Calibration method and system

• US 9,949,050 B2
• Filed: 03/03/2014
• Issued: 04/17/2018
• Est. Priority Date: 12/22/2012
• Status: Active Grant

• Current Assignee: Ecole polytechnique fãdãrale de lausanne epfl (Schweizerische Eidgenossenschaft)
• Original Assignee: Ecole Polytechnique Federal de Lausanne
• Inventors: Dokmanic, Ivan, Daudet, Laurent, Vetterli, Martin
• Primary Examiner(s): Chin, Vivian
• Assistant Examiner(s): ODUNUKWE, UBACHUKWU A
• Application Number:
  US14/195,321
• Publication Number:
  US 20150181360A1
• Time in Patent Office: 1,506 Days
• Field of Search: 381303, 381 95, 367129, 367 99, 367118
• CPC Class Codes: G01B 5/00 Measuring arrangements characterised by the use of mechanical techniques
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01H 7/00 Measuring reverberation time ; room acoustic measurements
• CPC Class Codes: G01S 15/06 Systems determining the position data of a target
• CPC Class Codes: G01S 15/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S15/46
• CPC Class Codes: G01S 15/46 Indirect determination of position data
• CPC Class Codes: G01S 15/876 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S15/872 takes precedence
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 2015/465 by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
• CPC Class Codes: G01S 7/539 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/54 with receivers spaced apart
• CPC Class Codes: H04R 1/08 Mouthpieces; Microphones; Attachments therefor
• CPC Class Codes: H04R 29/005 Microphone arrays
• CPC Class Codes: H04S 7/305 Electronic adaptation of stereophonic audio signals to reverberation of the listening space H04S7/301 takes precedence

Abstract

The present invention concerns a method for calibrating an array of receivers (r_j), each receiver being configured for receiving a signal transmitted by at least one transmitter (s_i), and echoes of the transmitted signal as reflected by one or more reflective surfaces (w), said method comprising the following steps:

• • sorting said echoes, by assigning each echo to a reflective surface or to a combination of reflective surfaces (w)
  • calibrating said array of receivers (r_j) based on said sorting.

Claims

1. A method for determining the position of at least one microphone of an array of microphones, each microphone being configured to receive a signal transmitted by at least one loudspeaker, and echoes of the transmitted signal as reflected by one or more reflective surfaces, said method comprising the following steps:

Receiving, in a processor, an impulse response measured at the array of microphones, wherein the impulse response contains the echoes of the transmitted signal, wherein each of the echoes corresponds substantially to a Dirac in the impulse response,

Sorting, in the processor, said echoes of the impulse response, by assigning each echo to one reflective surface or to a combination of reflective surfaces;

wherein the step of sorting said echoes by assigning each echo to one reflective surface or to a combination of reflective surfaces, comprises selecting a subset of echo assignments from a set of all possible echo assignments, determining it that selected subset of echo assignment is valid by checking if the times of arrival of all of the echoes in the selected subset satisfy a predefined system of equations;

Determining, in the processor, the position of at least one of the microphones in the array based on the assignments of the echoes to the corresponding reflective surfaces.

2. The method according to claim 1, wherein said sorting comprises:

selecting a set of echoes from the echoes as received by the microphone;

assigning each echo of the set to one reflective surface or to a combination of reflective surfaces.

3. The method according to claim 2, wherein said determining the on of at least one of the microphones comprises:

selecting a calibration module among a number of calibration modules;

running said calibration module for all the echoes'"'"' assignments;

calculating for each running a fit parameter;

selecting an echoes'"'"' assignment on the basis of said fit parameter.

4. The method according to claim 3, further comprising:

selecting the echoes'"'"' assignment which minimizes said fit parameter.

5. The method of claim 3 comprising:

determining the location of the transmitter(s) based on the selected echoes'"'"' assignment.

6. The method of claim 3 comprising:

determining the location and/or orientation of the reflective surface(s) based on the selected echoes'"'"' assignment.

7. The method of claim 6, the array of receivers comprising at least M_min+1 receivers, wherein M_min is the minimum number of microphones required by the calibration module, the method comprising:

selecting a sub-array of microphones from said array of receivers, said sub-array comprising a number of microphones less that the number of receivers of said array of receivers;

determining the position of said array of microphones based on the signals and echoes received only by said sub-array of receivers.

8. The method according to claim 7, wherein said selecting is based on the knowledge of which microphones of the array of microphones are close in space.

9. The method of the claim 1, wherein the location and/or the orientation of the reflective surfaces is known.

10. The method of claim 1, said signal being an acoustic signal.

11. The method of claim 10, said reflective surface being a wall of a room.

12. A method according to claim 1, wherein the position of at least one of the receivers in the array is determined based on the time of arrivals or time difference of arrival of the echoes and based on the assignments of the echoes to the corresponding reflective surfaces.

