APPARATUS AND METHOD FOR RESOLVING AN AMBIGUITY FROM A DIRECTION OF ARRIVAL ESTIMATE

An apparatus for resolving an ambiguity from a DOA estimate includes a DOA estimate analyzer for analyzing the DOA estimate to obtain a plurality of ambiguous analysis parameters by using a bias information, the bias information representing a relation between a biased and an unbiased DOA estimate, and an ambiguity resolver for resolving the ambiguity in the plurality of ambiguous analysis parameters to obtain a non-ambiguous resolved parameter. 1. An apparatus for resolving an ambiguity from a DOA estimate , the apparatus comprising:a DOA estimate analyzer for analyzing the DOA estimate to acquire a plurality of ambiguous analysis parameters by using a bias information, the bias information representing a relation between a biased and an unbiased DOA estimate; andan ambiguity resolver for resolving the ambiguity in the plurality of ambiguous analysis parameters to acquire a non-ambiguous resolved parameter.2. The apparatus according to claim 1 , wherein the DOA estimate analyzer is configured to relate the DOA estimate to a plurality of ambiguous DOA estimates based on a bias function claim 1 , wherein the bias function is indicated by the bias information claim 1 , and wherein the plurality of ambiguous DOA estimates corresponds to the plurality of ambiguous analysis parameters claim 1 , wherein the ambiguity resolver is configured to determine the non-ambiguous resolved parameter from the plurality of ambiguous DOA estimates by using a priori spatial information of one or more active sources.3. The apparatus according to claim 1 , wherein the ambiguity resolver is configured as a selector for selecting the non-ambiguous resolved parameter from a plurality of ambiguous DOA estimates claim 1 , wherein the selector is configured to perform the selection of the non-ambiguous resolved parameter based on a measure of a distance between a localization estimate corresponding to an ambiguous DOA estimate of the plurality of ambiguous DOA estimates and a priori ...

SOUND DIRECTION ESTIMATION DEVICE, SOUND DIRECTION ESTIMATION METHOD, AND SOUND DIRECTION ESTIMATION PROGRAM

A sound direction estimation device includes a transfer function storage unit configured to store transfer functions of sound sources in correlation with directions of the sound sources, a calculation unit configured to calculate the number of classes to be searched and a search interval for each class based on a desired search range and a desired spatial resolution for searching for the directions of the sound sources, and a sound source localization unit configured to search the search range for every search interval using the transfer function, to estimate the direction of the sound source based on the search result, to update the search range and the search interval based on the estimated direction of the sound source until the number of classes calculated by the calculation unit is reached, and to estimate the direction of the sound source. 1. A sound direction estimation device comprising:a transfer function storage unit configured to store transfer functions of sound sources in correlation with directions of the sound sources;a calculation unit configured to calculate the number of classes to be searched and a search interval for each class based on a desired search range and a desired spatial resolution for searching for the directions of the sound sources; anda sound source localization unit configured to search the search range for every search interval using the transfer function, to estimate the direction of the sound source based on the search result, to update the search range and the search interval based on the estimated direction of the sound source until the number of classes calculated by the calculation unit is reached, and to estimate the direction of the sound source.2. The sound direction estimation device according to claim 1 , wherein the sound source localization unit is configuredto search an n-th class (where n is an integer greater than or equal to 1) in the predetermined search range with the calculated search interval and update at ...

SYSTEM FOR DETECTING SOUND GENERATION POSITION AND METHOD FOR DETECTING SOUND GENERATION POSITION

A system for detecting a sound generation position includes three or more first sound acquisition units and a position detector. The three or more first sound acquisition units acquire a sound of a sound event generated around a first mobile object, and are disposed in positions spaced apart from each other in the mobile object, respectively. The position detector detects a direction or a position where the sound event occurs, based on the difference between acquisition times at which the sound is acquired at the three or more first sound acquisition units. 1. A system for detecting a sound generation position , the system comprising:three or more first sound acquisition units that acquire a sound of a sound event generated around a first mobile object, the three or more first sound acquisition units disposed in positions spaced apart from each other in the first mobile object, respectively; anda position detector that detects a direction or a position where the sound event occurs, based on a difference between acquisition times at which the sound is acquired by the three or more first sound acquisition units.2. The system according to claim 1 , further comprisinga second sound acquisition unit that is mounted to another place different from the first mobile object and acquires the sound of the sound event generated around the another place, andwherein the position detector detects a position where the sound is generated, based on sound information about the sound received from each of the three or more first sound acquisition units and the second sound acquisition unit.3. The system according to claim 2 , further comprisinga second mobile object different from the first mobile object, andwherein the second sound acquisition unit is disposed in the second mobile object.4. The system according to claim 1 , further comprising a time information acquisition unit that acquires time information about a time at which the sound of the sound event is acquired.5. The system ...

MOBILE DEVICE BASED CONTROL DEVICE LOCATOR

Disclosed herein are system, apparatus, article of manufacture, method, and/or computer program product embodiments for a mobile device based control device locator. An embodiment operates by receiving a request to locate a control device, transmitting acoustic token transmission information to the control device to activate an electroacoustic transducer on the control device, receiving an acoustic signal including an acoustic token signal from the control device via a plurality of acoustic sensors, and determining distance information of the control device based on the received acoustic token signal generated by the electroacoustic transducer of the control device. 1. A system comprising:at least one processor; and receive a request to locate a control device,', 'transmit acoustic token transmission information to the control device to activate an electroacoustic transducer on the control device,', 'receive an acoustic signal including an acoustic token signal from the control device via a plurality of acoustic sensors operatively coupled to the at least one processor, and', 'determine distance information of the control device based on the received acoustic token signal generated by the electroacoustic transducer of the control device., 'a memory operatively coupled to the at least one processor, the processor configured to2. The system of claim 1 , wherein the processor is further to:visually present distance information of the control device on a display operatively coupled to the at least one processor, wherein the visually presented distance information includes a first graphical UI element to represent the distance of the control device.3. The system of claim 1 , wherein the processor is further to:determine direction information of the control device based on the received acoustic token signal generated by the electroacoustic transducer of the control device.4. The system of claim 1 , wherein the processor is further to:visually present direction information ...

ULTRA-SOUND COMMUNICATION SYSTEM

A device is disclosed. The device includes a plurality of microphones to receive ultra-sound signals, wherein the ultra-sound signals include an encoded data. The device also includes a microcontroller coupled to the plurality of microphones. The microcontroller is configured to detect the ultra-sound signals through the plurality of microphones. The detection of the ultra-sound signals includes calculating an angle of arrival of the ultra-sound signals at a microphone in the plurality of microphones. The microcontroller is configured to perform a transaction based on the encoded data received via a microphone in the plurality of microphones. 1. A device , comprising:a plurality of microphones to receive ultra-sound signals, wherein the ultra-sound signals includes an encoded data; anda processor coupled to the plurality of microphones, the processor is configurable to detect the ultra-sound signals through the plurality of microphones, wherein the detection includes calculating an angle of arrival of the ultra-sound signals at a microphone in the plurality of microphones, wherein the processor is configurable to perform a transaction based on the encoded data received via a microphone in the plurality of microphones.2. The device of claim 1 , wherein claim 1 , the processor is further configurable to disregard the ultra-sound signals if the measured angle of arrival is outside a preset threshold range.3. The device of claim 1 , wherein the processor is further configurable to measure a distance to a source of the ultra-sound signals.4. The device of claim 3 , wherein the processor is further configurable to disregard the ultra-sound signals if the measured distance is greater or smaller than a preset threshold.5. The device of claim 1 , wherein the processor is further configurable to perform a secret code exchange with a sender of the ultra-sound signals.6. The device of claim 5 , wherein the processor is configurable to encrypt data sent to the sender using the ...

Object detection enhancement using receiver perspective

Apparatuses and methods for determining the perspective of a receiver of a transmission from the transmitting station are disclosed. The receiver may determine an angle of arrival of the transmission. The angle of arrival may be used to generate perspective information, which may then be transmitted to the transmitting station for use in enhancing recognition and detection of the receiver. In embodiments, the perspective information may comprise an image or images of the receiver generated from a model of the receiver. In embodiments, the transmission may be a millimeter wave transmission.

SOUND PROCESSING DEVICE, SOUND PROCESSING METHOD, AND SOUND PROCESSING PROGRAM

A sound processing device includes a sound collection unit configured to record a sound signal, a tilt information acquisition unit configured to acquire tilt information on a tilt of the sound processing device, an azimuth estimation unit configured to estimate azimuths of a sound source in a plane in which the sound collection unit is arranged based on the sound signals which are recorded by the sound collection unit at least at two times; and an elevation angle estimation unit configured to estimate an elevation angle of the sound source with respect to the plane in which the sound collection unit is arranged based on the tilt information acquired by the tilt information acquisition unit and the azimuths estimated by the azimuth estimation unit at least at two times. 1. A sound processing device comprising:a sound collection unit configured to record a sound signal;a tilt information acquisition unit configured to acquire tilt information on a tilt of the sound processing device;an azimuth estimation unit configured to estimate azimuths of a sound source in a plane in which the sound collection unit is arranged based on the sound signals which are recorded by the sound collection unit at least at two times; andan elevation angle estimation unit configured to estimate an elevation angle of the sound source with respect to the plane in which the sound collection unit is arranged based on the tilt information acquired by the tilt information acquisition unit and the azimuths estimated by the azimuth estimation unit at least at two times.2. The sound processing device according to claim 1 , wherein the elevation angle estimation unit is configured to calculate a rotation matrix from a world coordinate system to a local coordinate system of the sound processing device based on the tilt information acquired by the tilt information acquisition unit claim 1 , and to estimate the elevation angle of the sound source based on the calculated rotation matrix and the azimuths ...

Method for Three-Dimensional Tracking of Sinusoidal Acoustic Source Using a Rotating Microphone

A method for determining the location of a first source. A first member is provided. A first tip microphone is attached to a first end of the first member. A first static microphone is provided. An initial frequency is recorded at the static microphone. The first member is rotated at an angular velocity. A tangential distance is calculated from the first tip microphone to the source. A source angle is calculated from the first member to the source. A height of the source is calculated. 1. A method for determining a location of a first source comprising:providing a first member, wherein a first tip microphone is attached to a first end of said first member;recording an initial frequency;rotating the first member at an angular velocity;calculating a tangential distance from the first tip microphone to the source;calculating a source angle from the first member to the source; andcalculating a height of the source.3. The method of claim 1 , further comprising the step of recording for each angle of rotation θ a measured frequency f.4. The method of claim 1 , further comprising the step of determining a maximum measured frequency fand a corresponding maximum angle θ.5. The method of claim 1 , further comprising the step of determining a minimum measured frequency fand a corresponding minimum angle θ.9. The method of claim 1 , further comprising the step of providing a second member with a second tip microphone attached to a second end of said second member.10. The method of claim 9 , further comprising the step of orienting the second member at an angle different from the first member.11. The method of claim 10 , further comprising the step of calculating a second height hof the source.12. The method of claim 11 , further comprising the step of comparing the height of the source h with hto determine whether h is above or below the first member.14. The method of claim 13 , further comprising the step of providing a second member with a second tip microphone attached to a ...

ACOUSTIC SOURCE TRACKING AND SELECTION

The present disclosure relates generally to improving acoustic source tracking and selection and, more particularly, to techniques for acoustic source tracking and selection using motion or position information. Embodiments of the present disclosure include systems designed to select and track acoustic sources. In one embodiment, the system may be realized as an integrated circuit including a microphone array, motion sensing circuitry, position sensing circuitry, analog-to-digital converter (ADC) circuitry configured to convert analog audio signals from the microphone array into digital audio signals for further processing, and a digital signal processor (DSP) or other circuitry for processing the digital audio signals based on motion data and other sensor data. Sensor data may be correlated to the analog or digital audio signals to improve source separation or other audio processing. 1. A system for processing at least one signal acquired using one or more acoustic sensors , the at least one signal having contributions from one or more acoustic sources , the system comprising:a memory configured to store computer executable instructions; and obtain sensor data from one or more sensors other than the one or more acoustic sensors; and', 'use the sensor data in executing an acoustic source separation algorithm on the at least one acquired signal to separate from the at least one acquired signal one or more contributions from a predetermined acoustic source of the one or more acoustic sources., 'a processor communicatively connected to or comprising the memory and configured, when executing the instructions, to2. The system according to claim 1 , wherein the acoustic source separation algorithm comprises:computing time-dependent spectral characteristics from the at least one acquired signal, the spectral characteristics comprising a plurality of components;computing direction estimates from at least two signals acquired using one or more acoustic sensors, each ...

