CN105472191B - A kind of method and apparatus tracking echo delay time - Google Patents
A kind of method and apparatus tracking echo delay time Download PDFInfo
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- CN105472191B CN105472191B CN201510795224.0A CN201510795224A CN105472191B CN 105472191 B CN105472191 B CN 105472191B CN 201510795224 A CN201510795224 A CN 201510795224A CN 105472191 B CN105472191 B CN 105472191B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M9/00—Arrangements for interconnection not involving centralised switching
- H04M9/08—Two-way loud-speaking telephone systems with means for conditioning the signal, e.g. for suppressing echoes for one or both directions of traffic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The present invention provides a kind of method and apparatus for tracking echo delay time, wherein method includes: to obtain echo reference signal and audio input signal, using echo reference signal and audio input signal in the peak value of the cross-correlation function of present frame, determine the echo reference signal in the echo delay time of present frame.The method and apparatus of tracking echo delay time of the invention are during obtaining echo reference signal, determine echo reference signal in the echo delay time of present frame in the peak value of the cross-correlation function of present frame using echo reference signal and audio input signal, to track echo reference signal in the echo delay time of each frame, to provide basis to eliminate delay variation and improving the long-time stability of echo cancellation performance.
Description
[technical field]
The present invention relates to sound signal processing technology more particularly to a kind of method and apparatus for tracking echo delay time.
[background technique]
The sound that equipment itself loudspeaker issues is referred to as echo, and echo and speaker's signal are mixed in together by microphone
It is sent into system after pickup, will affect response of the equipment to speaker's voice signal.Speaker's voice signal is mingled in order to eliminate
In echo, need using echo cancellation technology, or automatic echo cancellor (Automatic Echo Cancellation, letter
Claim AEC).
Fig. 1 shows the system structure diagram that echo is eliminated using ACE, as shown in Figure 1, it eliminates the substantially former of echo
Reason is: obtaining the echo reference signal that loudspeaker is echoed from system, is simulated using the echo reference signal from Mike
The actual sound signal of wind input, completes echo cancellor.The echo cancellation technology is in mobile phone communication, teleconference system
It has been widely used.
The equipment such as existing mobile phone, conference system, generally can be using the AEC of customization in order to realize high performance echo cancellor
Chip, just will do it at the beginning of the hardware design targetedly circuit design to carry out echo cancellor.Using the AEC core of customization
Piece is by the advantages of hardware design elimination echo, since echo reference signal is to obtain and send to AEC by hardware to handle
, and obtaining signal by hardware has the characteristics that real-time stabilization, thus, it is possible to ensure the acquisition echo reference signal of real-time stabilization.
For having had the product facility of mature hardware design, Yao Shixian AEC function can only consider in existing hardware frame
On the basis of structure, echo cancellor is carried out using the method for pure software.And signal is obtained using software and will receive such as signal transmission speed
The influences of many factors such as degree, software fluctuation of service and go out during leading to obtain and be transmitted back to acoustic reference signal to AEC
Now postpone, this delay will cause biggish shake and influence the accuracy of echo cancellor.
[summary of the invention]
The present invention provides a kind of method and apparatus for tracking echo delay time, in order to accurately track echo delay time, to mention
The stability of high echo cancellation performance provides basis.
Specific technical solution is as follows:
The present invention provides a kind of methods for tracking echo delay time, which comprises
Obtain echo reference signal and audio input signal；
Using echo reference signal and audio input signal in the peak value of the cross-correlation function of present frame, the echo is determined
Echo delay time of the reference signal in present frame.
According to one preferred embodiment of the present invention, this method further include: determining the echo reference signal in present frame
Before echo delay time, the energy according to echo reference signal judges that the echo reference signal whether there is echo in present frame,
If there is echo, then continues to execute and determine the echo reference signal the echo delay time of present frame the step of；Otherwise, before taking
The echo delay time of one frame is not processed.
According to one preferred embodiment of the present invention, the energy according to echo reference signal judges the echo reference signal
It is specifically included in present frame with the presence or absence of echo:
The signal energy at multiple time points is acquired from the prearranged signals length of the echo reference signal comprising present frame
Amount；
The average value of the signal energy of acquisition is compared with least energy threshold value, if the signal energy is averaged
Value is greater than or equal to the threshold value of least energy, then is judged as that there are echoes, and echo is otherwise not present；
Wherein the value of the prearranged signals length is related with preset maximum delay.
According to one preferred embodiment of the present invention, the method also includes: by the cross-correlation function of the present frame when
Domain variable is converted to frequency domain variable, and the peak value of the cross-correlation function is determined using Fast Fourier Transform (FFT).
