The invention relates to the field of emergency rescue, in particular to a space point sound source localization rescue method based on a microphone array, which comprises an unmanned aerial vehicle body, a flight control computer, a microphone array A, a microphone array B and a telescopic and rotary carrying platform. A microphone array A and a microphone array B can form a pair of staggered planes through a rotatable carrying platform, projection points of two planes of a disaster victim sound source are obtained on the basis of a time delay estimation method, and spatial point sound source positioning can be completed by implementing vector intersection on a mathematical model. And furthermore, a sound source area is positioned, camera shooting work is carried out through a carried camera, and coordinate information and images are locked. The unmanned aerial vehicle is controlled to perform around-point flight monitoring in the search area, so that the search area covers the whole target area to obtain the specific position information of the victim, and the victim can be quickly locked.
本发明涉及应急救援领域,尤其涉及一种基于麦克风阵列的空间点声源定位的救援方法,包括,无人机机身,飞控计算机,麦克风阵列A,麦克风阵列B,可伸缩、旋转的搭载平台。通过可旋转的搭载平台,可以使麦克风阵列A和麦克风阵列B形成一对错平面,再以时延估计法为基础得到受灾人员声源两个平面的投影点,通过在数学模型上做法向量相交就可以完成空间点声源定位,进而对声源地区进行定位并通过搭载摄像头进行摄像工作,锁定坐标信息和影像。通过控制无人机在搜索区域进行绕点飞行监控,使搜索区域覆盖整个目标区域以获得受灾人员的具体位置信息,能够快速锁定受灾人员。
Rescue method for spatial point sound source localization based on microphone array
一种基于麦克风阵列的空间点声源定位的救援方法
2024-11-01
Patent
Electronic Resource
Chinese
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