Sound Source Localization Sensor of Robot for TDOA Method
TDOA (Time Difference of Arrival) is an important passive location method which is widely used in modern localization and navigation system. This design use three microphones to collect the sound signal sent by robot, and process the signal with the filtering circuit which designed to produce an accurate rising edge for microcontroller to capture and calculate the time difference of sound arriving at three microphones. Consequently, we can get three semi-hyperbolic equations at most, combining with the known spatial location of the microphones, the location of the robot can be determined. Even if the noise and reverberation are serious, the sound also can be well captured and the differences are accurate with timing error less than 10-5s. Moreover, this design makes less than 1.5 centimeter to locate the position of sound source for each pulse quickly and effectively in the experimental environment.
TDOA sound source localization sound receiving sensor robot localization
Hong Hu Meiling Wang Mengyin Fu Yi Yang
School of Automation, ININ lab Beijing Institute of Technology Beijing, China
国际会议
杭州
英文
254-257
2011-08-26（万方平台首次上网日期，不代表论文的发表时间）