According to one preferred embodiment of the present invention, the method also includes: to the cross-correlation function of the present frame carry out with
Track filtering, using the cross-correlation function after tracking filter, determines the echo reference signal in the echo delay time of present frame.
According to one preferred embodiment of the present invention, tracking filter is carried out to the cross-correlation function of the present frame to specifically include:
It is filtered using cross-correlation function of first coefficient to present frame；
The cross-correlation function after former frame tracking filter is tracked using the second coefficient；
In conjunction with the result filtered using the first coefficient and using the tracking of the second coefficient as a result, obtaining the tracking
Filtered cross-correlation function.
According to one preferred embodiment of the present invention, the method also includes:
Error analysis is carried out to the echo delay time for the present frame determined；
According to error analysis as a result, the echo delay time to the present frame carries out tracking filter.
According to one preferred embodiment of the present invention, according to error analysis as a result, to the echo delay time of the present frame carry out with
Track filtering specifically includes:
It is filtered using echo delay time of the third coefficient to present frame；
The echo delay time after former frame tracking filter is tracked using the 4th coefficient；
In conjunction with the result filtered using third coefficient and using the tracking of the 4th coefficient as a result, to the present frame
Echo delay time carry out tracking filter.
According to one preferred embodiment of the present invention, according to error analysis as a result, to the echo delay time of the present frame carry out with
Track filtering further include:
If the error of the echo delay time of present frame is within error range, by increasing the value of third coefficient to increase
The weight of tracking；Otherwise by reducing the value of third coefficient to increase the weight of filtering.
According to one preferred embodiment of the present invention, specific to the echo delay time progress error analysis for the present frame determined
Include:
It obtains the filtered echo delay time of one or more frames before present frame and determines its mean value and variance；
Determine the echo delay time of present frame and the absolute value of the difference of mean value；
If the absolute value is less than or equal to error threshold, it is determined that the error of the echo delay time of the present frame is in error
Within range；
Otherwise, it determines the error of the echo delay time of the present frame is more than error range；
Wherein the error threshold is determined by the variance.
The present invention also provides a kind of device for tracking echo delay time, described device includes:
Acquiring unit, for obtaining echo reference signal and audio input signal；
Echo delay time determination unit, for utilizing echo reference signal and audio input signal in the cross-correlation letter of present frame
Several peak values determines the echo reference signal in the echo delay time of present frame.
According to one preferred embodiment of the present invention, described device further includes echo judging unit, and the echo judging unit is used
In determining the echo reference signal before the echo delay time of present frame, according to echo reference signal energy judgement described in
Echo reference signal whether there is echo in present frame；
If there is echo, then the echo delay time determination unit is triggered and continues to execute determining that the echo reference signal exists
The operation of the echo delay time of present frame；
Otherwise, maintenance unit is transferred to take the echo delay time of former frame or be not processed.
According to one preferred embodiment of the present invention, the echo judging unit specifically performs the following operations:
The signal energy at multiple time points is acquired from the prearranged signals length of the echo reference signal comprising present frame
Amount；
The average value of the signal energy of acquisition is compared with least energy threshold value, if the signal energy is averaged
Value is greater than or equal to the threshold value of least energy, then is judged as that there are echoes, and echo is otherwise not present；
Wherein the value of the prearranged signals length is related with preset maximum delay.
According to one preferred embodiment of the present invention, described device further includes cross-correlation function determination unit, for using quickly
Time domain variable in the cross-correlation function of the present frame is converted to frequency domain variable by Fourier transformation, to keep echo delay time true
Order member determines the echo reference signal in present frame using the peak value of the determining cross-correlation function of Fast Fourier Transform (FFT)
Echo delay time.
According to one preferred embodiment of the present invention, described device further includes cross-correlation function tracking filter unit, for institute
The cross-correlation function for stating present frame carries out tracking filter, mutual after tracking filter is utilized so as to the echo delay time determination unit
Function is closed, determines the echo reference signal in the echo delay time of present frame.
According to one preferred embodiment of the present invention, the cross-correlation function tracking filter unit specifically performs the following operations:
It is filtered using cross-correlation function of first coefficient to present frame；
The cross-correlation function after former frame tracking filter is tracked using the second coefficient；
In conjunction with the result filtered using the first coefficient and using the tracking of the second coefficient as a result, obtaining the tracking
Filtered cross-correlation function.
According to one preferred embodiment of the present invention, described device further include:
Error analysis unit carries out error analysis for the echo delay time to the present frame determined；And
Echo delay time tracking filter unit, for foundation error analysis as a result, the echo delay time to the present frame carries out
Tracking filter.