METHODS AND SYSTEMS FOR UNDERWATER LOCATION

An electronic device for locating an underwater target transmitting a signal comprises a housing; a display; at least one transducer for receiving the signal from the underwater target; a processor connected to receive signals from the at least one transducer and to control the display; and a memory storing computer readable instructions which, when executed by the processor, cause the processor to: determine a bearing to the underwater target based on the signals from the at least one transducer; determine an uncertainty in the determined bearing; and, control the display to display the determined bearing and uncertainty. 1. An electronic device for locating an underwater target transmitting a signal , the electronic device comprising:a housing;a display;at least one transducer for receiving the signal from the underwater target;a processor connected to receive signals from the at least one transducer and to control the display; and determine a bearing to the underwater target based on the signals from the at least one transducer;', 'determine an uncertainty in the determined bearing; and,', 'control the display to display the determined bearing and uncertainty., 'a memory storing computer readable instructions which, when executed by the processor, cause the processor to2. The electronic device of wherein the display displays a graphical representation of the determined bearing and uncertainty on a generally circular map centered on the electronic device claim 1 , wherein the graphical representation of the determined bearing and uncertainty comprises a circular section centered on the determined bearing and having an angular extent based on the uncertainty.3. The electronic device of wherein a second bearing and uncertainty are determined based on a subsequent signal received from the underwater target.4. The electronic device of wherein the display displays a graphical representation of the second bearing and uncertainty superimposed over a graphical ...

Monitoring device, monitoring method and monitoring program

A monitoring device includes a crowd behavior analysis unit 21 and an abnormality degree calculation unit 24. The crowd behavior analysis unit 21 specifies a behavior pattern of a crowd from input video. The abnormality degree calculation unit 24 calculates an abnormality degree from a change of the behavior pattern.

Small spatial sound source orientation detecting device and method thereof

The present invention relates to a small spatial sound source orientation detecting device, including a circuit board; three or more MEMS acoustic-electric transducers fixedly arranged on the circuit board and centrosymmetric distribution. The distance between adjacent MEMS acoustic-electric transducers is not more than one-half of the shortest wavelength of the sound source signal; and a micro-control unit, each MEMS acoustic-electric transducer is electrically connected to the micro-control unit respectively. The micro-control unit is to obtain the orientation information of the spatial sound source based on the acoustic signals collected by three or more MEMS acoustic-electric transducers. The present invention also provides a spatial sound source orientation detection method. The small spatial sound source orientation detecting device of the present invention has an ultra-small space size, and can accurately detect the orientation information of the sound source.

MARINE ELECTRONIC DEVICE FOR PRESENTMENT OF NAUTICAL CHARTS AND SONAR IMAGES

An apparatus for providing marine information is provided including a user interface, a processor, and a memory including computer program code. The memory and the computer program code are configured to, with the processor, cause the apparatus to generate a sonar image based on sonar return data received from an underwater environment, determine a location associated with the sonar return data based on location data received from one or more position sensors, and render a nautical chart on a display. The computer program code is further configured to cause the apparatus to receive a user input on the user interface directed to a portion of the display in which the nautical chart is presented, and modify presentation of the nautical chart such that the portion of the display presents the sonar image in response to receiving the user input. 1. An apparatus for providing marine information , the apparatus comprising:a user interface;a processor; and generate a sonar image based on sonar return data received at a geographic location from an underwater environment relative to a vessel, wherein the sonar image is associated with a scale value;', 'determine the geographic location associated with the sonar return data based on location data received from one or more position sensors at an instance in which the sonar return data was received by one or more transducers associated with the vessel;', 'present a nautical chart on a display;', 'receive a user input via the user interface within a portion of the display in which the nautical chart is presented such that the user input corresponds to the geographic location within the nautical chart, wherein the user input indicates a desire to increase a zoom level of the nautical chart to or past the scale value; and', 'cause, in response to at least one of receiving the user input or changing the zoom level of the nautical chart to or past the scale value, presentation of the sonar image in relative position on the display ...

METHOD FOR CALCULATING ANGULAR POSITION OF PERIPHERAL DEVICE WITH RESPECT TO ELECTRONIC APPARATUS, AND PERIPHERAL DEVICE WITH FUNCTION OF THE SAME

A method of calculating an angular position of a peripheral device with respect to an electronic apparatus, a peripheral device, and an electronic apparatus are provided. The method includes receiving sounds, by the peripheral device, from each of a pair of loudspeakers provided in the electronic apparatus; and calculating, by the peripheral device, an angular position of the peripheral device with respect to a predetermined direction, based on a time difference between respective points of time in receiving the sounds from each loudspeaker. 1. A method of calculating an angular position of a peripheral device with respect to an electronic apparatus , the method comprising:receiving sounds, by the peripheral device, from each of a pair of loudspeakers provided in the electronic apparatus; andcalculating, by the peripheral device, an angular position of the peripheral device with respect to a predetermined direction, based on a difference between respective points of time in receiving the sounds from each loudspeaker.2. The method according to claim 1 , wherein the sound comprises ultrasonic waves.3. The method according to claim 1 , wherein the sound comprises an identification signal of each loudspeaker.4. The method according to claim 1 , wherein the calculating the angular position comprises calculating the angular position based on an angle of an asymptote of a hyperbola formed by defining positions of the pair of loudspeakers as positions of a pair of focal points and a distance corresponding to a difference between the points of receiving time as a distance difference.5. The method according to claim 4 , wherein the peripheral device comprises a matching table of a database where angles of the asymptote are previously tabulated corresponding to a plurality of the distance differences or a plurality of the differences between the points of receiving time.6. The method according to claim 1 , further comprising transmitting claim 1 , by the peripheral device ...

MARINE CHART AND SONAR IMAGE PRESENTATION SYSTEMS AND METHODS

Systems and methods for presenting marine information are provided herein. A system includes an array of a plurality of sonar transducer elements associated with a watercraft and a display. The system causes presentation of a chart of a body of water, including a representation of the watercraft at a current location. The system also operates the array to cause transmission of sonar beams into the underwater environment and receives sonar return data from the array. The system further generates, based on the sonar return data, a two-dimensional live sonar image, determines a facing direction of the array, and causes presentation of the sonar image in the facing direction on the chart and relative to the representation of the watercraft. Accordingly, live sonar imagery is presented on the chart to visually provide a relationship between objects within the live sonar imagery and the real-world position of those objects. 1. A system for presenting marine information , wherein the system comprises:at least one array of a plurality of sonar transducer elements associated with a watercraft on a body of water and oriented with an emitting face in a facing direction, wherein the facing direction is generally outward of the watercraft, wherein the plurality of sonar transducer elements are configured to transmit one or more sonar beams into the underwater environment;a display;one or more processors; and cause, on the display, presentation of a chart including at least a portion of the body of water;', 'cause, on the display, presentation of a representation of the watercraft at a position on the chart corresponding to a current location of the watercraft;', 'operate the array to cause the plurality of sonar transducer elements to transmit the one or more sonar beams into the underwater environment;', 'receive sonar return data from the plurality of sonar transducer elements of the array;', 'generate a sonar image of the underwater environment outward from the watercraft, ...

PASSIVE ACOUSTIC DETECTION, TRACKING AND CLASSIFICATION SYSTEM AND METHOD

An acoustic sensing system and method includes at least one cluster of acoustic sensors in communication with a computing device. The computing device is configured to process received acoustic signals, and provide at least one of detection of the acoustic source presence; determination of direction of arrival of an acoustic wave emitted by an acoustic source; and classification of the acoustic source as to its nature. The cluster may include at least two sensors and the computing device may be configured to process the received acoustic signals and provide localization of the acoustic source in three dimensions. The cluster of acoustic sensors may comprise at least one seismic wave sensor. 1. A passive acoustic sensing system comprising at least one cluster of at least four acoustic sensors having a data connection with a computing device , the at least one cluster of at least four acoustic sensors arranged in a polyhedral arrangement with at least one of the acoustic sensors of the cluster at each vertex of the polyhedral arrangement and at least one of the acoustic sensors of the cluster being an upper acoustic sensor that is at a position above a plane described by at least three other acoustic sensors of the cluster , each acoustic sensor of the cluster of acoustic sensors being configured to receive acoustical signals generated by at least one target and propagating from the at least one target to the at least one cluster of at least four acoustic sensors through air , the computing device configured to receive the acoustical signals from the at least one cluster of at least four acoustic sensors via the data connection and to process the acoustical signals and provide at least one of (a) a detection of presence of the at least one target , (b) a determination of direction of arrival of an acoustic wave emitted by the at least one target , and (c) a classification of the at least one target.2. The passive acoustic sensing system of further comprising at least ...

AUDIO RECOGNITION METHOD, METHOD, APPARATUS FOR POSITIONING TARGET AUDIO, AND DEVICE

Embodiments of this application disclose method and apparatus for positioning a target audio signal by an audio interaction device, and an audio interaction device The method includes: obtaining audio signals in a plurality of directions in a space, and performing echo cancellation on the audio signal, the audio signal including a target-audio direct signal; obtaining weights of a plurality of time-frequency points in the audio signals, a weight of each time-frequency point indicating, at the time-frequency point, a relative proportion of the target-audio direct signal in the audio signals; weighting time-frequency components of the audio signal at the plurality of time-frequency points separately for each of the plurality of directions by using the weights of the plurality of time-frequency points, to obtain a weighted audio signal energy distribution; and obtaining a sound source azimuth corresponding to the target-audio direct signal in the audio signals accordingly. 1. An audio recognition method , comprising:obtaining audio signals collected in a plurality of directions in a space, the audio signals comprising a target-audio direct signal;performing echo cancellation on the audio signals;obtaining weights of a plurality of time-frequency points in the echo-canceled audio signals, a weight of each time-frequency point indicating a relative proportion of the target-audio direct signal in the echo-canceled audio signals at the time-frequency point;weighting time-frequency components of the audio signals at the plurality of time-frequency points separately for each of the plurality of directions by using the weights of the plurality of time-frequency points, to obtain a weighted audio signal energy distribution of the audio signals in the plurality of directions;obtaining a sound source azimuth corresponding to the target-audio direct signal in the audio signals by using the weighted audio signal energy distribution of the audio signals in the plurality of ...

DIRECTIONAL RECORDING METHOD AND APPARATUS, AND RECORDING DEVICE

A directional recording method includes: generating an initial sound pickup beam by using a beam forming algorithm, where the initial sound pickup beam points towards the target acoustic source; recording an initial pointing direction of the initial sound pickup beam; and detecting that a direction towards which the recording device faces changes, and adjusting, according to the change of the direction towards which the recording device faces, the initial sound pickup beam to obtain a target sound pickup beam, where the target sound pickup beam points towards the target acoustic source. Compared with the prior art, according to the directional recording method and apparatus, and the recording device provided in the embodiments of the present invention, a pointing direction of a sound pickup beam can be adjusted according to a change of a direction towards which the recording device faces. 119-. (canceled)20. A directional recording method for collecting a sound of a target acoustic source by using a microphone array of a recording device , the method comprising:generating an initial sound pickup beam by using a beam forming algorithm, wherein the initial sound pickup beam points towards the target acoustic source;recording an initial pointing direction of the initial sound pickup beam;detecting that a direction towards which the recording device faces changes; andadjusting, according to the change of the direction towards which the recording device faces, the initial sound pickup beam to generate a target sound pickup beam pointing towards the target acoustic source.21. The method according to claim 20 , wherein before generating an initial sound pickup beam by using a beam forming algorithm claim 20 , the method further comprises:providing, on a display screen of the recording device, an instruction to a user to make a headend of the recording device face towards the target acoustic source.22. The method according to claim 20 , wherein adjusting the initial sound ...

