A sound source localization method based on improved second correlation time delay estimation

Abstract

The sound source localization (SSL) system based on the microphone array has important applications in audio and video conference, security monitoring and intelligent cockpit. However, the SSL method based on time difference of arrival is susceptible to ambient noise. Therefore, an improved second correlation delay estimation algorithm is proposed in this paper. The pure source signal is obtained by wavelet denoising, and then the time delay is calculated by the second correlation time delay estimation algorithm with the weighting functions of the smoothed coherence transform and the Roth processor. The position of the sound target is calculated from the time delay. Aiming at the moving target, an extended Kalman filter is introduced to track the moving trajectory of the sound source. The static and moving SSL simulations are conducted and the results of the proposed algorithm are compared with those of the single-weighted quadratic correlation (SQC) algorithm and the high-power quadratic correlation algorithm. The static sound source positioning errors of the proposed algorithm under −10 dB SNR are respectively 3.97 m and 5.86 m smaller than those of the HQC algorithm and the SQC algorithm. The moving SSL trajectory based on the proposed algorithm is still closest to the real track under −10 dB SNR. This indicates that the proposed algorithm has high precision and strong robustness for sound source location in the low signal-to-noise ratio (SNR) environment. In the experiment, the proposed algorithm can accurately calculate the direction of arrival (DOA) of static sound source and stably track DOA of moving sound source. This is consistent with the simulation results, which further verifies the effectiveness and practicability of the algorithm. This novel algorithm with high time delay estimation accuracy is of great significance for SSL in low SNR environment.