| Nowadays, the application of robot has been infiltrated in field of military affairs, medicine and service from traditional industry. However, the study of robot auditory has become the important task in robot study . The key technology is sound source localization based on array of microphones.This paper introduces microphone arrays and its present situation . It is discussed that sound source localization based on the microphone array is facing some problems and difficulties. And it introduces several common methods of sound source localization, as well sums up and compares their advantages and disadvantages. This paper mainly studied the method of time delay estimation, including the time delay estimation method of generalized cross-correlation and adaptive time delay estimation method. Analyses of performance of various methods are presented in principle. Also it shows applicable occasions, merits and demerits of various algorithms. The GCC - PHAT time delay estimation method has been further improved. The simulation result shows that the improved method has better anti-noise and resisting reverberation performance than that before. And it put forward a method of time delay estimation based SCOT weighted generalized cross-correlation combined with LMS adaptive. The simulation shows that its position precision has been improved. Moreover, we summarized several common localization method based on time delay estimation and those occasions of application, which including spatial mathematic geometric method, ball interpolation method, linear interpolation method, and search positioning method based on the Tabu.A practical method of 3d sound source localization is presented. And we do simulation experiment, analyze its performance. the experimental data shows that the positioning system is real-time and feasible, positioning accuracy is basicly satisfactory. |
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