Device, System, and Method for Tracking an Object Using Radar Data and Imager Data

A system for tracking the movement of an object includes a radar device having a first field of view. The radar device generates radar data indicating one of a range corresponding to a distance of a moving object within the first field of view from the radar device and a range rate corresponding to a rate at which the distance is changing relative to the radar device. The system also includes an imager having a second field of view at least partially overlapping the first field of view in an overlap field of view. The imager generates imager data measuring, when the object is in the second field of view, an angular position of the object relative to the imager in at least one dimension. In addition, the system includes a processor combining the radar data and imager data, when the object is in the overlap field of view, to identify a track of the object in at least two dimensions. 117-. (canceled)18. A system for tracking a movement of an object , comprising:a radar device having a first field of view, the radar device generating radar data corresponding to one of a range indicating a distance of a moving object within the first field of view from the radar device and a range rate indicating a rate of change over time of a distance between a moving object and the radar device;an imager having a second field of view at least partially overlapping the first field of view in an overlap field of view, the imager generating imager data measuring, when the object is in the second field of view, an angular position of the object relative to the imager in at least one dimension; anda processor combining the imager data and the radar data to identify a track of the object in at least two dimensions when the object is in the overlap field of view, the angular position of the object being determined using only data from the imager.19. The system of claim 18 , wherein the radar device is a one-dimensional radar.20. The system of claim 18 , wherein claim 18 , the processor ...

METHODS AND SYSTEMS FOR SOUND SOURCE LOCATING

A method and system for locating a sound source are provide. The method may include detecting a sound signal of a sound by each of two audio sensors. The method may also include converting the sound signals detected by the two audio sensors from a time domain to a frequency domain. The method may further include determining a high frequency ratio of each of the sound signals in the frequency domain. The method may further include determining a direction of the sound source based on the high frequency ratios. 1. A method for locating a sound source , the method comprising:detecting, by each of two audio sensors, a sound signal of a sound source;converting the detected sound signals from a time domain to a frequency domain;determining a high frequency ratio of each of the sound signals in the frequency domain; anddetermining a direction of the sound source based on the high frequency ratios.2. The method of claim 1 , wherein the two audio sensors are installed on a head of a ball camera.3. The method of claim 2 , wherein a distance between the two audio sensors is smaller than a diameter of the ball camera.4. The method of claim 1 , wherein the determining the high frequency ratios of the sound signals in the frequency domain includes:dividing the each of the sound signals into a plurality of frames;determining a high frequency ratio of each of the plurality of frames; anddetermining an average high frequency ratio based on the high frequency ratios of the plurality of frames.5. The method of claim 1 , wherein the determining the direction of the sound source based on the high frequency ratios of the sound signal includes:determining an orientation of the two audio sensors; anddetermining the direction of the sound source based on the orientation of the two audio sensors.6. The method of claim 5 , the determining the direction of the sound source based on the orientation of the audio sensor includes:determining whether a difference of the high frequency ratios of the ...

METHOD OF PROVIDING SERVICE BASED ON LOCATION OF SOUND SOURCE AND SPEECH RECOGNITION DEVICE THEREFOR

A speech recognition device is provided. The speech recognition device includes at least one microphone configured to receive a sound signal from a first sound source, and at least one processor configured to determine a direction of the first sound source based on the sound signal, determine whether the direction of the first sound source is in a registered direction, and based on whether the direction of the first sound source is in the registered direction, recognize a speech from the sound signal regardless of whether the sound signal comprises a wake-up keyword. 1. A speech recognition device comprising:at least one microphone configured to receive a sound signal from a first sound source; and determine a direction of the first sound source based on the sound signal,', 'determine whether the direction of the first sound source is in a registered direction, and', 'based on whether the direction of the first sound source is in the registered direction, recognize a speech from the sound signal regardless of whether the sound signal comprises a wake-up keyword., 'at least one processor configured to2. The speech recognition device of claim 1 , wherein the at least one processor is further configured to:based on a plurality of sound signals received from a plurality of directions, determine a frequency that the wake-up keyword is received, respectively, in correspondence to the plurality of directions, anddetermine a direction, which corresponds to a determined frequency equal to or greater than a critical value from among the plurality of directions, as the registered direction,wherein the wake-up keyword comprises at least one keyword to request a speech recognition service from the speech recognition device based on a speech signal following the wake-up keyword, andwherein the wake-up keyword comprises at least one of a human speech and a non-speech sound.3. The speech recognition device of claim 1 , wherein the at least one processor is further configured to: ...

System and method for separating sound and condition monitoring system and mobile phone using the same

Invention provides a system and method for separating sound from an object of interest from its background and condition monitoring system and mobile phone using the same. The sound separating system includes a sound source localizing part, including at least one microphone and a processing unit, and an object direction reference determination part, determining, as object direction reference, information on directions of the object of interest with respect to the sound source localizing part; wherein the processing unit obtains information on a direction from which sound arrives at the sound source localizing part from the sound source by using microphone signal, and comparing it with the object direction reference so as to filter the sound from the background of the sound source. By having the sound separating system, it can extract the background noise from a specific device respective location and analyse only these signals from the object of interest.

Voice direction searching system and method thereof

The present invention relates to a technical field of voice interaction, especially to a voice direction searching system and the method thereof. The present invention utilizes a microphone array to collect voice signals made by an acoustic source, and utilizes multiple MEMS microphones to identify an MEMS microphone closest to the acoustic source, so that the voice direction searching system can accurately identify voice direction signals.

DEVICE FOR DETECTING EVENTS

A multi-sensor device for detecting events, comprises first acquisition means comprising at least a first sensor, operating in a first frequency band and second acquisition means comprising at least a second sensor, operating in a second frequency band different from the first frequency band, means for processing raw data originating from the acquisition means and comprising means for the detection of events in the raw data and for determining the geographic location of said events, means for transmitting an alert if an event is detected by the processing means, means for storing the raw data, said storage means being suitable for restoring the stored raw data in a synchronized manner, and monitoring means which, following detection of an event in the raw data of one of said acquisition means, enables said processing means to be adapted to detect events in said stored raw data originating from said other acquisition means. 1. A multi-sensor device for detecting events , comprising:first acquisition means comprising at least a first sensor, operating in a first frequency band and second acquisition means comprising at least a second sensor, operating in a second frequency band different from the first frequency band,means for processing raw data originating from the acquisition means and comprising means for the detection of events in the data and for determining the geographic location of said events,means for transmitting an alert if an event is detected by the processing means,means for storing the raw data, said storage means being suitable for restoring the stored raw data in a synchronized manner, andmonitoring means which, following the detection of an event in the raw data of one of said acquisition means, enable said processing means to be parameterized for the use of said stored raw data originating from said other acquisition means.2. The multi-sensor device for detecting events as claimed in claim 1 , in which said processing means comprise improved ...

Direction of Arrival (DOA) Estimation Device and Method

A direction of arrival (DOA) estimation device and method are provided, in which the DOA estimation device includes a sensor unit configured to detect a signal and comprising two or more sensors to output sensor signals as a detect signal in response to the detected signal, and a controller configured to calculate statistical distribution data indicative of statistical distribution of each of the sensor signals outputted from the two or more sensors, respectively, retrieve statistical distribution data indicative of statistical distribution of source signal which is non-stationary signal entrained in the signal of the calculated statistical distribution data, and estimate DOA of the source signal based on the retrieved statistical distribution data. 112-. (canceled)13. A direction of arrival (DOA) estimation device , comprising:a sensor unit configured to detect a signal and comprising two or more sensors to output sensor signals as a detect signal in response to the detected signal; anda controller configured to calculate statistical distribution data indicative of statistical distribution of each of the sensor signals outputted from the two or more sensors, respectively, retrieve statistical distribution data indicative of statistical distribution of a source signal which is a non-stationary signal entrained in the signal of the calculated statistical distribution data, and estimate DOA of the source signal based on the retrieved statistical distribution data.14. The DOA estimation device of claim 13 , wherein the number of sensors included in the sensor unit is equal to claim 13 , or less than the number of sources.15. The DOA estimation device of claim 13 , wherein the statistical distribution data comprises data indicative of variation of the source signal over time and property changes.16. The DOA estimation device of claim 13 , wherein the calculated statistical distribution comprises at least one of Gaussian distribution claim 13 , non-Gaussian distribution ...

PASSIVE MICROPHONE ARRAY LOCALIZER

A relative location and orientation of microphone arrays relative to each other is estimated without actively producing test sounds. In one instance, the relative location and orientation of a second microphone array relative to a first microphone array is estimated based on the direction-of-arrival (DOA) of an ambient sound at the first microphone array, the DOA of the ambient sound at the second microphone array, and the time-difference-of-arrival (TDOA) of the ambient sound between the first microphone array and the second microphone array. Other embodiments are also described and claimed. 1. A method for estimating relative location and relative orientation of microphone arrays relative to each other without actively producing test sounds , comprising:determining a first direction from which an ambient sound is received at a first microphone array, wherein the ambient sound is received at the first microphone array at a first time;determining a second direction from which the ambient sound is received at a second microphone array, wherein the ambient sound is received at the second microphone array at a second time;determining a difference between the first and second times at which the ambient sound is received at the first microphone array and the second microphone array; andestimating a relative location and a relative orientation of the second microphone array relative to the first microphone array based on the first direction from which the ambient sound is received at the first microphone array, the second direction from which the ambient sound is received at the second microphone array, and the difference between the first and second times at which the ambient sound is received at the first microphone array and the second microphone array.2. The method of claim 1 , further comprising:synchronizing a clock of the first microphone array with a clock of the second microphone array.3. The method of claim 2 , further comprising:generating a timestamp when the ...

HOSTILE FIRE DETECTION FOR AN AIRBORNE PLATFORM

Systems and methods are presented for detecting a direction of an incoming projectile and determining a source location of the projectile. One or more resonant sensors (comprising a plate, piezo electric sensor, etc.) can be arranged, where shockwaves from the projectile (e.g., shockwaves from a bullet travelling at supersonic speeds) are incident upon the plate and cause the plate to resonate. The resonance causes an electrical signal to be generated by the piezo electric sensor (e.g., a piezo electric film sensor), the greater the degree of resonance in the plate, the higher the magnitude of signal generated by the piezo electric sensor. By comparing the magnitude of the piezo electric signals across the array of resonant sensors it is possible to determine a trajectory of the projectile and hence a location of the source of the projectile. Acoustic waves can also be generated by muzzle waves. 1. A method comprising:generating a signal in response to a shockwave impinging on a plate, wherein the shockwave results in resonance being generated in the plate and the signal being generated by a piezo electric sensor attached to the plate.2. The method of claim 1 , wherein the plate is formed to have a high quality factor Q resonance.3. The method of claim 1 , wherein the shockwave is generated in response to a projectile passing in proximity of the plate.4. The method of claim 3 , wherein the projectile is a bullet travelling at supersonic velocity.5. The method of claim 3 , further comprising analyzing the signal to facilitate determining a trajectory of projectile.6. The method of claim 2 , further comprising combining the signal with another signal received from another piezo electric sensor associated with another plate claim 2 , wherein the other signal is generated by another shockwave associated with the projectile in proximity of the other plate.7. The method of claim 6 , further comprising analyzing the signal and the other signal to facilitate determining a ...

