System and method for computing a location of an acoustic source
View Patent ↗In accordance with the present invention, a system and method for computing a location of an acoustic source is disclosed. The method includes steps of processing a plurality of microphone signals in frequency space to search a plurality of candidate acoustic source locations for a maximum normalized signal energy. The method uses phase-delay look-up tables to efficiently determine phase delays for a given frequency bin number k based upon a candidate source location and a microphone location, thereby reducing system memory requirements. Furthermore, the method compares a maximum signal energy for each frequency bin number k with a threshold energy E t (k) to improve accuracy in locating the acoustic source.
1. A method for computing a location of an acoustic source, comprising the steps of:
receiving acoustic signals from the acoustic source by an array of M- 1 microphones and a reference microphone, each microphone identified by an integer microphone index m, 0≦m≦M- 1 ;
storing phase-delay look-up tables, the phase-delay look-up tables based upon a plurality of candidate source locations and a spatial configuration of the array of microphones; and
processing the received acoustic signals using the phase-delay look-up tables to compute the location of the acoustic source.
2. The method of claim 1 , wherein an entry in a first phase-delay look-up table is defined by an algebraic expression D(r,m)=512·b·Δm·v, where r is a vector to a candidate source location of the plurality of candidate source locations, b is a frequency width, v is inversely proportional to a speed of sound, and Δm is a distance between a location of a microphone m and the candidate source location minus a distance between a location of the reference microphone and the candidate source location.
3. The method of claim 1 , wherein an entry in a second phase-delay look-up table is defined by an algebraic expression cos_table(j)=cos(π·j/256), where j is an integer index and 0≦j511.
4. The method of claim 1 , wherein an entry in a third phase-delay look-up table is defined by an algebraic expression sin_table(j)=sin(π·j/256), where j is an integer index and 0≦j≦511.
5. The method of claim 1 , wherein the processing further comprises the steps of:
processing each received acoustic signal to generate blocks of complex coefficients sampled in frequency, each complex coefficient of a block associated with a frequency bin number k, where 0≦k≦N- 1 ;
computing signal energies, a signal energy received by the array of microphones from a candidate source location of the plurality of candidate source locations for the frequency bin number k determined by multiplying a complex coefficient of a selected block from each received acoustic signal associated with a microphone m by an appropriate phase delay, summing the phase-delayed complex coefficients, and squaring the summation; and
computing the location of the acoustic source by normalizing and summing the signal energies over the N frequency bin numbers for each candidate source location of the plurality of candidate source locations to give a total signal energy for each candidate source location.
6. The method of claim 5 , wherein the processing further comprises the steps of:
digitizing each received acoustic signal;
segmenting each digitized signal into a plurality of blocks, each block of the plurality of blocks including N digital samples Xpm(n), each digital sample Xpm(n) identified by the integer microphone index m, an integer block index p, and an integer sample index n, where 0≦n≦N- 1 and
performing a discrete Fast Fourier Transform (FFT) on each block to transform the N digital samples per block to N complex coefficients Fpm(k) per block, where 0≦k≦N- 1 .
7. The method of claim 5 , wherein the appropriate phase delay for the frequency bin number k, the candidate source location, and the microphone m is determined from a first phase-delay look-up table D(r,m), a second phase-delay look-up table cos_table(j), and a third phase-delay look-up table sin_table(j), where r is a vector to the candidate source location of the plurality of candidate source locations and j is an integer computed from an algebraic expression based upon the first look-up table and the frequency bin number k.
8. The method of claim 5 , wherein the computing the location of the acoustic source further comprises the step of determining a maximum total signal energy.
9. A method for computing a location of an acoustic source, comprising the steps of:
receiving analog signals from M- 1 microphones and a reference microphone, each received analog signal and each microphone identified by an integer microphone index m, 0≦m≦M- 1 ;
digitizing each received analog signal to generate a plurality of digital samples;
segmenting each digitized signal into a plurality of blocks, each block of the plurality of blocks including N digital samples of the plurality of digital samples and each digital sample of the N digital samples identified by the integer microphone index m, an integer block index p, and an integer sample index n, 0≦n≦N- 1 ;
performing a discrete Fast Fourier Transform (FFT) on each block to transform the N digital samples to N complex coefficients, a complex coefficient Fpm(k) of the N complex coefficients identified by the integer microphone index in, the integer block index p, and an integer frequency bin number k, 0≦k≦N- 1 ;
searching P blocks of each digitized signal for a maximum signal energy associated with the integer frequency bin number k, identifying a block p′ containing the maximum signal energy, 0≦p′≦P- 1 ;
comparing the maximum signal energy with a threshold energy Et(k), and if the maximum signal energy is less than the threshold energy, setting each complex coefficient of the P blocks of each digitized signal associated with the integer frequency bin number k equal to zero;
determining a plurality of phase delays using look-up tables;
multiplying each complex coefficient by a phase delay eiθm from the plurality of phase delays to generate phase-delayed complex coefficients and summing the phase-delayed complex coefficients over the integer microphone index m for a candidate source location (x,y,z) of a plurality of candidate source locations and for the integer frequency bin number k according to a first algebraic expression
Gx
,
y
,
z
(
k
)
=
∑
m
=
0
M
-
1
e
iθmF
m
p
′
(
k
)
;
computing a normalized total signal energy for the candidate source location (x,y,z) according to a second algebraic expression;
W
(
x
,
y
,
z
)
=
∑
k
=
kl
k
=
k
h
[
Gx
,
y
,
z
(
k
)
2
/
S
(
k
)
2
]
,
where 0≦k 1 ≦kh≦N- 1 and S(k) is an approximate measure of signal strength for the integer frequency bin number k; and
determining the location of the acoustic source based upon the normalized total signal energies computed for the plurality of candidate source locations.
