Asound source localization device based on amultimicrophone array with the rectangular pyramid structure is proposed for mobile\nrobot in some indoor applications. Firstly, a time delay estimation method based on the cross-power spectral phase algorithm\nand a fast search strategy of peak value based on the geometric distribution of microphones are developed to estimate the sound\npropagation delay differences between two microphones. Moreover, a rejection strategy is presented to evaluate the correctness of\nthe delay difference values.And then, the deviceâ??s geometric equations based on the time-spacemapping relationship are established\nto calculate the position of the sound source. For fast solving the equations, themultimicrophone array space is divided into several\nsubspaces to narrow the solution range, and Newton iteration algorithm is introduced to solve the equations, while its solution\nis evaluated by an evaluation mechanism based on coordinate thresholds. Finally, some experiments are carried out to verify the\nperformance of the device, of which the results show that the device can achieve sound source localization with a high accuracy.
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