文档介绍：河北工业大学
硕士学位论文
基于麦克风阵列的移动机器人听觉定位方法研究
姓名:何时蒙
申请学位级别:硕士
专业:控制科学与工程
指导教师:杨鹏
2010-12
河北工业大学硕士学位论文
基于麦克风阵列的移动机器人听觉定位方法研究

摘要

近年来机器人的应用逐渐从传统的工业领域向军事、医疗、服务等领域渗透。而机器
人听觉的研究已经成为机器人研究领域的重要课题。其关键技术就是基于麦克风阵列的声
源定位。
本文对麦克风阵列及其现状进行了介绍,讨论了基于麦克风阵列的声源定位所面临的
问题和困难。介绍了几种常见的声源定位方法,总结归纳并比较其优缺点。本论文以时延
估计方法为主要研究对象,该方法又包括广义互相关时延估计法和自适应时延估计法。在
理论上对各类方法进行性能分析,给出各种算法的适用场合和优缺点。并进一步改进了
GCC-PHAT 时延估计方法,仿真结果表明,改进后的方法较改进前,有更好的抗噪声和抗
混响性能。然后提出 SCOT 加权的广义互相关与 LMS 自适应结合的时延估计方法,仿真
表明其定位精度有所提高。同时归纳几种常见的基于时延的定位方法及其使用场合,包括
空间数学几何法、球形插值法、线性插值法,和基于 Tabu 搜索的定位方法。
最后提出一种实际可行的三维声源定位方法,做仿真实验并且对其性能进行分析。通
过实验数据表明,该定位系统实时可行,定位精度基本令人满意。

关键词:麦克风阵列,声源定位,时延估计,广义互相关

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基于麦克风阵列的移动机器人听觉定位方法研究
STUDY ON ACOUSTIC LOCALIZATION METHOD BASED
ON MICROPHONE ARRAY OF MOBILE ROBOT

ABSTRACT

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 e 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 mon 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 forwa