13. A system for determining the position of at least one receiver of an array of receivers, to find the absolute or the relative location of the receivers in an array of receivers, comprising:

at least one transmitter for sending a signal;

said array of receivers for receiving an impulse response containing the transmitted signal and the echoes of the transmitted signals as reflected by one or more reflective surfaces, wherein each of the echoes corresponds substantially to a Dirac in the impulse response;

a processor for sorting said echoes of the impulse response by assigning each of said echoes to one reflective surface or to a combination of reflective surfaces, wherein the first computing module is configured to sort said echoes by assigning each echo to one reflective surface or to a combination of reflective surfaces, by selecting a subset of echo assignments from a set of all possible echo assignments, and determining if that selected echo assignment is valid by checking if the times of arrival of all of the echoes in the selected subset satisfy a predefined system of equations;

the processor further configured for determining the position of at least one of the receivers in the array based on the assignments of the echoes to the corresponding reflective surfaces,

wherein in a first embodiment, the receivers are microphones, the transmitter is a loudspeaker and signal is an acoustic signal or in a second embodiment, the receivers and the transmitter are mobile devices and the signal is an RF signal or in a third embodiment, said transmitter is a light source, said array of receivers is an array of light sensitive devices as a photo diodes or cameras and said signal is a light signal.

14. The system of claim 13, said reflective surface being a wall of a room.

15. The system of claim 13, said reflective surface being a mirror.

16. A computer program product, comprising:

a tangible non-transitory computer usable medium including computer usable program code for determining the position of at least one receiver of an array of receivers, said receivers of the array being configured for receiving a signal transmitted by a transmitter, and echoes of the transmitted signal as reflected by one or more reflective surfaces, the computer usable program code performs the following steps, when executed on a processor;

Receiving, in the processor, an impulse response measured at the array of receivers, wherein the impulse response contains the echoes of the transmitted signal, wherein each of the echoes corresponds substantially to a Dirac in the impulse response;

Sorting, in the processor, said echoes of the impulse response, by assigning each of said echoes to one reflective surface or to a combination of reflective surfaces, wherein the sorting said echoes by assigning each echo to one reflective surface or to a combination of reflective surfaces, comprises selecting a subset of echo assignments from a set of all possible echo assignments, determining that if selected echo assignment is valid by checking if the times of arrival of all of the echoes in the selected subset satisfy a predefined system of equations;

Determining, in the processor, the position of at least one of the receivers in the array based on the assignments of the echoes to the corresponding reflective surfaces

wherein in a First embodiment, the receivers are microphones, the transmitter is a loudspeaker and said signal is an acoustic signal or in a second embodiment, the receivers and the transmitter are mobile devices and the signal is an RF signal or in a third embodiment, said transmitter is a light source, said array of receivers is an array of light sensitive devices as a photo diodes or cameras and said signal is a light signal.

17. A method for determining the position of at least one receiver of an array of receivers, each receiver being configured for receiving a signal transmitted by at least one transmitter, and echoes of the transmitted signal as reflected by one or more reflective surfaces, said method comprising the following steps:

Receiving, in a processor, an impulse response measured at the array of microphones, wherein the impulse response contains the echoes of the transmitted signal, wherein each of the echoes corresponds substantially to a Dirac in the impulse response;

Sorting, in the processor, said echoes received by the array of receivers, by assigning each echo to one reflective surface or to a combination of reflective surfaces;

wherein said sorting comprises;

selecting a set of echoes from the echoes as received by the receiver;

assigning each echo of the set to one reflective surface or to a combination of reflective surfaces;

wherein the method comprises further the step of determining, in the computing module, the position of at least one of the receivers in the array based on the assignments of the echoes to the corresponding reflective surfaces, wherein the step of determining the position comprises;

selecting a calibration module among a number of calibration modules;

running said calibration module for all the echoes'"'"' assignments;

calculating a fit parameter for each running of said calibration module;

selecting an echoes'"'"' assignment on the basis of said fit parameter

wherein in a first embodiment, the receivers are microphones, the transmitter is a loudspeaker and said signal is an acoustic signal or in a second embodiment, the receivers and the transmitter are mobile devices and the signal is an RF signal or in a third embodiment, said transmitter is a light source, said array of receivers is an array of light sensitive devices as a photo diodes or cameras and said signal is a light signal.

18. A method according to claim 17 wherein the fit parameter is calculated as the discrepancy between the measured data, and the data that would have been generated by receivers at estimated positions.