TY - GEN
T1 - Sound source localization sensor of robot for TDOA method
AU - Hu, Hong
AU - Wang, Meiling
AU - Fu, Mengyin
AU - Yang, Yi
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
KW - TDOA
KW - robot localization
KW - sound receiving sensor
KW - sound source localization
UR - https://www.scopus.com/pages/publications/80054965195
U2 - 10.1109/IHMSC.2011.75
DO - 10.1109/IHMSC.2011.75
M3 - Conference contribution
AN - SCOPUS:80054965195
SN - 9780769544441
T3 - Proceedings - 2011 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011
SP - 19
EP - 22
BT - Proceedings - 2011 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011
T2 - 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011
Y2 - 26 August 2011 through 27 August 2011
ER -