摘要
智能机器人工作环境是多维立体环境,利用听觉信息对特定目标实现定位与追踪始终是该领域内的关键研究方向。结合项目研究需要,介绍了正四面体麦克风阵列的信号模型以及时延值计算过程,提出了一种改进的互功率谱相位时延估计算法,所设计的装置创新性地将4个全向型麦克风构建成正四面体阵列,利用NIUSB-9215A完成四路声信号同步采样,基于声达时间差原理以及广义互相关算法,在LabVIEW平台上完成算法设计、图形编程,最终实现了性能可靠、定位准确的声源定位系统。
The working environment of intelligent robot is multi-dimensional and stereo environment.Using auditory information to locate and track specific target is always the key research direction in this field.Combined with the needs of project research,this paper introduces the signal model of tetrahedral microphone array and the calculation process of delay value,and proposes an improved cross power spectrum phase delay estimation algorithm.In the designed device,four omnidirectional microphones are innovatively constructed into tetrahedral array.Four channels of acoustic signals are synchronously sampled by Ni usb-9215 a.Based on the principle of time difference of sound arrival and generalized cross-correlation algorithm,the algorithm design and graphic programming are completed on LabVIEW platform.Finally,a sound source positioning system with reliable performance and accurate positioning is realized.
作者
黄雯
李立鹏
蓝少敏
俞兆辉
HUANG Wen;LI Lipeng;LAN Shaomin;YU Zhaohui(Tianjin University of Commerce,Tianjin 300134,China)
出处
《天津科技》
2020年第2期39-42,共4页
Tianjin Science & Technology
基金
天津市大学生创新创业训练计划项目“基于主动探测的移动服务机器人声源目标定位方法的研究”(201810069075)
天津商业大学青年基金项目(160108)
关键词
正四面体
声源定位
声达时间差
tetrahedron
sound source location
time difference of sound arrival