According to one preferred embodiment of the present invention, the echo delay time tracking filter unit specifically performs the following operations:
It is filtered using echo delay time of the third coefficient to present frame；
The echo delay time after former frame tracking filter is tracked using the 4th coefficient；
In conjunction with the result filtered using third coefficient and using the tracking of the 4th coefficient as a result, to the present frame
Echo delay time carry out tracking filter.
According to one preferred embodiment of the present invention, the echo delay time tracking filter unit also performs the following operations:
If the error of the echo delay time of present frame is within error range, by increasing the value of third coefficient to increase
The weight of tracking；Otherwise by reducing the value of third coefficient to increase the weight of filtering.
According to one preferred embodiment of the present invention, the error analysis unit specifically performs the following operations:
It obtains the filtered echo delay time of one or more frames before present frame and determines its mean value and variance；
Determine the echo delay time of present frame and the absolute value of the difference of mean value；
If the absolute value is less than or equal to error threshold, it is determined that the error of the echo delay time of the present frame is in error
Within range；
Otherwise, it determines the error of the echo delay time of the present frame is more than error range；
Wherein the error threshold is determined by the variance.
As can be seen from the above technical solutions, the present invention is referred to during obtaining echo reference signal using echo
Signal and audio input signal determine echo reference signal in the echo of present frame in the peak value of the cross-correlation function of present frame
Time delay, to track echo reference signal in the echo delay time of each frame, to disappear to eliminate delay variation and improving echo
Except the long-time stability of performance provide basis.
[Detailed description of the invention]
Fig. 1 shows the system structure diagram for eliminating echo using AEC in the prior art；
A kind of method flow diagram of the tracking echo delay time provided Fig. 2 shows according to embodiments of the present invention one；
The echo delay time that Fig. 3 shows a kind of pair of present frame that according to embodiments of the present invention one provides carries out tracking filter
Method flow diagram；
Fig. 4 shows a kind of apparatus structure schematic diagram for tracking echo delay time that according to embodiments of the present invention two provide；
Fig. 5 shows the effect picture of automatic echo cancellor in the prior art；
Fig. 6 shows the result of the echo delay time tracked using the present invention；
Fig. 7 shows the effect that the echo delay time tracked according to the present invention carries out the automatic echo cancellor after delay compensation
Figure.
[specific embodiment]
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
Embodiment one,
Fig. 2 is a kind of method flow diagram for tracking echo delay time that the embodiment of the present invention one provides.As shown in Fig. 2, the party
Method may comprise steps of:
201, echo reference signal and audio input signal are obtained.
In the step, echo reference signal can be obtained by the hardware or software of system；It can be obtained by microphone
Take the audio input signal of speaker.
Furthermore it is possible to which each frame executes primary acquisition signal using each frame of echo reference signal as chronomere
Operation.Wherein the frame length of echo reference signal can according to need sets itself.
Such as taking the length of the echo reference signal of 15ms, 20ms or 30ms is a frame, executes acquisition letter by frame every time
Number operation.
202, judge echo reference signal in present frame with the presence or absence of echo.
In the step, it can judge that echo reference signal whether there is back in present frame according to the energy of echo reference signal
Sound, and corresponding processing is done according to the result of judgement.
Determining the basic principle of the energy of the echo reference signal of present frame is, from the echo reference signal comprising present frame
Prearranged signals length in acquire the signal energy at multiple time points；Letter is obtained according to the signal energy at multiple time points of acquisition
The average value of number energy, which is the signal energy of the echo reference signal of present frame.
Wherein the value of the prearranged signals length is related with preset maximum delay.Due to maximum delay and eliminate echo
Itself processing parameter of the equipment of equipment is related, although the maximum delay of each equipment might have difference, when equipment is fixed
Afterwards, the range of maximum delay will also determine, therefore preset maximum delay can be according to hardware device or the reality of software systems
Situation is chosen.
If the echo reference signal of present frame is u (k), k represents the time of the present frame of echo reference signal, per treatment
Prearranged signals length be N, and n represents the n that acquires from the prearranged signals length of the echo reference signal comprising present frame
Time point.
Then the energy of the echo reference signal of present frame can indicate are as follows:
Formula can make the frame length of echo reference signal shorter with respect to N in (1), as soon as such as set 30ms as frame,
It is to say that every 30ms carries out the calculating of the echo reference signal energy of a present frame, since N is related with maximum delay, it is assumed that default
Maximum delay be 60ms, then N can take the length greater than 60ms, or close to the length of 60ms, such as N is taken 100ms, i.e.,
N time point is acquired in the signal length of 100ms.
