The Research Of Three-dimensional Sound Source Location Using Foure-microphone Array Based On TDOA

Intelligent service robots are a variety of high-tech integrated intelligent equipments which provide the necessary services for human beings in the unstructured environments. It can achieve many applications, to a certain extent auditory sense is an important sign of intelligent robots. At the same time, it also is an important means to achieve hum an-computer interaction and environment interaction. In the real environment, auditory sense can bring the360°"hearing effects". It can locate the sound target without the visual scene, in other words the located objects are obscured or sound targets are at the corner. Although, this hearing research compared with the vision is still in the early stages, the studies of hearing have become an important issue. Meanwhile the sound source localization based on human hearing is a new hot in recent years.The sound source localization based on human hearing is a hot in speech signal processing field. There are wide range of applications and the actual significances for this method which picks up and processes speech signal through a microphone array to determine the location of the sound source. The sound source localization technology based on microphone array is researched in this paper. The following work has been done mainly:Firstly, the principle and current research status of microphone array localization are summarized objectively. Three different technologies of sound source localization based on microphone array are discussed fully. These difficulties are analyzed during the sound source localization and localization technology based on arrival time delay is focused on.Then Up to now, there are a lot of positioning algorithms based on the time delay. The generalized cross-correlation algorithm is studied in this paper and an improved cross-power spectrum phase weighting algorithm is proposed to overcome noise affect in the positioning process. The experiments show that the proposed algorithm has a small amount of calculation and better positioning performance in the strong noise environment.Finally, the acquisition program is designed on LabVIEW software platform by using MP420acquisition card of Beijing double solutia company to achieve real-time acquisition and storage of the speech signal in the actual environment. The acquisition data is processed by applying the improved algorithm in this paper and simulated by using Matlab software. The experimental results show that the proposed algorithm can achieve more accurate localization of the sound source.