基于声源定位的智能小车

Intelligent car based on sound source location

文章基于声源定位技术研发出一款在移动过程中自动避障的小车,其以STM32F103C8T6为主控开发板,将K210搭载麦克风阵列作为声源处理装置,并且采用时延算法得出声源到达不同麦克风阵列的时间差,从而计算出声源和小车的距离以及角度。为了使角度更加准确,加上了卡尔曼滤波。测试结果表明,小车到达声源的位置较为准确。

Based on sound source positioning technology,this paper developed a car that can automatically avoid obstacles in the process of moving STM32F103C8T6 was used as the main control development board,and K210 was equipped with microphone array as the sound source processing device.The time difference between the sound source and the car was obtained by using the delay algorithm,so as to calculate the distance and Angle between the sound source and the car.In order to make the Angle more accurate,Kalman filter is added.The test results show that the car reaches the location of the sound source accurately.