When the signal energy to present frame calculates, by being extended to the time point of acquisition more than or equal to present frame
Long prearranged signals length can lead to the case where can't detect echo to avoid being more than present frame due to time delay.Or with
For 30ms is a frame, acquires in the signal length of 100ms multiple time points, it is assumed that when time delay is 45ms, due to be
The time point energy for calculating average energy is acquired in the signal length of 100ms, therefore even if when the length of present frame is less than
Prolong, can also detect the echo of present frame.
It, can be by the average value of signal energy and least energy threshold after the echo reference signal energy of present frame has been determined
Value is compared, if the average value of the signal energy is greater than or equal to the threshold value of least energy, is judged as there are echo,
Otherwise echo is not present.
Present frame can be judged with the presence or absence of echo signal by following energy measuring method, it may be assumed that
Wherein, Eu(k) energy of the echo reference signal of present frame, E are indicateduMinIndicate the minimum energy of echo reference signal
Measure threshold value.
Under extreme case, it is contemplated that the echo reference signal obtained from system is purer, when equipment itself not sounding,
The default minimum energy value of echo reference signal can be 0.
It, can be with however, since the echo reference signal that is obtained by software or hardware is there may be error and interference
By EuMinThreshold value be set greater than 0 a value, to provide certain tolerance to noise.The size of the threshold value can basis
System actual conditions are configured.
When the energy of echo reference signal is more than or equal to EuMinWhen, it indicates that there are echoes for present frame, then enters step 203,
Echo delay time is determined in the cross-correlation function of present frame using echo reference signal and audio input signal；Otherwise, directly into
Enter step 206, takes the echo delay time of former frame as delay tracking as a result, being not processed.
203, using echo reference signal and audio input signal in the cross-correlation function of present frame to determine echo delay time.
In the step, determine that echo reference signal and audio input signal in the purpose of the cross-correlation function of present frame are to obtain
Take the delay inequality between present frame echo reference signal and audio input signal, or referred to as echo reference signal in present frame
Echo delay time.
Since the cross-correlation of cross-correlation function is exactly the similitude between two functions, when two functions all have identical week
When phase component, its maximum can equally embody this periodic component.Thus, it is possible to according to the peak of cross-correlation function
Value determines the echo reference signal in the echo delay time of present frame.
If being d (k) by the audio input signal that microphone obtains, indicate are as follows:
D (k)=s (k)+u ' (k)+ε (k)=s (k)+u (k- τk)+ε(k) (2)
Wherein k and formula (1) equally, still indicate the time of present frame；S (k) indicates speaker's signal；ε (k) indicates ring
Border noise is Stationary Gauss Random process；U ' (k) indicate loudspeaker issue echo signal, with echo reference signal u (k) it
Between there are unstable delay, τsk, this delay, τkIt is desirable to the echo delay time variable accurately estimated.
Since s (k), ε (k) and u (k) are irrelevant, then audio input signal d's (k) and echo reference signal u (k) is mutual
Correlation function Rdu(τ) can be indicated are as follows:
Wherein k, N, n of formula (3) are identical as meaning represented by formula (1).
As τ=τkWhen, cross-correlation function Rdu(τ) takes maximum, the waveform similarity maximum of signal d (k) and u (k).Therefore logical
Cross estimation cross-correlation function RduThe peak value of (τ), the value of cross-correlation function independent variable τ is exactly the echo determined at the peak value
Delay, τk。
Alternatively, due between cross-correlation function and power spectrum there are the relationship of Fast Fourier Transform (FFT) (FFT),
In view of quick Fu can be used in order to accelerate the calculating speed to the echo delay time of present frame in the computational efficiency of Project Realization
In leaf transformation (FFT) and Fast Fourier Transform Inverse (IFFT) determine the peak value of cross-correlation function.
It specifically, is frequency-region signal as handled by Fast Fourier Transform (FFT), it can be by the cross-correlation of present frame
Time domain variable in function is converted to frequency domain variable, to determine the peak of the cross-correlation function using Fast Fourier Transform (FFT)
Value.
Digital signal d (k), u (k) for length N, cross-correlation function can solve as follows:
Rdu(τ)=IFFT [D (jw) U*(jw)]=IFFT [FFT [d (k)] FFT*[u(k)]] (4)
Wherein, FFT [] and IFFT [] respectively indicates FFT and the IFFT transformation of signal；Jw is corresponding frequency domain variable；d
(k), u (k) is time-domain signal；* conjugate function is indicated.
When the relevant peaks of cross-correlation function are very sharp, accurate peak position is become more readily available, to accurately determine
The echo delay time of present frame.So if obtaining satisfied as a result, can then determine step 103 in step 203
Present frame echo delay time as tracking echo delay time result output.