DRIVING ASSISTANCE SYSTEM

A driving assistance system includes a plurality of vehicles on which a plurality of microphones is mounted respectively and a server having an acquisition unit configured to acquire sound signals recorded by the microphones and position information of the vehicles. The server further has an estimation unit configured to estimate a position of one or more sound sources based on the sound signals and the position information and a providing unit configured to provide the estimated position of the one or more sound sources to the vehicles. 1. A driving assistance system comprising:a plurality of vehicles on which a plurality of microphones is mounted respectively; anda server having an acquisition unit configured to acquire sound signals recorded by the microphones and position information of the vehicles,wherein the server further has an estimation unit configured to estimate a position of one or more sound sources based on the sound signals and the position information and a providing unit configured to provide the estimated position of the one or more sound sources to the vehicles.2. The driving assistance system according to claim 1 , wherein:the acquisition unit further acquires vehicle speed information of the vehicles; andthe estimation unit estimates relative speeds between the vehicles and the one or more sound sources based on the sound signals, the position information, and the vehicle speed information.3. The driving assistance system according to claim 1 , wherein the server further has a generation unit configured to generate a map of a surrounding environment where the vehicles travel based on the sound signals claim 1 , the position information claim 1 , and the position of the one or more sound sources.4. The driving assistance system according to claim 1 , wherein the server further has a slowing down controller configured to calculate a probability that any one of the one or more sound sources approaches any one of the vehicles and slow down the ...

Sensing Direction and Distance

Technology described in this document can be embodied in an optical sensor that includes a rectangular array of at least four photodetector cells of substantially equal size. An opaque mask is affixed over the rectangular array. The opaque mask defines a substantially rectangular aperture for admitting light onto only a portion of the surface of each of the at least four photodetector cells, where the aperture can be centrally positioned over the rectangular array. 1. An optical sensor comprising:a. a rectangular array of at least four photodetector cells of substantially equal size;b. an opaque mask affixed over said array, said opaque mask defining substantially rectangular aperture for admitting light onto only a portion of the surface of each of said at least four photodetector cells, wherein said aperture is centrally positioned over said rectangular array.2. An optical sensor according to claim 1 , wherein said aperture is substantially equal in size to one of said photodetector cells.3. An optical sensor according to claim 2 , further comprising a filter for filtering light admitted onto the surface of said photodetector cells.4. An optical sensor according to claim 1 , further comprising circuitry for calculating at least two orthogonal bearing angles to a source of light admitted onto the surface of said photodetector cells.5. The optical sensor of claim 2 , wherein said aperture is square.6. The optical sensor of claim 3 , wherein said opaque mask is printed on said filter.7. The optical sensor of claim 3 , wherein said filter is an infra-red pass filter.8. The optical sensor of claim 1 , wherein said aperture is positioned to expose substantially equal portions of said photodetector cells.9. The optical sensor of claim 1 , wherein said array of photodetectors comprise a first claim 1 , a second claim 1 , a third claim 1 , and a fourth photodetector claim 1 , and wherein said optical sensor determines first and second bearing angles between the sensor and ...

A SYSTEM FOR LOCALIZING SOUND SOURCE AND THE METHOD THEREFOR

It is provided a system for localizing a sound source and a method therefor. The system includes a movable unit, being adapted for free movement and being integrated with a microphone; a motion tracking unit; and a processing unit, being adapted for receiving microphone signal and motion tracking unit signal and obtaining information on a direction from which sound from the sound source arrives using the microphone signal and motion tracking unit signal obtained during movement of the movable unit. By having the system and the method therefor, it is helpful for solving at least one of the technical problems: the complexity and a large volume of an acoustic camera for localization of a sound source; the restriction of the movement of the microphone in a sound source localization system. 1. A portable device for localizing a sound source in condition monitoring of the sound source , including:a microphone;a motion tracking unit, being adapted for tracking a movement of the movable unit;a processing unit, being adapted for receiving microphone signal and motion tracking unit signal and obtaining information on a direction from which sound from the sound source arrives using the microphone signal and motion tracking unit signal obtained during movement of the movable unit; andwherein the portable device is adapted for free movement.2. (canceled)3. The portable device according to claim 1 , wherein the motion tracking unit is a gyroscope.4. The portable device according to claim 1 , wherein the motion tracking unit is a vision tracking system.5. The portable device according to claim 1 , wherein the processing unit is adapted for evaluating a first Doppler Effect frequency shift of a first microphone signal with respect to a first directional movement of the portable device from an initial position.6. The portable device according to claim 5 , wherein the processing unit is adapted for providing the information on the direction depending on the first Doppler Effect ...

MARINE ELECTRONIC DEVICE FOR PRESENTMENT OF NAUTICAL CHARTS AND SONAR IMAGES

An apparatus for providing marine information is provided including a user interface, a processor, and a memory including computer program code. The memory and the computer program code are configured to, with the processor, cause the apparatus to generate a sonar image based on sonar return data received from an underwater environment, determine a location associated with the sonar return data based on location data received from one or more position sensors, and render a nautical chart on a display. The computer program code is further configured to cause the apparatus to receive a user input on the user interface directed to a portion of the display in which the nautical chart is presented, and modify presentation of the nautical chart such that the portion of the display presents the sonar image in response to receiving the user input. 1. An apparatus for providing marine information comprising:a user interface;a processor; and generate a sonar image based on sonar return data received from an underwater environment relative to a vessel;', 'determine a location associated with the sonar return data based on location data received from one or more position sensors at an instance in which the sonar return data was received by one or more transducers associated with the vessel;', 'present a nautical chart on a display;', 'receive a user input on the user interface directed to a portion of the display in which the nautical chart is presented; and', 'modify, in response to receiving the user input, presentation of the nautical chart such that the portion of the display presents the sonar image., 'a memory including computer program code, the memory and the computer program code configured to, with the processor, cause the apparatus to2. The apparatus of claim 1 , wherein the memory and the computer program code are further configured to claim 1 , with the processor claim 1 , cause the apparatus to:present the nautical chart on the display from a first perspective; ...

Device for binaural signal reception in sonar systems

A system for localizing sound source and the method therefor

It is provided a system for localizing a sound source and a method therefor. The system includes a movable unit, being adapted for free movement and being integrated with a microphone; a motion tracking unit; and a processing unit, being adapted for receiving microphone signal and motion tracking unit signal and obtaining information on a direction from which sound from the sound source arrives using the microphone signal and motion tracking unit signal obtained during movement of the movable unit. By having the system and the method therefor, it is helpful for solving at least one of the technical problems: the complexity and a large volume of an acoustic camera for localization of a sound source; the restriction of the movement of the microphone in a sound source localization system.

指向性录音方法、装置及录音设备

本申请公开了指向性录音方法、装置及录音设备。所述录音设备通过所述录音设备的麦克风阵列采集目标声源的语音，所述方法包括：通过波束形成算法产生初始拾音波束，其中，所述初始拾音波束指向所述目标声源；记录所述初始拾音波束的初始指向；检测到所述录音设备的朝向发生变化，根据所述录音设备的朝向变化，调整所述初始拾音波束以得到所述目标拾音波束，所述目标拾音波束指向所述目标声源。与现有技术相比，本发明实施例所提供的指向性录音方法、装置及录音设备，可以根据录音设备的朝向变化，调整拾音波束的指向，从而保证拾音波束始终指向目标声源，避免因为录音设备朝向变化而导致录音效果变差。

一种doa和极化参数估计方法

本发明公开了一种基于非网格块稀疏贝叶斯学习的DOA和极化参数估计方法，包括利用矢量传感器阵列接收信号的导向矢量构建非网格信号模型；在稀疏贝叶斯学习框架下构建块稀疏向量；对块稀疏向量施加二阶稀疏分层先验；计算隐含变量和超参数的更新表达式；求解隐含变量和超参数更新结果；对源信号进行稀疏重构，求得目标辐射源的DOA和极化参数估计。本发明通过构建块稀疏向量并对其施加二阶分层先验促进块间稀疏和块内稀疏，提高重构精度，进而提高估计性能，解决了现有技术在非理想环境下测向精度差的问题。

Anti-unmanned aerial vehicle image communication system based on shimmer night vision technology

本发明提出了一种基于微光夜视技术的反无人机图像通信系统，定向单元根据无人机发出的声波及射频波确定无人机的方向和距离；通信链路扫描单元扫描与无人机相关联的控制链路,对无人机进行分类，并将分类结果发送至干扰单元；干扰单元参考分类结果生成并发射扰动信号，跟踪单元，用于跟踪无人机；微光摄像单元用于在夜视模式下在跟踪单元的控制下，采集无人机的微光图像，并对所述微光图像编码和压缩后发送至视觉显示器；视觉显示器，对编码和压缩后的数据包进行解压缩以及解码，并同步显示。

Voice DOA estimation method based on ResNet

本发明公开一种基于ResNet的语音DOA估计方法，包括如下步骤：步骤1，利用MATLAB仿真训练数据集，数据集使用多个语音信号遍历测量范围，存储对应的角度和语音信号；步骤2，对每个仿真信号分帧处理后，计算GCC并做相位变换；根据阵列模型参数对其进行裁剪后，对每个语音帧加权求和；存储加权后的特征和对应的入射角度作为数据集；步骤3，使用MATConvNet初始化ResNet并使用数据集训练；步骤4，对待测信号使用宽带MUSIC粗定位，得到粗定位结果，根据粗定位结果，选取中心点距离宽带MUSIC结果最近的分组ResNet进行后续精确定位，得到DOA估计结果。此种方法可有效解决强噪声混响条件下语音DOA估计不准的问题，是一种适用于任意阵列结构的DOA估计方法。

Sound localization apparatus for robot environment and method there of

본 발명은 로봇의 도움이 필요한 사람이나 개체 근처로 이동하여 주위 상황을 판단하고 적절한 대응조치를 취하기 위해 로봇으로 하여금 음원이 발생한 곳으로 이동하도록 음원 발원지의 위치 인식 및 추적을 위한 로봇 환경에서 음원 추적 시스템 및 방법에 관한 것으로서, 입력되는 음원에 대해 로봇 본체 잡음을 감소시킨 후 신호의 강도를 계산하여 강도가 큰 순서대로 두 개의 마이크로폰을 결정하고, 그 결정된 채널 사이에서 음원이 발생된 것으로 결정한 다음, 그 채널에 대해서만 시간차를 계산하여 음원의 방향 및 거리를 계산함으로써 모든 마이크로폰에 대해 시간차를 계산하는 기존의 방법보다 실행시간을 단축하며, 로봇은 음원이 발생한 위치로 이동하는 동시에 로봇의 실행시간을 고려하여 실시간으로 음원 위치를 지속적으로 확인하고 갱신하여 시스템의 신뢰도를 높이는 효과가 있다. The present invention tracks a sound source in a robotic environment for recognizing and tracking the location of a sound source so that the robot moves to a place where a sound source is generated in order to determine a surrounding situation and take an appropriate response by moving near a person or an object requiring the assistance of the robot. System and method, which reduces the robot body noise for an input sound source, calculates the strength of the signal, determines the two microphones in order of increasing intensity, determines that the sound source is generated between the determined channels, By calculating the time difference for only those channels and calculating the direction and distance of the sound source, the execution time is shorter than the conventional method of calculating the time difference for all microphones, and the robot moves to the position where the sound source is generated and at the same time considers the execution time of the robot. To keep track of where you live in real time, New to the effect to increase the reliability of the system. 음원 추적, 로봇 제어, 칼만 필터, 로봇 마이크로폰, 로봇 실행시간, 시간차 추출 Sound source tracking, robot control, Kalman filter, robot microphone, robot runtime, time difference extraction

Ultrasonic detection system

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Device for determining peleng and distance to source of signals

FIELD: measuring equipment. SUBSTANCE: device for determining the bearing and range to the signal source, comprising a first antenna, a first and a second microbarometer, and five analog-to-digital converters (ADCs) connected to a personal computer (PC), further comprising a unit of a single time system and a unit communication with subscribers connected to a PC, a first amplifier, a first filter, a second amplifier, a first threshold block and an OR circuit, a series-connected second antenna, a third amplifier, a fourth filter, a fourth amplifier and a second threshold block, a third antenna connected in series, a fifth amplifier, a third filter, a sixth amplifier and a third threshold block, a series-connected seventh amplifier, a fourth filter, an eighth amplifier, a fifth filter, a fourth threshold block and a first AND circuit, a first digital-to-analog converter (DAC) and a first calibrator connected in series, a second DAC and a second calibrator connected in series, a third DAC and a third calibrator connected in series, followed by a fourth DAC and a fourth calibrator, fifth DAC and first amplifier, sixth DAC and first amplifier, respectively, a first and second circuitry connected in series, serially connected seventh and fifth DACs calibrator series connected eighth DAC and the third generator connected in series a second timer, a fourth AND gate and a second counter, and also the first clock generator connected to the second inputs of the second and fourth AND circuits, the third and fourth timers, the first analogue first quadrator, the adder, the first divider, the sixth threshold block and the fifth AND circuit, connected in series with the eighth DAC and the third driver, the second timer, the fourth AND circuit and the second counter connected in series, as well as the first clock connected to the second inputs of the second and fourth AND circuits, the third and fourth timers connected in series with the first quad, divider, sixth threshold block ...

