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no more valid. In [9], design of a low order spherical microphone array is proposed to acquire the sound from near field
sources. Near-field criterion for spherical array is discussed
in [10]. However, spherical array has not been utilized for
near-field source localization. In [11], 2-Dimensional (2D)
MUSIC spectrum is presented for multiple near-field sources
using Uniform Linear Array (ULA). In this work, we propose
3D SH-MUSIC spectrum for range and bearing (elevation,
azimuth) estimation of multiple near-field sources. MVDR
[12] and MUSIC-Group Delay (MGD) spectrum [1316]
have also been studied for near-field source localization using
spherical array of microphone. The primary contribution of
this work is in the proposal of novel methods for near-field
source localization in spherical harmonics domain.
The rest of the paper is organized as follows. In Section 2,
signal model in spherical harmonics domain is presented. The
near-field criteria is discussed, followed by the development
of SH-MUSIC, SH-MGD and SH-MVDR methods. The proposed method is evaluated in Section 3. Section 4 concludes
the paper.
2. NEAR-FIELD SOURCE LOCALIZATION USING
SPHERICAL MICROPHONE ARRAY
In this Section, a mathematical derivation of 3-Dimensional
MUSIC spectrum is presented using spherical harmonics for
near-field sources. The SH-MUSIC utilizes the magnitude
spectrum. However, magnitude spectrum suffers from severe environmental conditions like low SNR, reverberation
and closely spaced sources. In [16], a high resolution source
localization based on the MUSIC-Group delay spectrum over
ULA has been proposed. The method is non-trivially extended for planar arrays in [14, 15] and for spherical array
in [13]. In all these works, far-field source were considered.
In this work, group delay spectrum in spherical harmonics
domain has been developed for range and bearing estimation.
Beamforming based SH-MVDR is also formulated for nearfield source localization.
2.1. Signal processing in Spherical Harmonics domain
A spherical microphone array of order N with radius r and
number of sensors I is considered. A sound field of sphericalwaves with wavenumber k from L near-field sources is incident on the array. The lth source location is denoted by
vl (k) = [
|r1 rl |
,...,
|rI rl |
]T
(2)
n
X
(5)
n=0 m=n
I
X
ai p(k, r, i )[Ynm (i )]
(7)
i=1
0 n N, n m n
n
N
X
X
jn is spherical Bessel function, hn is spherical Hankel function, j is unit imaginary number and refers to first derivative.
The extra term in far-field mode strength for rigid sphere accounts for scattered pressure from the sphere. The range of
the source is captured in the Hankel function.
0
50
Farfield
Nearfield
100
150 1
10
10
10
jn (kr)
hn (kr) , rigid sphere
hn (kr)
(12)
50
(4)
p(k, r, , ) =
= 4j n jn (kr)
(11)
(3)
(10)
Magnitude(dB)
(1)
(8)
n=0 m=n
N
(14)
r
kmax
(15)
From Equations 13,14, rN F = r
k
Hence, for a source to be in near-field, the range of the source
should satisfy
kmax
(16)
r rl r
k
kmax =
100
80
SHMGD
SHMUSIC
1.5
1
60
40
0.5
20
0
100
0
100
80
60
40
Elevation()
20
0
20
80
60
40
Azimuth()
80
100
60
40
Elevation()
20
0
60
40
Azimuth()
80
100
(b)
0.8
0.8
0.6
0.6
SHMGD
SHMUSIC
(a)
20
0.4
0.2
0.4
0.2
0
1
0
1
0.5
Range(m)
0.5
Range(m)
0
10
20
30
50
40
Azimuth()
60
70
80
90
0
10
(c)
20
30
40
50
Azimuth()
60
70
80
90
(d)
Fig. 2. Illustration of Azimuth and Elevation estimation by (a) SH-MUSIC (b)SH-MGD. Illustration of range and azimuth
estimation using (c) SH-MUSIC (d) SH-MGD. The sources are at (0.4m,60 ,30 ) and (0.5m,55 ,35 ) at SNR 10dB.