However in practical applications, it is influenced by ambient noise and voice propagation channel complexity, cross-correlation function can
Multiple false peaks can occur or without apparent main peak.Preferably, in order to enhance cross-correlation main peak, the present embodiment can also be
On the basis of step 203, selection executes step 204 and/or step 205, so that cross-correlation function and echo delay time can be tied
Tracking filter is closed to improve the precision of the echo delay time of identified present frame.
204, tracking filter is carried out to the cross-correlation function of present frame.
The purpose of the step is to carry out tracking filter to the cross-correlation function of the present frame determined by step 203, using with
The filtered cross-correlation function of track obtains echo reference signal in the echo delay time of present frame.
Carrying out tracking filter to the cross-correlation function of present frame can specifically be realized using following means, it may be assumed that utilize first
Coefficient is filtered the cross-correlation function of present frame；Using the second coefficient to the cross-correlation function after former frame tracking filter into
Line trace；In conjunction with the result filtered using the first coefficient and using the tracking of the second coefficient as a result, obtaining the tracking
Filtered cross-correlation function.
As a preferred embodiment, the first coefficient and the second coefficient can be constrained each other, such as the first coefficient is adopted
With α, the second coefficient uses 1- α, it can carries out tracking filter using following formula:
In formula (5), α is filter factor, 0 < α < 1,It is mutual to indicate that cross-correlation function is calculated in the i-th frame
Correlation function, wherein the last frame of i frame is it can be appreciated that present frame, therefore the i-th frame is alternatively referred to as present frame；
Indicate the cross-correlation function after tracking filter of the i-th frame；Indicate the former frame (i.e. i-1 frame) relative to the i-th frame
Cross-correlation function after tracking filter.First factor alpha and the second coefficient (1- α) be used to distribute the cross-correlation function of the i-th frame with
The weight of cross-correlation function after the former frame tracking filter of i-th frame, the purpose is to take the average alpha of former frames and present frame to filter
Value.
If α is bigger, the weight distributed for the cross-correlation function that the i-th frame is calculated is bigger, is thus more likely to examine
Consider the correlation of the signal of i frame, therefore the tracking performance of echo reference signal and echo signal is got in i frame time
It is good；α is smaller, i.e., (1- α) is bigger, is thus more likely to consider that the cross-correlation function after former frame tracking filter is current for determination
The influence of frame echo delay time considers the time delay with the immediate frame of present frame, so that filtering performance is better.
Preferably, in order to effectively filter out the clutter of cross-correlation function, thus α can be obtained it is smaller, such as can be α
Filter factor takes between 0-0.2.Alternatively, can also be configured according to needs in actual use.
205, error analysis is carried out to the echo delay time for the present frame determined, according to error analysis result to described
The echo delay time of present frame carries out tracking filter.
Due to the influence of ambient noise harmony propagation channel, determining echo delay time may be made to generate error, therefore
It, can be to echo delay time according to by tracking filter or after without the cross-correlation function of tracking filter echo delay time being determined
It is filtered and tracks, to remove the error occurred in echo delay time, guarantee that delay inequality can be stablized, accurately, continuously, with this
Guarantee the long-time stability of AEC performance.
Wherein error may include outlier or deviation.
Outlier refers to the sub-fraction data of the presented variation tendency of substantial deviation major part data, such as extremum, surprise
Different value.
Deviation refers to the difference between actual value and ideal value or average value.
Fig. 3 is that the echo delay time for a kind of pair of present frame that the embodiment of the present invention one provides carries out the method flow of tracking filter
Figure.As shown in figure 3, this method is mainly to carry out error analysis to the echo delay time for the present frame determined；According to error
Analysis is as a result, the echo delay time to present frame carries out tracking filter.
It can be realized especially by following steps:
301, it obtains the echo delay time of one or more frames before present frame and determines its mean value and variance.
In the step, if the time delay that current time detects is τ (i), the time delay of output is τout(i), i indicates present frame.
Preferably, the time delay of output can be the time delay by filtering with exporting after tracking.
Take the echo delay time τ of one or more frames before present frameout(i-p), p=1 ..., P, P indicate the number of frame,
Calculate its mean value τout_meanWith variance τout_std。
Preferably, can take P is 20 frames.
302, the echo delay time of present frame and the absolute value of the difference of mean value are determined.If the absolute value is less than or equal to error
Threshold value, it is determined that the error of the echo delay time of the present frame is within error range；Otherwise, it determines the echo of the present frame
The error of time delay is more than error range.Wherein the error threshold is determined by the variance.
