal emission model,
for bidirectional reversal of sound waves at mid-interfaceThe function of the distribution of the rays,
the reflection point i points to the direction vector of the n-numbered array elements,
for the direction vector of the reflection point i pointing to the sound source s,
a is the attenuation index of the sound wave through the reflection path, rn＝tnc is the total acoustic path of the reflected path, tnThe propagation time of the sound wave received by the n number array elements on the reflection path, c is the sound velocity, hn(t) is a noise term of n number array elements; d is the differential sign.
4. The method for detecting and positioning the non-visual field sound source target based on the acoustic sensor array according to claim 1, wherein the third step comprises the following specific steps:
the time of the sound signal generated by the target reaching each array element and the time difference of the sound signal reaching every two array elements are obtained by correspondingly processing and analyzing the signals received by the acoustic sensor array.
5. The method for detecting and positioning the non-visual field sound source target based on the acoustic sensor array according to claim 1, wherein the fourth step comprises the following specific steps:
after step three is completed, we know the available sound source position solving conditions as: speed of sound c, array coordinate (x)n,yn,zn) The value range of n is 1 to the number of array elements in the acoustic sensor array, and the time difference of the sound wave from the sound source to the two array elements, and the sound source position resolving formula is as follows:
wherein
Representing the sound path of the sound wave to the nth array element, (x)V',yV',zV') Three-dimensional space coordinates of a mirror image object V' having a mirror surface as a medium surface for a non-visual field sound source object.
6. The method for detecting and positioning the non-visual field sound source target based on the acoustic sensor array according to claim 1, wherein the concrete steps of the fifth step are as follows:
and solving the acoustic equation set in the step four to obtain the three-dimensional space position of the non-visual field sound source target.
7. The method for detecting and positioning the non-visual-field sound source target based on the acoustic sensor array as claimed in claim 6, wherein the step of solving the acoustic equation set is as follows: the fitness function in the particle swarm optimization algorithm is constructed as follows:
fit is a fitness function, s is the three-dimensional spatial position of the particle, bs1Three-dimensional space coordinate (x) of central array element of acoustic sensor array1,y1,z1)，bsiThree-dimensional space coordinate (x) of other array elements of acoustic sensor arrayi,yi,zi) The acoustic sensor array has n array elements, f1As a central array element bs1Peak frequency of fiIs at spatial position bsiThe peak frequency of (d); the solution is iterated according to the following steps:
s1: initializing the total number of particles, initial speed, maximum number of iterations, maximum speed of a single particle, spatial range limitation of the particles, inertia weight of the single particle, individual learning factor and social learning factor;
s2: determining a fitness function, calculating fitness function values of all particles in the particle swarm, and then determining an individual optimal value pbest by a comparison updating methodi(k +1) is represented by the following formula:
wherein, fit(s)i(k) Represents particles s)iFitness value after k iterations, pbesti(k) For historical optimal location of the particle, fit (pbest)i(k) Fitness value representing the historical optimal location of the individual;
s3: determining a global optimal position gbesti(k +1), as follows:
gbest(k+1)＝argmin{fit(pbest1(k+1)),...,fit(pbestn(k+1))}
s4: updating the speed of the particles in the population through the inertia weight, the individual learning factor and the sociological factor;
s5: controlling the current speed and the current position of all the particles to be within the set interval range;
s6: and (4) performing loop iteration, when the optimal result is not achieved, repeatedly executing the second step in the flow, and continuously cycling the process for multiple times until the condition of the solution is met.
Solving to obtain the three-dimensional space position (x) of the non-vision field mirror image sound source objectV',yV',zV') Then, according to the distance j from the central array element to the middle interface, the three-dimensional space position of the non-visual field sound source target can be obtained: x is the number ofV＝xV'，yV＝j-(yV'-j)，zV＝zV'。
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