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A UAV Direction Estimation Method Based on Voiceprint Multi-Harmonic Recognition

A technology for direction estimation and unmanned aerial vehicles, applied in direction finders using ultrasonic/sonic/infrasonic waves, systems for determining direction or offset, and various systems for orientation, etc., can solve the problem of poor performance of algorithm estimation and sub-band Problems such as different signal-to-noise ratios in energy distribution achieve the effect of small error and high estimation accuracy

Active Publication Date: 2019-04-12
ZHEJIANG UNIV
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Problems solved by technology

The disadvantage of this algorithm is that it ignores the uneven energy distribution and signal-to-noise ratio of the sub-bands, which leads to poor estimation performance of the algorithm.

Method used

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  • A UAV Direction Estimation Method Based on Voiceprint Multi-Harmonic Recognition
  • A UAV Direction Estimation Method Based on Voiceprint Multi-Harmonic Recognition
  • A UAV Direction Estimation Method Based on Voiceprint Multi-Harmonic Recognition

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Embodiment

[0040] Control the DJI Phantom-3 quadrotor UAV to fly over the area where the cross-shaped acoustic array is located, run the Labview program on the computer, and collect sound signals through the microphone of the acoustic array. The sampling frequency is 5120HZ, and the array element spacing is 0.17m. The number of elements is 3, and the number of target sources is 1. Define the included angle between the sound and the normal plane of the sound array as the direction angle, and the range is [‐90,90]. Under the current sampling frequency, the characteristic frequency range can be obtained: [140,200],[300,380],[470,550],[650,740]. (Unit: HZ).

[0041] figure 2 and image 3 They are the effect diagrams of UAV sound angle estimation by the traditional method and the method of the present invention respectively. By comparison, it can be seen that the method of the present invention can better estimate the UAV sound angle, and the accuracy is obviously better than the traditio...

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Abstract

The invention discloses an unmanned aerial vehicle direction estimation method based on voiceprint multiharmonic identification. For a traditional incoherent subspace direction-of-arrival estimation algorithm of a high resolution spectrum, a wide-band signal is divided into several narrow-band signals, angle estimation is performed on a narrow band through a multiple signal classification (MUSIC) algorithm, and an arithmetic mean is obtained. The traditional method ignores uneven energy of sub-bands and different signal-to-noise ratios, and then the algorithm performance is poor. According to the method, characteristic frequency is obtained by performing time-frequency analysis on an acoustical signal of a target information source. For the wide-band signal, only the sub-band where the characteristic frequency is located is extracted, narrow-band MUSIC operation is performed, the energy ratios and the signal-to-noise ratios of all characteristic sub-bands are combined, different weighting coefficients are given to all characteristic sub-band direction angles, the angle estimation result is obtained through weighted mean, and then more accurate angle estimation performance is achieved.

Description

technical field [0001] The invention relates to the field of UAV sound positioning, in particular to a UAV direction estimation method based on voiceprint multi-harmonic recognition. Background technique [0002] General passive sound direction estimation methods mainly include: (1) positioning technology based on time difference of arrival (TDOA); (2) controllable beamforming technology based on maximum output power; (3) high-resolution spectral estimation technology. Compared with the previous two techniques, the technique based on high-resolution spectrum estimation can use fewer array elements to obtain higher resolution, and is widely used in direction estimation. [0003] However, traditional high-resolution spectral estimation algorithms are generally aimed at narrowband signals, and the most classic one is the multiple signal classification (MUSIC) algorithm based on matrix eigenvalue decomposition. In wideband signal processing, an incoherent signal subspace (ISM) ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S3/802G01S3/80
CPCG01S3/8003G01S3/802
Inventor 史治国程翠常先宇陈积明杨超群史秀纺
Owner ZHEJIANG UNIV
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