In the step, according to the echo delay time τ (i) and τ of present frameout_mean、τout_stdRelationship carry out error analysis, from
And the tracking filter of different modes is carried out to time delay according to error range:
If | τ (i)-τout_mean|≤β·τout_std, illustrate that time delay estimation is relatively stable
If | τ (i)-τout_mean| > β τout_std, illustrate that time delay estimation stability is poor (6)
In formula (6), β indicates empirical scalar, for constraining the range of time delay outlier and deviation.
303, according to error analysis as a result, the echo delay time to the present frame carries out tracking filter.
In the step, mainly it is filtered using echo delay time of the third coefficient to present frame；Utilize the 4th coefficient pair
Echo delay time after former frame tracking filter is tracked；In conjunction with the result filtered using third coefficient and utilization the 4th
Coefficient tracking as a result, carrying out tracking filter to the echo delay time of the present frame.
As a preferred embodiment, third coefficient and the 4th coefficient can be constrained each other, such as third coefficient is adopted
With α ', the second coefficient uses 1- α '.
It can be with using the formula that third, the 4th coefficient carry out tracking filter processing are as follows:
τout(i)=α ' τ (i)+(1- α ') τout(i-1) (7)
Wherein α ' indicates third coefficient；1- α ' indicates the 4th coefficient；And 0 < α ' < 1.
If step 303 can also be further divided into step 3031, present frame echo delay time error in error model
Within enclosing, if then stress tracking performance processing and step 3032, present frame echo delay time error be more than error model
It encloses, then stresses filtering and noise reduction processing.Specifically:
If 3031, the error of the echo delay time of present frame is within error range, by the value for increasing third coefficient
To increase the weight of tracking.
For example, if the error of the echo delay time of present frame within error range, illustrates time delay, estimation is relatively stable, because
This uses formula:
τout(i)=α 1' τ (i)+(1- α1')τout(i-1), (8)
Wherein α1' it is third coefficient, 1- α1' it is the 4th coefficient.It can be α1' take biggish numerical value, such as by α1' value
Between 0.8 to 1, to emphasize tracking performance.
If 3032, the error of the echo delay time of present frame be more than error range, by reduce third coefficient value with
Increase the weight of filtering.
In the step, if the error of the echo delay time of present frame is more than error range,
Then τout(i)=α '2τ(i)+(1-α'2)τout(i-1), (9)
It can be α '2Take lesser numerical value, such as by α '2Value is between 0 to 0.2, to emphasize filtering performance.
If 206, by energy measuring, present frame is not present echo, then takes the echo delay time of former frame；
Alternatively, it can also be not processed in the case where echo is not present in present frame.
Since in step 202, the process that basis signal energy judges whether there is echo is from comprising the pre- of present frame
The signal energy at multiple time points acquired in signal length is determined, although wherein prearranged signals length and preset maximum delay have
It closes, but still is likely due to the appearance of extreme case, the time delay of the echo reference signal of present frame is caused to be greater than prearranged signals
Length will lead to when such case occurs and there are in fact echo, but not examine in the range of prearranged signals length
The case where measuring, for example, it is assumed that time delay is 45ms, and prearranged signals length is set as 40ms, then seeks 40ms the average value of energy
Obviously the delay of 45ms can not be detected.
Based on although failing to detect echo in present frame, but echo still necessary being the case where, it is therefore assumed that each frame
Time delay be all relatively it is stable, then can be output to using the echo delay time of previous frame as delay tracking result AEC progress
The processing of automatic echo cancellor.
Taking the echo delay time of previous frame can indicate as follows: τout(i)=τout(i-1)。
Certainly, if to the sufficiently large of the prearranged signals length of acquisition time setting, so as to avoid above situation
Occur, or based on the considerations of other operational performances and precision etc., it can also be in the case where echo be not detected in present frame, no
Do any processing.
207, delay tracking result is obtained.
It, can be using the echo delay time of determining present frame as delay tracking as a result, will be before acquisition in the step
The echo delay time of one frame is sent to AEC as delay tracking result, to make the echo into AEC refer to by delay compensation
Signal and audio input signal close alignment, improve the performance of AEC.
Embodiment two,
Fig. 4 is a kind of apparatus structure schematic diagram for tracking echo delay time provided by Embodiment 2 of the present invention.As shown in figure 4,
The apparatus may include acquiring unit 401, echo judging unit 402, cross-correlation function determination unit 403, echo delay time determinations
Unit 404, maintenance unit 405, cross-correlation function tracking filter unit 406, error analysis unit 407, echo delay time tracking filter
Wave unit 408.Wherein:
Acquiring unit 401, for obtaining echo reference signal and audio input signal.
Specifically, acquiring unit 401 can obtain echo reference signal by the hardware or software of system；Wheat can be passed through
Gram wind obtains the audio input signal of speaker.