Underwater direction of arrival estimation method and device based on included angle adjustable non-uniform linear array

本发明公开了一种基于夹角可调非均匀线阵的水下波达方向估计方法与装置，使用一个二维的夹角可调非均匀线阵作为接收阵列，分别对两个线阵应用ESPRIT算法，然后根据两线阵之间的角度关系，使最终结果与水下声速无关，实现了对传统ESPRIT算法的改进。同时由于采用夹角可调的线阵，可以改变两线阵之间的夹角进行多次测量，从而更好地消除估计误差。本发明结合了夹角可调线阵的优点和非均匀线阵的优点，估计精度高，具有较强的实用性。

Device for determining peleng and distance to source of signals

FIELD: measuring equipment. SUBSTANCE: device for determining the bearing and range to the signal source, comprising a first antenna, a first and a second microbarometer, and five analog-to-digital converters (ADCs) connected to a personal computer (PC), further comprises a unit of a single time system and a unit communications with subscribers connected to a PC, a first amplifier, a first filter, a second amplifier, a first threshold block and an OR circuit, a series connected second antenna, a third amplifier, a second, fourth filter, a fourth amplifier and a second threshold block, a third antenna connected in series, a fifth amplifier, a third filter, a sixth amplifier and a third threshold block, a series-connected seventh amplifier, a fourth filter, an eighth amplifier, a fifth filter, a fourth threshold block and a first AND circuit, first D/A converter (DAC) connected in series with a first calibrator, a second DAC and a second calibrator connected in series, a third DAC and a third calibrator connected in series, a fourth DAC and a fourth calibrator connected in series, a fifth DAC and a first daisy and a second shaper, a first timer connected in series, a second AND circuit and a first counter, a ninth amplifier connected in series, a sixth filter, a tenth amplifier, a seventh filter, a fifth threshold block, and a third AND circuit, connected in series by a seventh DAC and a fifth calibrator, connected in series by an eighth DAC and a third shaper, a second timer, a fourth AND circuit and a second clock, connected to the second inputs of the second and fourth AND circuits, third and fourth timers, sequentially connected analog first quadrators, adder and first divider, sequentially connected sixth threshold block and fifth AND circuit, sequentially connected fifth timer, sixth AND circuit and third counter, and sixth ADC, second clock connected to second the input of the sixth AND circuit, and analog second and third quadrants connected by the inputs to ...

Improve the method and device of speech ciphering equipment DOA estimations

本发明提供了一种提高语音设备DOA估计的方法，包括步骤：采集语音设备被唤醒时的麦克信号，确定每一帧的语音唤醒置信度；根据麦克信号确定每一帧的宽带方位谱函数，并确定每一帧的角度估计值；根据语音唤醒置信度确定各角度估计值的统计结果，统计结果最大的角度估计值即为DOA估计的结果。本发明通过将统计结果最大的角度估计值即为DOA估计的结果，且各角度估计值的统计结果指统计各帧麦克信号的语音唤醒置信度大于门限值的统计结果、或者同一角度估计值所对应的帧的语音唤醒置信度的总和、或者同一角度估计值所对应的帧的语音唤醒置信度与宽带方位谱函数的乘积的总和，能够更精准地确定语音信号源的方位角，提高信噪比减少语音损伤。

Device for binaural signal reception in sonar systems

Device for binaural signal reception in sonar systems

Voice DOA estimation method based on ResNet

本发明公开一种基于ResNet的语音DOA估计方法，包括如下步骤：步骤1，利用MATLAB仿真训练数据集，数据集使用多个语音信号遍历测量范围，存储对应的角度和语音信号；步骤2，对每个仿真信号分帧处理后，计算GCC并做相位变换；根据阵列模型参数对其进行裁剪后，对每个语音帧加权求和；存储加权后的特征和对应的入射角度作为数据集；步骤3，使用MATConvNet初始化ResNet并使用数据集训练；步骤4，对待测信号使用宽带MUSIC粗定位，得到粗定位结果，根据粗定位结果，选取中心点距离宽带MUSIC结果最近的分组ResNet进行后续精确定位，得到DOA估计结果。此种方法可有效解决强噪声混响条件下语音DOA估计不准的问题，是一种适用于任意阵列结构的DOA估计方法。

Sound source detector

Ball harmonic order adaptive selection method suitable for spherical surface microphone array sound source direction

本发明公开了一种适用于球面麦克风阵列声源定向的球谐波阶数自适应选择方法，包括如下步骤：借助离散球傅里叶变换和模式强度补偿将声场信息由时频域变换成球谐波域的模式强度补偿特征波束形式，由声场的各阶特征波束计算声场的各阶特征波束的功率；根据声场各阶间的特征波束功率相似性检测因子衡量各阶特征波束的功率相似性；根据设定门限参数值对平均特征波束功率相似性检测因子进行可靠阶数选择处理；根据可靠阶数进行时频点掩蔽，利用满足条件的时频点对应的可靠阶声场特征波束进行声场定位，得出方位角估计值。本发明对混响噪声具有更高的鲁棒性，声源方位估计精度也较高。

Device for detecting signals and determining direction to source thereof

FIELD: physics. SUBSTANCE: detector response of the device is formed by processing guaranteed identical output processes of the DAA electroacoustic transducers without affecting it by the average value of the detector spatial response to the interference with the possibility of moving the elements of the discrete antenna array in space by the external forces. For this purpose, the detector has a discrete antenna array (DAA) made in a certain manner, having N non-directional passive and M active-passive electroacoustic transducers (EAT) corresponding to the I information transmitting channels, a calculating unit for the relative coordinates of the DAA elements, a beam pattern control unit, a threshold device, a threshold deciding calculator, an indicator, a control unit for the active-passive DAA elements, as well as a beam pattern former with the signal time delay. The principal difference between the inventive device from the prototype is that the detector further includes an adaptive compensation unit of the non-identity transmitting channels of the DAA electroacoustic transducer output processes, which allows to get identical parameters for all output processes of the DAA electroacoustic transducers, which is a prerequisite to increase the probability of primary detecting the signals and to reduce the probability of missing "weak" signals. EFFECT: creating a new device for detecting signals and determining the direction of their source with the number of nonlinear operations in the signal processing equal to 2. 1 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 617 884 C1 (51) МПК G01S 3/802 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ФОРМУЛА (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ 2016109081, 14.03.2016 (24) Дата начала отсчета срока действия патента: 14.03.2016 Дата регистрации: Приоритет(ы): (22) Дата подачи заявки: 14.03.2016 (45) Опубликовано: 28.04.2017 Бюл. № 13 (56) Список документов, цитированных в отчете о ...

Device for determining peleng and distance to source of signals

FIELD: measuring equipment. SUBSTANCE: device for determining the direction and range to the source of signals, comprising a first antenna, a first and a second microbarometer, and five analog-to-digital converters (ADCs) connected to a personal computer (PC). The apparatus further comprises a unit of a single time system and a communication unit with subscribers connected to a PC, a first amplifier, a first filter, a second amplifier, a first threshold block and an OR circuit, a second antenna, a third amplifier, a second filter, a fourth amplifier and a second A threshold block, a series-connected third antenna, a fifth amplifier, a third filter, a sixth amplifier and a third threshold block, a series-connected seventh amplifier, a fourth filter, A fifth filter, a fourth threshold block, and a first AND circuit, connected in series first digital to analog converter (DAC) and a first calibrator, a second DAC and a second calibrator connected in series, a third DAC and a third calibrator connected in series, a fourth DAC and a fourth calibrator connected in series, a fifth DAC and a first driver serially connected to the sixth DAC and a second A driver, a first timer connected in series, a second AND circuit and a first counter, a ninth amplifier connected in series, a sixth A fifth filter, a tenth amplifier, a seventh filter, a fifth threshold block, and a third AND circuit, connected in series by a seventh DAC and a fifth calibrator, connected in series by an eighth DAC and a third driver, a second timer, a fourth AND circuit, and a second clock to the second inputs of the second and fourth AND circuits, the third and fourth timers. The first, second and third antennas are made of magnetic and arranged mutually perpendicular to each other, the first, second and third drivers are made in the form of a smoothing link with a power amplifier, the first, second, third, fourth and fifth threshold blocks are controlled with a threshold control, the first, second, third, ...

Method and system for speech enhancement of microphone array

公开了一种麦克风阵列语音增强的方法和系统，其包括利用麦克风阵列进行多通道的语音信号的采集，接收能量收集器获得的语音能量，获取声源方位信息，利用声源方位信息的几何关系计算麦克风阵列信号各通道的时延补偿值，根据麦克风阵列信号各通道的时延补偿值进行波束成形处理，实现语音信息的增强。本发明充分利用圆锥结构本身的信号反射聚焦特性进行对应角度范围内的语音能量收集，可实时获取方位信息，无需采用复杂的方位估计算法，系统实现简单方便。

Acoustic phase-finder

FIELD: robotics. SUBSTANCE: invention relates to robotics, namely to equipment for orientation of transport robots based on acoustic signal of stationary beacon or beacon of a leading transport device. Acoustic direction finder determining direction of acoustic harmonic signal source consists of three microphones forming three orthogonal measuring bases, three pre-processing units including preliminary amplifiers, band-pass filters, limit amplifiers, inverters and shapers of short pulses, rectifiers, comparison circuit, divider by two, logic unit, counters, triggers, parallel registers, clock oscillator, microcontroller. EFFECT: direction finder technical result is elimination of ambiguity of bearing due to determination of sign of phase shift along two orthogonal bases due to application of logic unit and sign triggers, as well as reducing the direction-finding error by selecting a table of inverse trigonometric functions from the microcontroller memory in comparison to absolute values of phase shifts. 1 cl, 3 dwg, 2 tbl РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 728 515 C1 (51) МПК G01S 3/802 (2006.01) G01S 15/46 (2006.01) G05D 1/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК G01S 3/802 (2020.02); G01S 15/46 (2020.02); G05D 1/02 (2020.02); G05D 1/0212 (2020.02); G05D 1/0255 (2020.02); G05D 1/0287 (2020.02); G05D 1/0295 (2020.02) (21)(22) Заявка: 2019114806, 14.05.2019 14.05.2019 Дата регистрации: 30.07.2020 Приоритет(ы): (22) Дата подачи заявки: 14.05.2019 (45) Опубликовано: 30.07.2020 Бюл. № 22 2 7 2 8 5 1 5 R U (54) Акустический фазовый пеленгатор (57) Реферат: Изобретение относится к робототехнике, а именно к аппаратуре для ориентации транспортных роботов по акустическому сигналу стационарного маяка или маяка ведущего транспортного устройства. Акустический пеленгатор, определяющий направление на источник акустического гармонического сигнала, состоит из образующих две ортогональные измерительные базы ...