10. The method of claim 9 , wherein M=16.
11. The method of claim 9 , wherein N=640.
12. The method of claim 9 , wherein P=5.
13. The method of claim 9 , wherein an entry in a first look-up table is defined by an algebraic expression D(r,m)=512·b·Δm·v, where r is a vector to the candidate source location (x,y,z) of the plurality of candidate source locations, b is a frequency width of the integer frequency bin number k, v is inversely proportional to a speed of sound, and Δm is a distance between a location of a microphone m and the candidate source location (x,y,z) minus a distance between a location of the reference microphone and the candidate source location (x,y,z).
14. The method of claim 13 , wherein an integer index j is defined by a third algebraic expression j=0x1FF & int(k·D(r,m)), where int(k·D(r,m)) is a product k·D(r,m) rounded to a nearest integer, 0 x1FF is a hexadecimal representation of a decimal number 511, and & is a binary “and” function.
15. The method of claim 14 , wherein the phase delay eiθm is defined by a fourth algebraic expression eiθm=cos_table(j)+i·sin_table(j), where i is (−1)1/2, cos_table(j)=cos(π·j/256), and sin_table(j)=sin(π·j/256).
16. The method of claim 9 , wherein |S(k)|2 is defined by a fifth algebraic expression
S
(
k
)
2
=
∑
m
=
0
M
-
1
Fp
′
m
(
k
)
2.
17. The method of claim 9 , wherein determining the location of the acoustic source further comprises the step of determining a maximum normalized total signal energy from the normalized total signal energies.
18. An electronic-readable medium having embodied thereon a program, the program being executable by a machine to perform method steps for computing a location of an acoustic source, the method steps comprising:
receiving acoustic signals from the acoustic source by an array of M- 1 microphones and a reference microphone, each microphone identified by an integer microphone index m, 0≦m≦M- 1 ;
storing phase-delay look-up tables, the phase-delay look-up tables based upon a plurality of candidate source locations and a spatial configuration of the array of microphones; and
processing the received acoustic signals using the phase-delay look-up tables to compute the location of the acoustic source.
19. The electronic-readable medium of claim 18 , further comprising the steps of:
processing each received acoustic signal to generate blocks of complex coefficients sampled in frequency, each complex coefficient of a block associated with a frequency bin number k, where 0≦k≦N- 1 ;
computing signal energies, a signal energy received by the array of microphones from a candidate source location of the plurality of candidate source locations for the frequency bin number k determined by multiplying a complex coefficient of a selected block from each received acoustic signal associated with a microphone m by an appropriate phase delay, summing the phase-delayed complex coefficients, and squaring the summation; and
computing the location of the acoustic source by normalizing and summing the signal energies over the N frequency bin numbers for each candidate source location of the plurality of candidate source locations to give a total signal energy for each candidate source location.
20. The electronic-readable medium of claim 19 , wherein the appropriate phase delay for the frequency bin number k, the candidate source location, and the microphone m is determined from a first phase-delay look-up table D(r,m), a second phase-delay look-up Table cos_table(j), and a third phase-delay look-up table sin_table(j), where r is a vector to the candidate source location of the plurality of candidate source locations and j is an integer computed from an algebraic expression based upon the first look-up table and the frequency bin number k.
21. The electronic-readable medium of claim 19 , wherein the computing the location of the acoustic source further comprises the step of determining a maximum total signal energy.
22. A system for computing a location of an acoustic source, comprising:
means for receiving acoustic signals from the acoustic source by an array of M- 1 microphones and a reference microphone, each microphone identified by an integer microphone index m, 0≦m≦M- 1 ;
means for storing phase-delay look-up tables, the phase-delay look-up tables based upon a plurality of candidate source locations and a spatial configuration of the array of microphones; and
means for processing the received acoustic signals using the phase-delay look-up tables to compute the location of the acoustic source.