| In traditional sound source localization based on the microphone array which is used in home service robots,the localization accuracy is low and highly influenced by unstructured indoor environment and microphone array models.The research is oriented to unstructured home environment and focuses on the localization accuracy that is seriously affected by environment and highly relied on models.Using the idea of indoor localization based on WLAN for reference and considering the characteristics of sound propagation in space,the sound source localization method based on location fingerprint is proposed.Besides,the method has achieved the accurate and reliable localization between man and robot in the human-computer interaction interface.The research is carried out from the following three perspectives:Firstly,location fingerprint method is proposed in view of the problem that sound source localization is highly relied on models and seriously influenced by unstructured indoor environment.WLAN indoor localization technology based on location fingerprint is introduced.In addition,the similarity of sound signal and WLAN signal is analyzed.Furthermore,the feasibility of using the location fingerprint in sound source localization is considered.Secondly,indoor sound source localization system based on location fingerprint is established and it is composed of hardware and software system.The components of the hardware system and its connecting mode are both introduced in detail.The signal processing system and the human-computer interaction interface are designed according to the need of localization,which are introduced and analyzed in this paper.Finally,the key factors affecting the accuracy of localization are analyzed.The effect of the selection of reference points,array position and array model on the localization accuracy are considered.Moreover,the analysis of the influence of unstructured indoor environment on the accuracy is performed by adding obstacles. |
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