A kind of virtual array DOA estimation method based on L-type battle array

本发明公开了一种基于L型阵列的虚拟阵列DOA估计方法，包括以下步骤：(1)基于移不变性质，将L型阵列的子阵Z x ,Z y 平移得到虚拟阵列Z x' ,Z y' ，由于子阵的移不变性形成了两子信号的旋转不变性，虚拟子阵的信号等效于L型子阵Z x ,Z y 输入信号分别乘以旋转因子而得到；(2)将4个子阵的输出加以合并，构成虚拟阵列的输出信号Z(t)；(3)信号子空间和噪声子空间可用阵列输出的协方差矩阵的特征分解来描述，对阵列输出信号Z(t)进行互相关处理，得到R zz ，进行特征值分解得到信号子空间；(4)通过线性运算求解旋转因子，由其对角元素即可得到信号波达方向。本发明不需要计算谱函数，无需搜索峰值间接求解波达方向，降低了复杂度；减少了设备复杂性和成本；具有较高的定位精度。

A kind of ring array direction estimation method using matrixing

本发明涉及一种利用矩阵变换的圆环阵方位估计方法，首先计算圆环阵的原始阵列流形向量，接着计算得到空间均匀噪声场中噪声协方差矩阵的特征向量，然后利用特征向量和原始阵列流形向量设计出一个新的阵列流形向量，同时利用特征向量对原始数据协方差矩阵进行变换，得到降维的协方差矩阵，最后用设计出的新的阵列流形向量和降维的数据协方差矩阵进行目标方位估计。稳健性高，并且灵活性很高，可以根据不同阶数的结果挑选稳健性较好、估计较优的方位谱。实现了矩阵的降维，计算量大大减小。设计出的阵列流形向量在理论上是一个精确的解析公式。

Target azimuth estimation method based on low-frequency circular array

本发明公开一种基于低频圆环阵的目标方位估计方法，属于水声信号探测领域。水听器接收20Hz‑5kHz的水声信号；ADC将模拟信号转换成数字信号，对AD信号进行频谱分析、波束形成、方位估计得到信号目标方向，接收串口的指令将波束形成结果输出。同时将AD采集的原始数据通过DDR存储到大容量SD卡。本发明提前存储权值向量，降低了软件的复杂程度，降低了软件运算周期，提高了检测效率和实时性；针对相干信号抵消现象，采用注入人为噪声的方法，即通常说的对角加载技术；采用对角加载加权系数能在保证MVM方法高增益的情况下大幅提高波束波束形成的稳健性。

Planar co-prime array design method based on sum-difference cooperative array construction

本发明公开了一种基于和差协同阵构建的平面互质阵列设计方法，主要解决现有技术中平面互质阵列自由度受限于仅利用差分协同阵的问题，以及和差协同阵的研究局限于一维线性阵列的问题，通过压缩平面互质阵列其中一个子阵的阵元间距，并重新设置两个子阵的相对位置，使其纵向排布且呈左右对称并相隔一定距离。以本发明的方法构建的平面互质阵列，最终形成的差分协同阵与和协同阵能够拼接成一个和差协同阵，该和差协同阵包含一个大面积的均匀间距虚拟矩形面阵。与传统平面互质阵列的差分协同阵相比，本发明的方法大幅度提高了阵列的自由度。

A kind of acoustic vector circle battle array Coherent Targets direction estimation method

本发明提供的是一种声矢量圆阵相干目标方位估计方法。构建声压P(t)与振速V x (t)、V y (t)的互协方差矩阵R x 和R y ，将两个互协方差矩阵堆叠获得新的矩阵R xy ＝[R x ，R y ] T ；将矩阵R xy 进行奇异值分解，得到最大奇异值对应的左奇异向量u 1 ；将空间方位角平面进行离散化得到空间角度集合Θ，构建过完备基B(Θ)，建立稀疏求解框架min||∑|| 1 +ε||u 1 ‑B(Θ)∑|| 2 ，通过求解的∑得到空间谱，通过谱峰位置估计目标方位。仿真分析及试验结果表明，该方法可有效解决入射信号相关性大或相干、目标在空间方位上角度间隔较小，环境噪声大等情况下的方位估计问题。而且，该方法无需估计噪声功率或者信号数目，为声矢量圆阵相干目标的远程被动测向问题提供了有效方法，具有良好的应用前景。

Passive method of detecting vehicles by its own acoustic noise

FIELD: physics. SUBSTANCE: synchronously receive a signal for two antennas, digitize and store information arrays. Split the signal into intervals, carry out identification by maxima in the amplitude spectrum. Then carry out the scanning directional characteristics of receiving antenna for each nth time interval according to the total signal from the output of each of the two receiving antennas, build fan chart, determine the availability of transport by the presence of unexpected fan charts, then determine the azimuth direction relative to the center of the antenna as a weighted average of maximum angles peaks in fan pattern diagram, the sign of the difference between the angles, decide on direction, calculate the current y coordinate using the coordinates for the neighbouring define interval speed. The second implementation, determine the direction of the movement and location of the sign of the slope dependence of delay time correlation of maximum convolution arrays and on the dynamics of its inclination, calculate the autocorrelation function of total data then sum array and determine the speed of the vehicle as the ratio of the distance between the centers of the antennae to the time between the maximums of the autocorrelation function. EFFECT: enabling simultaneous identification, calculate the speed and direction of movement. 2 cl, dwg 9 1 tbl РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 626 284 C1 (51) МПК G01S 3/80 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ФОРМУЛА (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ 2016124442, 20.06.2016 (24) Дата начала отсчета срока действия патента: 20.06.2016 Дата регистрации: Приоритет(ы): (22) Дата подачи заявки: 20.06.2016 (45) Опубликовано: 25.07.2017 Бюл. № 21 C 1 Заславский, А.М. Соков. О ПРИМЕНЕНИИ СКАНИРУЕМОЙ ВОЗДУШНО-АКУСТИЧЕСКОЙ АНТЕННЫ ДЛЯ ПЕЛЕНГА ГОРОДСКОГО ТРАНСПОРТА // Доклады XV школы-семинара им. акад. Л.М. Бреховских "Акустика океана", совмещенной с XXIX сессией Российского ...

Мультисенсорный способ обнаружения беспилотных летательных аппаратов

Изобретение относится к области обнаружения объектов в воздушном пространстве, а более конкретно к мультисенсорным способам обнаружения беспилотных летательных аппаратов (БЛА) посредством измерения акустической скорости частиц совместно с радиолокационными измерениями, и может быть использовано в системах безопасности для предотвращения несанкционированного доступа БЛА в контролируемую зону. Техническим результатом изобретения является снижение вероятности ложных срабатываний и вероятности пропуска цели. В заявленном способе принимают радиолокационные сигнатуры БЛА посредством измерений спектрограмм отраженных электромагнитных волн с эффектом Доплера и одновременно принимают акустические сигнатуры БЛА в виде спектрограмм акустических волн посредством измерений акустической скорости частиц акустических волн с эффектом Доплера. Затем сравнивают спектрограммы электромагнитных волн и акустических волн в пределах регулируемого интервала времени, начиная с заданного начального момента обзора. В случае корреляции эффекта Доплера принимаемых электромагнитных волн и акустических волн выносят решение об обнаружении беспилотного летательного аппарата, категорированном с низкой вероятностью ложных срабатываний. 1 з.п. ф-лы, 1 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 757 928 C1 (51) МПК G01S 7/41 (2006.01) G01S 3/80 (2006.01) G01S 13/04 (2006.01) G10L 25/48 (2013.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК G01S 7/41 (2021.08); G01S 3/802 (2021.08); G01S 3/8022 (2021.08); G01S 13/04 (2021.08); G10L 25/51 (2021.08) (21)(22) Заявка: 2021105598, 03.03.2021 03.03.2021 Дата регистрации: Приоритет(ы): (22) Дата подачи заявки: 03.03.2021 (45) Опубликовано: 25.10.2021 Бюл. № 30 2 7 5 7 9 2 8 R U (56) Список документов, цитированных в отчете о поиске: RU 2735070 C1, 27.10.2020. RU 2571950 C1, 27.12.2015. RU 2589290 C1, 10.07.2016. RU 2695015 C1, 18.07.2019. RU 2559332 C1, 10.08.2015. WO 2019091867 A1, 16.05.2019. US 10032464 B2 ...

Method for estimating parameters of underwater constant-speed vehicle based on vertical vector array

本发明提供了一种利用垂直矢量阵估计水下匀速运动航行器参数的方法，基于垂直阵的水下航行器噪声测量或水下航行器探测的平台上，根据各阵元空间信息不同而产生的多普勒频移差异，利用多项式调频小波变换得到各阵元的精确多普勒频移，再结合各矢量传感器的俯仰角信息，优化求解联合多目标函数的加权非线性最小二乘问题，实现了水下航行器的速度、深度、水平最近距离和其到不同阵元的正横距离的联合估计，该方法实施简单，估计精度较高，显著的提高参数估计的稳健性和估计速度。

Direction-of-arrival estimation method and device

本发明公开了一种波达方向估计方法及装置。该方法包括步骤如下：采用三轴声阵列同步采集在X、Y、Z三个方向的待测信号、对采集的信号进行空域和时域二维傅里叶变换和最大值搜索、将计算得到的标量波数分量k x 、k y 、k z 合成矢量波矢 利用空间几何相关知识进行空间角度计算最终得到波达方向等步骤。该装置包括声波传感模块、AD采集模块、数据处理模块、波达方向计算模块；可实现二维波达方向估计，使用灵活、估计结果稳定且精度高、实用性好。

Sound source direction method, apparatus and electronic equipment

公开了一种声源定向方法、装置和电子设备。所述方法包括：获取声源定向模板，所述声源定向模板与多个固定滤波器相关联；接收待测声源信号；通过所述多个固定滤波器对所述待测声源信号进行滤波以获得滤波后的所述待测声源信号的第一频域参数；以及，匹配所述第一频域参数和所述声源定向模板以定向所述待测声源信号。因此，可以实现高精度和低复杂度的声源定向操作。

Acoustic sensor assembly and method for sensing sound using the same

음향 센서 어셈블리는 제1 지향 패턴을 갖는 무지향성(omni-directional) 음향 센서, 무지향성 음향 센서를 포위하도록 배치되고, 각각 서로 다른 공진 주파수를 가지는 복수의 공진기들을 포함하고, 각각 제2 지향 패턴을 갖는 복수의 지향성(directional) 음향 센서들 및 무지향성 음향 센서 및 복수의 지향성 음향 센서들로부터 출력신호들을 획득하고, 상기 출력신호들 중 적어도 하나를 선택하거나 선택적으로 조합함으로써 지향성을 갖는 음향 신호를 산출하고, 음향 신호를 이용하여 음향 센서 어셈블리 주변의 음향을 획득하는 프로세서를 포함할 수 있다.

Device indicating the direction of incident plane waves, in particular sound waves propagating in water

Method of location by listening on headphones, particularly for sonar

The method locates a source of noise by listening on headphones. It involves the storage in memory 121, 122 of the signals received by two separate antennas 11, 12 and listening once again 16 to the stored signals with a variable delay tau between them. When the acoustic image appears to the operator to be in a central position, this delay enables the angular deviation theta of the noise source with respect to the orientation of the antennas to be calculated. The method locates noise sources which only radiate for a short period of time.

