基于时延估计的移动机器人声源定位方法研究

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1、基于时延估计的移动机器人声源定位方法研究STUDYONACOUSTICLOCALIZATIONMETHODBASEDONTHETIMEDELAYESTIMATIONOFMOBILEROBOTABSTRACTTheresearchanddevelopmentofsoundsourcelocalizationsystemisaresearchfocusofindustrialcontrolandsignalprocessing.Oneofthemaincontentsofthestudyisthelocationmethod.Inthispaper,microphonearrayisusedt

2、ostudythesoundsourcelocalizationsystem.Itisdiscussedthatthenecessityandthemaindifficultiesofsoundsourcelocalizationbasedonthemicrophonearray.Anditintroducesseveralcommonmethodsofsoundsourcelocalization,aswellsumsupandcomparestheiradvantagesanddisadvantages.Thispapermainlystudiedthemethodoftimedela

3、yestimation,includingthetimedelayestimationmethodofgeneralizedcross-correlationandadaptivetimedelayestimationmethod.Analysesofperformanceofvariousmethodsarepresentedinprinciple.Alsoitshowsapplicableoccasions,meritsanddemeritsofvariousalgorithms.Amethodofgeneralizedcross-correlationtimedelayestimat

4、ionbasedonneuralnetworkfilteringisproposedonthisbasis.Thispaperdiscussesthebasictheoryofartificialneuralnetworkanditssuperiorityondetail,thismethodhasbetteranti-noiseandadaptiveperformancethanthatbefore.Moreover,wesummarizedseveralcommonlocalizationmethodbasedontimedelayestimationandthoseoccasions

5、ofapplication,whichincludingspatialmathematicgeometricmethod,ballinterpolationmethod,linearinterpolationmethod,andsearchpositioningmethodbasedontheTabu.Finally,apractical3Dacousticsourcelocalizationmethodispresented.Wedoexperimentandanalyzeitsperformance.Theexperimentaldatashowsthatthepositionings

6、ystemisreal-timeandfeasible,positioningaccuracyisbasiclysatisfactory..KEYWORDS:microphonearray,soundsourcelocalization,timedelayestimation,generalizedcross-correlation,NeuralNetworkii河北工业大学硕士学位论文目录第一章绪论................................................................................................

7、................................................1§1-1本论文研究的背景和意义.......................................................................................................................1§1-2声源定位系统的研究现状.............