Robust Indoor Localization in a Reverberant Environment Using Microphone Pairs and Asynchronous Acoustic Beacons
Robust Indoor Localization in a Reverberant Environment Using Microphone Pairs and Asynchronous Acoustic Beacons
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DOI：
10.1109/access.2019.2937792
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发表时间：
2019-01-01
期刊：
影响因子：
3.9
通讯作者：
Ebihara, Tadashi
中科院分区：
文献类型：
--
作者：
Ogiso, Satoki;Mizutani, Koichi;Ebihara, Tadashi
本文提出了一种基于麦克风对和异步声信标的鲁棒室内定位方法。所提出的方法是适用的，甚至与双通道麦克风对，这是一个麦克风阵列的最小配置。该方法利用测量信号的互相关函数作为定位似然度进行定位。三个实验进行了评估所提出的方法。四个信标位于4米乘4米的定位区域的角落，发射带宽为2千赫的信号。定位结果进行了比较，以前的方法与确定性的到达方向估计。在没有明显混响的条件下，所提出的方法与两个麦克风的定位误差的第90个象限为0.23米，所提出的方法与四个麦克风的定位误差的第90个象限为0.19米，以及先前的方法的定位误差的第90个象限为0.30米。在有反射墙的条件下，前一种方法的定位误差的第90百分位数增加到0.49 m，而所提出的方法仅增加到0.23 m的两个麦克风和0.19 m的四个麦克风。所提出的方法有助于在室内环境中的鲁棒定位，并减轻了接收机配置的约束。
In this paper, a robust indoor localization method using microphone pairs and asynchronous acoustic beacons was proposed. The proposed method is applicable even with a two-channel microphone pair, which is the minimal configuration of a microphone array. The proposed method estimates location by using the cross-correlation functions of the measured signals as location likelihoods. Three experiments were conducted to evaluate the proposed method. Four beacons were located at the corners of a localizing area of 4 m by 4 m and emitted signals with a bandwidth of 2 kHz. The localization results were compared to the previous method with deterministic direction-of-arrival estimation. The 90th percentiles of the localization error were 0.23 m for the proposed method with two microphones, 0.19 m for the proposed method with four microphones, and 0.30 m for the previous method under conditions without significant reverberation. Under a condition with reflective walls, the 90th percentile of the localization error of the previous method increased to 0.49 m, while that of the proposed method was only increased to 0.23 m for two microphones and 0.19 m for four microphones. The proposed method contributes to a robust localization in indoor environments and relieves the constraints of receiver configuration.