Patent FR2196495A1

The orientation calibration device of ultrasound source and the analysis method for being overlapped image

本发明提供一种小型且在减少栅瓣的影响的同时能够一次进行较广的搜索范围的超声波的声源方位测定的超声波源的方位标定装置。超声波源的方位标定装置具有：照相机，其拍摄测定对象；阵列传感器，其测定从测定对象的方向发出的超声波的声压；运算单元，其基于通过阵列传感器获取的超声波的声压信息而制作声压图，并制作将声压图与通过照相机获取的拍摄图像重合而成的重合图像；以及显示单元，其显示重合图像，阵列传感器由至少一部分设置在同一平面的X轴上与Y轴上并合计9个以上且25个以下的表面安装型传感器构成。

METHOD OF DETECTING SUBSTANTIALLY PERIODIC TRAINS OF SIGNIFICANT SINUSOIDAL SIGNAL BURSTS

La présente invention est relative à un procédé de détection de trains de bouffées sensiblement périodiques de signaux sensiblement sinusoïdaux, en particulier, mais non exclusivement de trains de bouffées de signaux émis de façon récurrente ( par des pingers par exemple), ce procédé permettant d'assurer la détection rapide et fiable de tels signaux en présence de bruits parasites importants. Ce procédé comporte les étapes suivantes : ▪ exploitation faiblement différée du signal reçu, ▪ analyse spectrale et intégration temporelle, ▪ présentation des résultats sous forme d'image bi-dimensionnelle des récurrences successives des bouffées en fonction des cases temps des signaux reçus. The present invention relates to a method for detecting substantially periodic flush trains of substantially sinusoidal signals, in particular, but not exclusively, of repetitively transmitted signal puffs (by pingers for example), this method making it possible to ensure the rapid and reliable detection of such signals in the presence of significant noise. This method comprises the following steps: ▪ weakly delayed operation of the received signal, ▪ spectral analysis and temporal integration, ▪ presentation of the results in the form of a two-dimensional image of the successive recurrences of the puffs as a function of the time slots of the received signals.

ACOUSTIC SENSOR DEVICE WITH BIDIRECTIONAL SENSOR

METHOD AND DEVICE FOR DETECTING AND LOCATING UNRECORRED NOISE SOURCES

SYSTEM AND METHOD FOR LOCATING INTERCEPTED SONAR EMISSIONS

L'invention propose un système de localisation d'impulsion sonar (100) pour un sous-marin comprenant : - deux antennes de forme générale linéaire et sensiblement parallèles entre elles (101, 102) agencées sur le sous-marin, les deux antennes comprenant une antenne de détection (101) et une antenne de focalisation (102), l'antenne de détection (101) étant de petite dimension par rapport à la longueur de la deuxième antenne (102), chaque antenne comprenant un ensemble de capteurs (1010, 1020), -au moins un module d'interception (51) pour déterminer la direction d'une émission sonar émise par un émetteur et interceptée par l'antenne de détection (101), et - un module de focalisation (52) pour déterminer la distance de l'émetteur par focalisation des voies à partir des signaux issus des capteurs de l'antenne de focalisation (102), dans la direction de l'émission déterminée par le module de détection (101). The invention proposes a sonar pulse locating system (100) for a submarine comprising: two antennas of generally linear shape and substantially parallel to each other (101, 102) arranged on the submarine, the two antennas comprising a detection antenna (101) and a focusing antenna (102), the detection antenna (101) being small in relation to the length of the second antenna (102), each antenna comprising a set of sensors (1010 , 1020), at least one interception module (51) for determining the direction of a sonar emission transmitted by a transmitter and intercepted by the detection antenna (101), and - a focusing module (52) for determining the distance of the transmitter by focusing the channels from the signals from the sensors of the focusing antenna (102), in the direction of the emission determined by the detection module (101).

Remote monitoring system

The invention relates to an electroacoustic detector using sound for location and reconnaissance by evaluating the spectrum of any sound source originating from a fixed point or from a moving object. The device comprises four main components: stereophonic headphones 1, an artificial microphone head 2, an amplifier 3 with its filters and an electronic direction finder 4. The system may be installed in a fixed station or on board a vehicle and may be locally or remotely operated.

Method for dynamic selection of microphones

Procédé de sélection, mis en œuvre dans un équipement électronique (1) et comprenant les étapes de :- acquérir et mémoriser, pour chaque microphone (9) de l'équipement, un premier signal audio de référence produit par ledit microphone à partir d'une réception par l'ensemble de microphones d'un premier signal sonore de référence ;- analyser les premiers signaux audio de référence pour produire au moins un paramètre directionnel représentatif d'une direction d'arrivée du premier signal sonore de référence ;- sélectionner en fonction du ou des paramètres directionnels, parmi l'ensemble de microphones, les premiers microphones qui permettent de maximiser une efficacité d'un premier procédé de reconnaissance vocale. Selection method, implemented in electronic equipment (1) and comprising the steps of:- acquiring and storing, for each microphone (9) of the equipment, a first reference audio signal produced by said microphone from reception by the set of microphones of a first reference sound signal;- analyzing the first reference audio signals to produce at least one directional parameter representative of a direction of arrival of the first reference sound signal;- selecting in depending on the directional parameter or parameters, among the set of microphones, the first microphones which make it possible to maximize an efficiency of a first method of voice recognition.

Patent FR2196495B1

Apparatus and method for estimating sound arrival direction

Disclosed are a sound source localization apparatus and a method thereof. The sound source localization apparatus includes: an input part which is inputted with a sound signal of multi-channels generated from a sound source located at a random spot; a signal conversion part for converting an input sound signal into a complex signal; a spectrum generation part for generating a space spectrum to estimate the direction of the sound source where the input signal is generated, using a multiple signal classifier (MUSIC) algorithm; a candidate incident angle detection part which detects candidate incident angles, by detecting at least one peak coordinate which is the actual direction of the sound source in the space spectrum; and an estimated incident angle detection part which calculates energy of the input sound signal corresponding to each candidate incident angle, and detects a candidate incident angle having maximum energy as an estimated incident angle.

High-precision remote direction estimation method of acoustic vector array

本发明提供的是一种声矢量阵高精度远程方位估计方法。(1)对二维矢量水听器阵列的接收信号进行窄带滤波，获得待处理频点上的窄带输出信号；(2)将二维矢量水听器阵列相互正交的两个振速分量在复数域进行线性组合，转换为两个新的振速输出分量；(3)采用最大似然估计求出一定数量采样快拍下的声压及复数域双振速分量的互协方差矩阵对；(4)应用矩阵束的ESPRIT算法计算基于广义声能流的声压振速互协方差矩阵对之间的旋转不变因子，从而进行方位估计。本发明能够在任意阵型甚至未知阵型的情况下进行高精度的方位估计，不会出现某些方向的信号被严重削弱甚至完全屏蔽的现象。此外具有更低的可处理信噪比门限。

Tetrahedral array target orientation estimation method based on differential optimization

一种基于差分优化的四面体阵目标方位估计方法，属于水声目标方位估计技术领域。本发明针对利用声强估计方法估计目标声源方位，存在冗余声学信息利用不足的问题。包括将四基元接收的声压时域信号转换为对应的频域信号；再分别由四面体阵模型中选取三基元作为预处理单元，获得四个不相重复的预处理单元；对每个预处理单元对应的三个频域信号分别进行预处理，共获得沿直角坐标系相应坐标轴方向波数的八个线性方程；求解得到直角坐标系三个坐标轴方向波数的相关稳健估计；根据所述波数的相关稳健估计计算获得目标方位角和目标俯仰角，从而实现对目标方位的估计。本发明利用最小二乘优化思想将线性方程组超定化来提升四面体阵目标方位估计的稳健性。

Monitoring device, monitoring method and monitoring program

監視装置は、群衆行動分析部２１と、異常度算出部２４とを備え、群衆行動分析部２１は、入力映像から群衆の行動パターンを特定し、異常度算出部２４は、行動パターンの変化から異常度を算出する。 The monitoring device includes a crowd behavior analysis unit 21 and an abnormality degree calculation unit 24. The crowd behavior analysis unit 21 specifies a behavior pattern of the crowd from the input video, and the abnormality degree calculation unit 24 detects a change in the behavior pattern. Calculate the degree of abnormality.

A kind of single vector sensor increasing order MUSIC direction finding technology

本发明公开了一种单矢量传感器增秩MUSIC测向技术，属于传感器信号处理技术领域。MUSIC测向技术估计误差小，精度高，它要求声矢量传感器接收的海洋环境噪声的协方差矩阵为单位阵。在海洋环境噪声场中，声矢量传感器的声压通道和振速通道接收到的海洋环境噪声功率并不相等，导致MUSIC测向技术在水下目标探测中无法得到应有的高精度估计。本发明发现声矢量传感器的声压通道和振速通道接收到的环境噪声功率不一致性引起一个虚源。为保证目标导向矢量和噪声子空间的正交性，本发明把此虚源的导向矢量归于信号子空间而非噪声子空间。在较低信噪比下，本发明仍旧具有尖锐的空间谱峰和较小的估计误差。本发明可用于解决海洋环境噪声中对弱目标的被动测向问题。

Method for direction forming in the case of a towed acoustic underwater antenna

The direction forming in the case of a towed underwater antenna achieves greater directional precision and unambiguous side designation by means of the following method. The lateral deflection of the hydrophone which is at the front in the towed chain is measured continuously at a clock frequency which is defined by the towing speed and the hydrophone separation in the towed chain and is stored in a memory having a shift-register function, the number of storage locations in which corresponds to the number of hydrophones on the towed chain. The echo-sounding ranges, which are normally determined in order to calculate the required time delays for the output signals of the hydrophones, which are lined up in the towing direction, are corrected, using these stored values, with respect to their echo-sounding points located on an axis which is transverse with respect to the axis of the directional characteristics, and only then are the delay times calculated from the corrected echo-sounding ranges. During the correction, stored values are assigned to the echo-sounding ranges in the sequence of hydrophones defined by the towed chain, in such a manner that the stored value stored last corrects the depth-finding range of the front hydrophone in the towing direction in the towed chain and the stored value which is stored before a number of storage cycles corresponding to the number of hydrophones in the towed chain corrects the echo-sounding range of the hydrophone which is last in the towing direction.

Tensor decomposition-based vector hydrophone array orientation estimation method

本发明提供一种基于张量分解的矢量水听器阵列方位估计方法，步骤1：构建矢量水听器的声压和振速分量组成的方向矢量；步骤2：构建矢量水听器阵列的时延矢量；步骤3：将矢量水听器阵列的方向矢量以及时延矢量重构成新的阵列流形张量；步骤4：将矢量水听器阵列接收到的矢量信号重构成张量信号，并对张量信号进行分解和截断处理；步骤5：利用新的阵列流形张量和噪声子空间进行空间谱搜索，空间谱的峰值对应的角度就是入射信号的方位角和俯仰角。本发明解决了传统的方位估计方法在低信噪比时方位估计精度低的缺点，该侧向方法在低信噪比的条件下具有更好的噪声抑制能力，此测向方法具有较高的方位估计精度。

Monitoring device, monitoring method and program for monitoring

Induced doppler sonar

An object bearing detection system comprises a broad-band transmitting electroacoustic transducer and a similar broad-band receiving electroacoustic transducer. The two electroacoustic transducers are combined in an active ranging system such that the transducer is responsible to echo returns from signals produced by the transmitting transducer. The electrical output from the receiving transducer is processed by a plurality of narrow-band filters to obtain bearing information from the returned signals as a function of the Doppler shift of the signals.

