多元传声器阵列结构优化及其定位算法
发布时间：2019-01-24 08:02
【摘要】：构建适应性强、精确度高的定位模型及定位算法是声源定位系统要解决的核心问题。然而,目前对机器人听觉感知的研究主要侧重于对语音的辨识和理解上,在定位模型及算法方面由于缺少机理性的研究。在实际应用中只初步实现了对远场声源的定向,缺少对高精度定距以及近场声源定位的处理方法。在声信号处理领域中对这一问题的研究由于受模型复杂度和传声器阵列结构(尺寸和维数)的限制,一直没能从理论上突破这一瓶颈,这大大降低了声源定位系统的适应性和实用性。本文研究了一种多元传声阵列结构优化及其定位算法,重点分析了不确定条件下多元传声器阵列的适应性、适用性和准确性;研究了不确定条件下的传声器阵列的定位模型与定位稳定性,并且提出了可行的定位模型及计算方法;设计了传声器阵列的结构,通过时延估计的定位方法,采用五元阵列交叉定位的方法解决了声源定位系统的适应性和实用性的问题;仿真验证了交叉定位算法的有效性并总结出一些定位规律;借助移动机器人实验平台,实际运用了优化阵列及其定位算法,实验测试表明该方法中距离对声达时间差误差不敏感,论文研究的五元阵列结构及定位算法可实现较高精度的声源目标定位。
[Abstract]:It is the core problem to solve the problem of sound source location system to construct the localization model and algorithm with high adaptability and high accuracy. However, at present, the research of robot auditory perception mainly focuses on the recognition and understanding of speech, due to the lack of mechanical research on localization model and algorithm. In practical application, only the orientation of far-field sound source is realized preliminarily, and the processing method of high-precision distance fixing and near-field sound source location is lacking. Due to the limitation of model complexity and microphone array structure (dimension and dimension), the research on this problem in the field of acoustic signal processing has not been able to break through this bottleneck theoretically. This greatly reduces the adaptability and practicability of the sound source location system. In this paper, the structure optimization and location algorithm of multivariate acoustic array are studied, and the adaptability, applicability and accuracy of multivariate microphone array under uncertain conditions are analyzed. The localization model and stability of microphone array under uncertain conditions are studied, and a feasible location model and calculation method are proposed. The structure of microphone array is designed. The problem of adaptability and practicability of sound source location system is solved by the method of time delay estimation and five-element array cross location. Simulation results show that the algorithm is effective and some localization rules are summarized. With the help of the mobile robot experimental platform, the optimized array and its localization algorithm are used in practice. The experimental results show that the distance in this method is not sensitive to the error of the time difference of acoustic arrival. The five-element array structure and localization algorithm studied in this paper can achieve high accuracy target location of sound source.
【学位授予单位】：河北工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN641
本文编号：2414276
[Abstract]:It is the core problem to solve the problem of sound source location system to construct the localization model and algorithm with high adaptability and high accuracy. However, at present, the research of robot auditory perception mainly focuses on the recognition and understanding of speech, due to the lack of mechanical research on localization model and algorithm. In practical application, only the orientation of far-field sound source is realized preliminarily, and the processing method of high-precision distance fixing and near-field sound source location is lacking. Due to the limitation of model complexity and microphone array structure (dimension and dimension), the research on this problem in the field of acoustic signal processing has not been able to break through this bottleneck theoretically. This greatly reduces the adaptability and practicability of the sound source location system. In this paper, the structure optimization and location algorithm of multivariate acoustic array are studied, and the adaptability, applicability and accuracy of multivariate microphone array under uncertain conditions are analyzed. The localization model and stability of microphone array under uncertain conditions are studied, and a feasible location model and calculation method are proposed. The structure of microphone array is designed. The problem of adaptability and practicability of sound source location system is solved by the method of time delay estimation and five-element array cross location. Simulation results show that the algorithm is effective and some localization rules are summarized. With the help of the mobile robot experimental platform, the optimized array and its localization algorithm are used in practice. The experimental results show that the distance in this method is not sensitive to the error of the time difference of acoustic arrival. The five-element array structure and localization algorithm studied in this paper can achieve high accuracy target location of sound source.
【学位授予单位】：河北工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN641
【参考文献】
相关硕士学位论文 前1条
1 叶一枝;基于时延估计的声源定位系统的设计与实现[D];上海交通大学;2011年
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