METHOD OF LOCALIZING SOUND SOURCE AND HUMANOID ROBOT USING THIS METHOD Russian patent published in 2018 - IPC G01S3/808 

FIELD: physics.

SUBSTANCE: localization method involves receiving sound signals from a source using a set of three microphones, selecting three pairs of microphones and for each pair calculating the generalized cross-correlation of the audio signals. The calculation is carried out for multiple values of inter-aural differences in time, the directional response power is calculated based on the generalized mutual correlations, the vector of inter-aural differences in time is determined, which corresponds to the peak of the directional response power, the direction of the sound source localization is assessed depending on the vector of inter-aural differences in time. In calculations, a set of delay vectors forming two sets of vectors is used. The first set for the signals received from the sole sound source, at an infinite distance from the microphones and the second set for the vectors that are inconsistent with the sound signals originating from the sole source. Each vector of the first subset is connected with the direction of the sole sound source localization, and each vector of the second subset is connected with the direction of the localization associated with the specified vector of the first subset, which is the closest to it in accordance with the Euclidean metric.

EFFECT: increasing the accuracy of localization, simplifying calculations.

10 cl, 12 dwg, 1 tbl