(20)
(21)
(22)
(25)
U
X
u=1
(26)
where U = (N + 1)2 L, is the gradient operator, arg(.)
indicates unwrapped phase, and qu represents the uth eigenvector of the noise subspace, SNS
pnm . The first term within (.)
is the group delay spectrum. The gradient is taken with respect to (rs , s , s ).
Figure 2 illustrates the performance of SH-MUSIC and
SH-MGD for range and bearing estimation using spherical
microphone array. The simulation was done considering open
sphere with two closely spaced sources at (0.4m,60 ,30 ),
(0.5m,55 ,35 ) and SNR 10dB. Figure 2(a) and 2(b) show
plots corresponding to elevation and azimuth estimation. It is
clear that SH-MGD exhibits higher resolving power. Plots in
Figure 2(c) and 2(d) show range and azimuth of the sources.
The high resolution of MGD is due to additive property of
group delay spectrum. The additive property is proved mathematically in our earlier work for ULA [16] and UCA [15].
While this is valid for spherical array also, the mathematical
proof is being developed.
2.5. The Spherical Harmonics MVDR (SH-MVDR) spectrum for range and bearing estimation
The conventional MVDR minimizes the contribution of interference impinging on the array from a DOA 6= s , while it
maintains certain gain in look direction s . On the similar
lines, the SH-MVDR spectrum for near-field source localization, can be written as
PM V DR (rs , s ) =
1
H
y(s )BH S1
pnm By (s )
(27)
3. PERFORMANCE EVALUATION
The proposed methods, SH-MUSIC, SH-MGD and SHMVDR are evaluated by conducting experiments on source
localization. The estimated range and bearing are tabulated at
various SNRs.
The proposed algorithm was tested in a room with dimensions, 7.3m 6.2m 3.4m. An Eigenmike microphone array [23] was used for the simulation. It consists of 32 microphones embedded in a rigid sphere of radius 4.2 cm. The
order of the array was taken to be N = 4. The source localization experiments are conducted at various SNR.
3.1. Experiments on source localization
Two sets of experiments were conducted. For the first experiment, two closely spaced narrowband sources were placed in
near-field region at (0.4m,60 ,30 ) and (0.4m,65 ,35 ). The
range of the sources was kept fixed at 0.4m. The experiments
were conducted at SNR 0dB and 8dB. The additive noise is
assumed to be zero mean Gaussian distributed. The mean
estimation for azimuth and elevation is presented in the first
part of the Table 1. In the second experiment, the sources
were positioned at (0.4m,60 ,30 ) and (0.5m,65 ,35 ). The
range and the azimuth were estimated at SNR 5dB and 10dB,
considering fixed elevation. The result shown in Table 1 is
obtained from 300 independent Monte Carlo trials. It is clear
that SH-MGD performs reasonably better than SH-MUSIC.
Both of these methods outperform MVDR.
Table 1. Localization experiments, Set 1 : SNR 0dB, 8dB for
fixed range. Set 2 : SNR 5dB, 10dB for fixed elevation
SNR
S
SH-MGD
SH-MUSIC
MVDR
S1 (60.46,29.82) (60.04,30.02) (58.35,29.22)
0dB
S2 (65.01,34.94) (65.00,35.00) (63.67,34.19)
S1 (60.00,29.96) (60.00,29.99) (61.15,29.33)
8dB
S2 (65.00,35.00) (65.00,35.00) (63.65,34.43)
S1 (0.416,29.91) (0.429,30.11) (0.367,29.26)
5dB
S2 (0.548,34.91) (0.560,34.49) (0.541,33.28)
S1 (0.409,30.00) (0.410,30.00) (0.406,30.06)
10dB
S2 (0.510,35.00) (0.514,35.00) (0.548,33.40)
4. CONCLUSION
In this work, 3-Dimensional SH-MUSIC, SH-MGD and SHMVDR are proposed for near-field source localization. Since
the phase spectrum of MUSIC is more robust to noise, the SHMGD indicates higher resolution. The proof of additive property of group delay in the spherical harmonics domain is currently being developed. The detailed relative performance of
SH-MUSIC and SH-MGD for closely spaced sources under
reverberation will be addressed in future work. The CramerRao bound for spherical harmonics is being developed for the
performance analysis of the proposed methods.
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