Furthermore it is possible to which each frame executes primary acquisition signal using each frame of echo reference signal as chronomere
Operation.Wherein the frame length of echo reference signal can according to need sets itself.
Echo judging unit 402, for judging echo reference signal in present frame with the presence or absence of echo.
Specifically, echo judging unit 402 can judge that echo reference signal is being worked as according to the energy of echo reference signal
Previous frame whether there is echo, and do corresponding processing according to the result of judgement.
Determining the basic principle of the energy of the echo reference signal of present frame is, from the echo reference signal comprising present frame
Prearranged signals length in acquire the signal energy at multiple time points；Letter is obtained according to the signal energy at multiple time points of acquisition
The average value of number energy, which is the signal energy of the echo reference signal of present frame.
Wherein the value of the prearranged signals length is related with preset maximum delay.Preset maximum delay can basis
The actual conditions of hardware device or software systems are chosen.
When the signal energy to present frame calculates, by being extended to the time point of acquisition more than or equal to present frame
Long prearranged signals length can lead to the case where can't detect echo to avoid being more than present frame due to time delay.
After the echo reference signal energy of present frame has been determined, echo judging unit 402 can be by the flat of signal energy
Mean value is compared with least energy threshold value, if the average value of the signal energy is greater than or equal to the threshold value of least energy,
Then it is judged as that there are echoes, echo is otherwise not present.
Under extreme case, it is contemplated that the echo reference signal obtained from system is purer, when equipment itself not sounding,
The default minimum energy value of echo reference signal can be 0.
However, to generate interference to echo reference signal, therefore can be incited somebody to action since there are noises in echo reference signal
The threshold value of least energy is set greater than 0 value, to provide certain tolerance to noise.The size of the threshold value can root
It is configured according to system actual conditions.
When the energy of echo reference signal is more than or equal to the threshold value of least energy, indicates that there are echoes for present frame, then may be used
To transfer to other function unit to continue to execute the operation of echo delay time of the determining echo reference signal in present frame；
Wherein, the functional unit includes echo delay time determination unit 404.
Otherwise, maintenance unit 405 can be transferred to take the echo delay time of former frame, or be not processed；
Wherein, maintenance unit 405 can be used for safeguarding echo delay time that each frame determines and be safeguarded for obtaining
Echo delay time.
Cross-correlation function determination unit 403, for determining the cross-correlation function of echo reference signal and audio input signal；
And echo delay time determination unit 404, for utilizing in the cross-correlation function of present frame to determine echo delay time.
Determine echo reference signal and audio input signal in the mutual of present frame by cross-correlation function determination unit 403
Close function purpose be enable echo delay time determination unit 404 be based on cross-correlation function obtain present frame echo reference signal with
Delay inequality between audio input signal, or referred to as echo delay time of the echo reference signal in present frame.
Specifically, due to the similitude that the cross-correlation of cross-correlation function is exactly between two functions, when two functions all have
When having same period component, its maximum can equally embody this periodic component.Echo delay time determines single as a result,
Member 404 can determine echo reference signal in the echo delay time of present frame according to the peak value of cross-correlation function.
Alternatively, due between cross-correlation function and power spectrum there are the relationship of Fast Fourier Transform (FFT) (FFT),
In view of the computational efficiency of Project Realization, in order to accelerate the calculating speed to the echo delay time of present frame, cross-correlation function is determined
Fast Fourier Transform (FFT) (FFT) and Fast Fourier Transform Inverse (IFFT) can be used to determine cross-correlation function in unit 403, from
And make echo delay time determination unit 404 using the peak value of the determining cross-correlation function of Fast Fourier Transform (FFT) to determine the echo
Echo delay time of the reference signal in present frame.
It specifically, is frequency-region signal as handled by Fast Fourier Transform (FFT), it can be by the cross-correlation of present frame
Time domain variable in function is converted to frequency domain variable, to determine the peak of the cross-correlation function using Fast Fourier Transform (FFT)
Value.
When the relevant peaks of cross-correlation function are very sharp, accurate peak position is become more readily available, to accurately determine
The echo delay time of present frame.So if passing through cross-correlation function determination unit 403 and echo delay time determination unit 404
Obtain satisfied cross-correlation function and echo delay time, then it can will be directly by present frame determined by echo delay time determination unit
Result output of the echo delay time as tracking echo delay time.
However in practical applications, it is influenced by ambient noise and voice propagation channel complexity, cross-correlation function can
Multiple false peaks can occur or without apparent main peak.Preferably, in order to enhance cross-correlation main peak, the present embodiment can also be
On the basis of cross-correlation function determination unit 403 and echo delay time determination unit 404, cross-correlation function tracking filter unit is selected
406 and/or echo delay time tracking filter unit 408, so that cross-correlation function and echo delay time can come in conjunction with tracking filter
The precision of the echo delay time of present frame determined by improving.
