Sound source positioning method and device, equipment and storage medium

• Main Authors: HAN YU, ZHENG SIYUAN, XIE HUASEN, ZHOU YUZHI, LI JING, YI YONGLI, YANG DEDONG, HUANG SHIXUAN, TAICHI, CHEN QIONGLIANG, QIAN BIFU, LI CHU, ZHANG LIJUN, ZHU HAIMAO, CHEN HAIHONG, CHEN LI, LIN SHIXI, NIE JINGKAI
• Format: Patent
• Language: Chinese; English
• Published: 21.11.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; ELECTRIC DIGITAL DATA PROCESSING; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses a sound source localization method, relates to the technical field of sound source localization, and can solve the problems of localization delay and slow response caused by large calculated amount of sound source localization. According to the specific scheme, the method comprises the following steps: acquiring position information of each receiver in an array formed by at least three receivers; collecting sound wave signals of the same sound source obtained by each receiver, wherein the sound wave signals comprise a reference signal and other signals; determining a delay time between each remaining signal and the reference signal; inputting each delay time, the position information of each receiver and a preset sound propagation speed into a preset positioning equation based on a time difference, carrying out iterative solution on the positioning equation by utilizing a continuous unconstrained least square method of a swarm intelligence algorithm until a measurement error in the pos