A kind of relatively prime battle array coherent signal azimuth estimation method based on variational Bayesian

本发明提供了一种基于变分贝叶斯推断的互质阵相干信号方位角估计方法，在贝叶斯估计框架下，利用变分贝叶斯推断算法将互质阵的观测数据迭代插值为一个虚拟非均匀直线阵的输出信号数据，以达到阵列孔径扩展的目的，并进行参数估计，得到入射信号的方位角估计。本发明可以用远低于奈奎斯特采样频率所需的采样数据精确估计目标信号方位角，极大地降低了信号处理系统的工作负担，能够分辨多于阵元个数的信号，在现实环境中的应用价值更广泛。

Near-field calibration method for amplitude-phase consistency of receiving transducer array

本发明提供了一种接收换能器阵列幅相一致性近场校准方法。首先，处于回转台上的接收阵在不同方向采集的入射信号经过聚焦波束形成处理得到一系列的波达方向估计；然后，在频域建立接收信号协方差矩阵，并建立幅相一致性误差估计模型；选取小角度入射角信号，将其邻域角度分别假设为理想入射角，根据幅相一致性误差估计模型估计对应邻域内角度的误差估计结果；最后，根据误差结果补偿阵列，根据试验预设参数选择两已知角度间隔的数据，评估对于角度间隔估计的偏差，根据偏差极小值确定幅相一致性误差，完成校准。本发明能够在不需要辅助信源的情况下提高阵列的幅相一致性及测向性能。

The relatively prime array Wave arrival direction estimating method of mesh freeization based on virtual array interpolation

本发明公开了一种基于虚拟阵列内插的无网格化互质阵列波达方向估计方法，主要解决现有技术中虚拟阵列的非均匀性所导致的信息损失问题。其实现步骤是：接收端架构互质阵列；利用互质阵列接收入射信号并建模；计算互质阵列接收信号所对应的等价虚拟信号；构造内插虚拟阵列并建模；构造内插虚拟阵列的多采样快拍信号及其采样协方差矩阵；构造投影矩阵并定义与该投影矩阵相关的投影运算；设计基于内插虚拟阵列信号协方差矩阵核范数最小化的优化问题并求解；根据重建的内插虚拟阵列协方差矩阵进行波达方向估计。本发明提高了波达方向估计的自由度及分辨率，可用于无源定位和目标探测。

Circuitry for determining direction of impingement of a received signal

An improved system for determining the direction of impingement of a received energy signal, of the type having a plurality of receivers forming pairs of mutually perpendicular dipoles for receiving the orthogonal components of the impinging signal, apparatus for measuring these received components in order to produce signals indicative of the direction of impingement, and a display device connected to the output of the measuring apparatus. The measuring apparatus is provided with a plurality of amplifier circuits each of which is connected to a respective one of the receivers for producing a constant amplitude representation of its received signal. The use of these amplifiers helps to eliminate errors that would otherwise occur in the measurements due to inaccuracies in the measured amplitudes of the received dipole signals.

System and method for locating intercepted sonar transmissions

The invention proposes a system (100) for locating sonar pulses for a submarine, including: - two antennas having a generally linear shape and being substantially parallel to one another (101, 102) arranged on the submarine, the two antennas including a detection antenna (101) and a focusing antenna (102), the detection antenna (101) being smaller in size in comparison to the length of the second antenna (102), each antenna including a set of sensors (1010, 1020), - at least one interception module (51) for determining the direction of a sonar transmission transmitted by a transmitter and intercepted by the detection antenna (101), and - a focusing module (52) for determining the distance of the transmitter by focusing paths from signals originating from the sensors of the focusing antenna (102), in the direction of the transmission determined by the detection module (101).

Acoustic direction finder

Apparatus for locating sources of sound in water

Apparatus for locating sources of sound in water, including a hydrophone system which is suspended from a buoy after being dropped into the water and whose one given reference axis is automatically aligned with the magnetic field of the earth by mechanically coupling the hydrophone system with a compass magnet (north reference). The hydrophones of the hydrophone system are electrically connected with a switching or control box by means of transmission wires which are insulated with an elastic plastic and pass freely through the water and the hydrophone system is mechanically fastened to the switching box to be rotatable in a recoilless manner about an axis which is perpendicular to the surface of the earth. The control box is in turn connected to the buoy by means of an elastic suspending cable and an electrical connecting cable.

Hearing aids with adaptive beamformer responsive to off-axis speech

A hearing assistance system includes an adaptive directionality controller to control a target direction for sound reception. The adaptive directionality controller includes a beamformer, a speech detector to detect off-axis speech being speech that is not from the target direction, and a steering module to steer the beamformer in response to a detection of the off-axis speech.

Passive acoustic aquatic animal finder apparatus and method

Ship's warning system

1,247,122. Sound source locating. SPERRY RAND CORP. 11 March, 1970 [12 March, 1969], No. 11702/70. Heading H4D. In a sound-monitoring system for installation on a ship, e.g. to detect other vessels in the ship's path, primary receiving means are responsive to sounds from one or more specified regions of interest, auxiliary receiving means are responsive to sounds from another region, signals from all receiving means are subjected to amplification with automatic gain control (AGC), reference signals each representing the long-term average of signal amplitude for a respective region are derived, and an alarm indicates if such a reference signal is momentarily exceeded by signals from a said region of interest. In the Fig. 1 system microphones 15, 13 detect sounds from port and starboard regions P, S of interest and sound aft (region A) is detected by microphone 17. The microphone outputs are multiplexed at 21, amplified at 27, de-multiplexed at 29 and routed to appropriate channels P, A, S. The P, A and S signals are summed at 31 to provide an AGC control signal. The AGC time constants are such that a momentary gain change prevents amplifier saturation and persists for at least one multiplex sampling cycle, whereby a burst of sound actuating any microphone gives a signal which passes through amplifier 27 without significant distortion but with essentially the same gain as corresponding signals from the other microphones. This ensures that spurious pick-up, e.g. by microphone 13 or 15 of sounds from region A, does not actuate the alarm. In each channel the long-term average amplitude is derived at 37 and any signal exceeding this by some threshold amount in the P or S channel actuates an alarm 39. The channel outputs at 37 are fed to a cathode-ray tube readout 41 giving a Y pattern display, or to a magnetic recorder. Switch system 45 enables selected ones of the P, A and S signals to be monitored on a loud-speaker or headphones 43, and enables calibrated delays to ...

Spherical harmonic order self-adaptive selection method suitable for sound source orientation of spherical microphone array

本发明公开了一种适用于球面麦克风阵列声源定向的球谐波阶数自适应选择方法，包括如下步骤：借助离散球傅里叶变换和模式强度补偿将声场信息由时频域变换成球谐波域的模式强度补偿特征波束形式，由声场的各阶特征波束计算声场的各阶特征波束的功率；根据声场各阶间的特征波束功率相似性检测因子衡量各阶特征波束的功率相似性；根据设定门限参数值对平均特征波束功率相似性检测因子进行可靠阶数选择处理；根据可靠阶数进行时频点掩蔽，利用满足条件的时频点对应的可靠阶声场特征波束进行声场定位，得出方位角估计值。本发明对混响噪声具有更高的鲁棒性，声源方位估计精度也较高。

Acoustic surveillance system with signature and bearing data display

An underwater acoustic sensor system for detecting and efficiently displaying data from small, shallow-draft targets at high speeds in shallow or very shallow water. Sonar buoys transmit electrical signals representing sound pressure waves, which are processed to ascertain bearing and signature information for a detected object. A single display having a bearing history area, a frequency history area, and a bearing/frequency area, provide a system operator with efficient correlation between bearing and frequency data.

Patent DE3531230C2

Wave arrival direction estimating method based on thinned array Direct interpolation

本发明公开了一种基于稀疏阵列直接内插的波达方向估计方法，主要解决现有技术中基于虚拟域等价信号处理所导致的信息损失和性能衰减等问题。其实现步骤是：接收端使用稀疏阵列接收信号并建模；通过虚拟阵元内插将稀疏阵列转变为均匀线性阵列并进行接收信号建模；内插稀疏阵列投影向量定义；设计基于矩阵秩最小化的优化问题并求解，以重建内插稀疏阵列协方差矩阵；根据重建的内插稀疏阵列协方差矩阵进行波达方向估计。本发明提高了波达方向估计的自由度及估计准确度，可用于无源定位和目标探测。

A kind of circle battle array mode domain direction estimation method based on space sparse constraint

本发明涉及水声工程技术领域，具体涉及一种基于空间稀疏约束的圆阵模态域方位估计方法，是为了解决现有的模态域方位估计方法需要大量多快拍采样数据构造协方差矩阵，且需要对协方差矩阵求逆或特征值分解，算法执行效率较低的缺点而提出的，包括：获得均匀圆阵声压信号；构造相位模态域变换矩阵；将均匀圆阵接收到的声压信号通过相位模态域变换矩阵变换成相位模态域信号；将360°全空间方位离散化，并构造空域稀疏变换基；对均匀圆阵接收信号进行时域采样，构造相位模态域多快拍采样数据，采用l 1 范数对多快拍稀疏信号进行优化求解；计算不同方位角度上的信号能量，绘制空间谱图，由最大谱峰位置得到目标方位。本发明适用于水声工程中的信号估计。

Acoustic antenna for use in buoy of sonar system for detecting sound wave of certain wavelength, comprises multiple hydrophones, which are provided with directivity

Das Sonarsystem umfaßt im wesentlichen einen Panorama-Schallstrahler (1), eine fadenförmige Empfangsantenne (2), eine Winde (3) und eine Verarbeitungs- und Steuerausrüstung (4). Die Antenne weist mehrere mit Richtwirkung versehene Hydrophone auf, beispielsweise vom Typ DIFAR, die fest an einem auf Zug beanspruchbaren elektrischen Kabel (12) angebracht sind, das torsionssteif ausgebildet ist. Kurs-Detektoren (21, 21) sind an der Antenne vorgesehen, um gegebenenfalls Verdrehung zu melden. Eine mit Isolieröl gefüllte Schutzhülle umgibt die Hydrophone und Kurs-Detektoren. Die Antenne ist flexibel und kann auf der Trommel der Winde aufgerollt werdsring (10), um sich jeder Torsionsbewegung zu widersetzen, und ist an einem unteren Ende der Antenne befestigt. Die Antenne wird durch den Schallstrahler belastet und entfaltet sich durch Schwerkraft in Wasser. Antenne und Verarbeitungs- und Steuerausrüstung (4, 41) ermöglichen die räumliche Erfassu

Device and method of resolving ambiguity from estimate of direction of arrival

FIELD: physics, computer engineering. SUBSTANCE: device (100) for resolving ambiguity from an estimate (105) DOA ( φ ^ amb ) comprises an analyser (110) for the DOA estimate for analysing the estimate (105) of DOA ( φ ^ amb ) to obtain a set (115) of ambiguous analysis parameters ( φ ˜ I … φ ˜ N ; f( φ ˜ I )…f( φ ˜ N ); f enh,I ( φ ^ amb )…f enh,N ( φ ^ amb ); g P ( φ ˜ I )…g p ( φ ˜ N ); D( φ ˜ I )…D( φ ˜ N )) by using bias information (101), wherein the bias information (101) is the relationship ( φ ^ ↔φ) between a biased ( φ ^ ) and an unbiased DOA estimate (φ), and a unit (120) for resolving ambiguity in the set (115) of ambiguous analysis parameters ( φ ˜ I … φ ˜ N ; f( φ ˜ I )…f( φ ˜ N ); f enh,I ( φ ^ amb )…f enh,N ( φ ^ amb ); g P ( φ ˜ I )…g p ( φ ˜ N ); D( φ ˜ I )…D( φ ˜ N )) to obtain an unambiguous resolved parameter ( φ ˜ res ; f res , 125). EFFECT: designing a device for resolving ambiguity. 15 cl, 22 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (51) МПК G01S 3/802 (13) 2 552 129 C2 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ 2013113636/28, 23.08.2011 (24) Дата начала отсчета срока действия патента: 23.08.2011 Приоритет(ы): (30) Конвенционный приоритет: (43) Дата публикации заявки: 10.10.2014 Бюл. № 28 2 5 5 2 1 2 9 R U DIRECTION ESTIMATION USING MICROPHONE ARRAYS FOR DIRECTIONALAUDIOCODING.2008Handsfree Speech Communication and Microphone Arrays. Proccedings. IEEE catalog Number CFP08HSM.Trento.Italy.06.05.2008-08.05.2008, p.45-48. M. Kallinger et.al. ENHANCED DIRECTION ESTIMATION USING MICROPHONE ARRAYS FOR DIRECTIONAL AUDIO (см. прод.) C 2 C 2 (56) Список документов, цитированных в отчете о поиске: M. Kallinger et.al. ENHANCED (73) Патентообладатель(и): ФРАУНХОФЕР-ГЕЗЕЛЛЬШАФТ ЦУР ФЕРДЕРУНГ ДЕР АНГЕВАНДТЕН ФОРШУНГ Е.Ф. (DE) (85) Дата начала рассмотрения заявки PCT на национальной фазе: 27.03.2013 (86) Заявка PCT: EP 2011/064436 (23.08.2011) (87) Публикация заявки PCT: WO 2012/025512 (01 ...