Cross-correlation function tracking filter unit 406 carries out tracking filter for the cross-correlation function to present frame.
Specifically, cross-correlation function tracking filter unit 406 can specifically execute following operation: using the first coefficient to working as
The cross-correlation function of previous frame is filtered；The cross-correlation function after former frame tracking filter is tracked using the second coefficient；
In conjunction with it is described using the first coefficient filter result and using the second coefficient track as a result, obtaining the tracking filter after
Cross-correlation function.
If the first coefficient is bigger, tracking performance is better；If the first coefficient is smaller, filtering performance is better.
As a preferred embodiment, the first coefficient and the second coefficient can be constrained each other, such as the first coefficient is adopted
With α, the second coefficient uses 1- α.
Preferably, in order to effectively filter out the clutter of cross-correlation function, therefore the α value of the first coefficient can be obtained and is compared
It is small, such as α filter factor can be taken between 0-0.2.Alternatively, can also be configured according to needs in actual use.
Due to the influence of ambient noise harmony propagation channel, determining echo delay time may be made to generate error, therefore
According to by tracking filter or after without the cross-correlation function of tracking filter echo delay time being determined, when can use echo
Prolong tracking filter unit 408 echo delay time is filtered and is tracked, to remove the error occurred in echo delay time, when guarantee
Prolonging difference can stablize, accurately, continuously, guarantee the long-time stability of AEC performance with this.
Before carrying out tracking filter to echo delay time using echo delay time tracking filter unit 408, need to determining
The echo delay time of the present frame carry out error analysis, the echo delay time of the present frame is carried out according to error analysis result
Tracking filter, the function are realized by error analysis unit 407.
Specifically, error analysis unit 407 can perform the following operations:
It obtains the echo delay time of one or more frames before present frame and determines its mean value and variance.
Determine the echo delay time of present frame and the absolute value of the difference of mean value.
If the absolute value is less than or equal to error threshold, it is determined that the error of the echo delay time of the present frame is in error
Within range；Otherwise, it determines the error of the echo delay time of the present frame is more than error range.Wherein the error threshold is by described
Variance determines.
Echo delay time tracking filter unit 408, for according to error analysis as a result, to the echo delay time of the present frame into
Line trace filtering.
Specifically, echo delay time tracking filter unit 408 mainly performs the following operations: using third coefficient to present frame
Echo delay time is filtered；The echo delay time after former frame tracking filter is tracked using the 4th coefficient；In conjunction with the benefit
The echo delay time of the present frame is carried out as a result, realizing with the result of third coefficient filtering and using the tracking of the 4th coefficient
Tracking filter.
If the error of the echo delay time of present frame within error range, stresses the processing of tracking performance, Yi Jiru
The error of the echo delay time of fruit present frame is more than error range, then stresses filtering and noise reduction processing.Specifically:
If the error of the echo delay time of present frame is within error range, by increasing the value of third coefficient to increase
The weight of tracking.
If the error of the echo delay time of present frame is more than error range, by reducing the value of third coefficient to increase filter
The weight of wave.
As a preferred embodiment, third coefficient and the 4th coefficient can be constrained each other, such as third coefficient is adopted
With α ', the second coefficient uses 1- α '.
If echo is not present in present frame by energy measuring, then maintenance unit 405 is transferred to take the echo delay time of former frame；
Alternatively, being not processed if echo is not present in present frame.
Finally, can be using the echo delay time of determining present frame as delay tracking as a result, by the former frame of acquisition
Echo delay time be sent to AEC as delay tracking result, to make the echo reference signal into AEC by delay compensation
With audio input signal close alignment, the performance of AEC is improved.
A test is given below, illustrates actual effect of the invention.
By taking android mobile phone as an example, using the method for tracking echo delay time of the invention, obtained by android bottom
The audio input signal d (k) for echo reference signal u (k) and the mobile microphone admission that loudspeaker issues, using open source language
AEC module in sound processing packet speecx carries out echo cancellor test.
If using the present invention carry out delay tracking, there are delay variation, echo cancellor effect as shown in figure 5, its
In upper figure indicate echo reference signal u (k), middle figure indicates that the audio input signal d (k) of microphone location, the following figure indicate echo
The output result e (k) of elimination, it can be seen that echo cancellor effect is very general, and the second half section of result is exported especially in the following figure,
Echo is apparently without being eliminated.
Fig. 6 show the echo reference signal u (k) that tracks of the present invention and microphone location audio input signal d (k) it
Between time delay estimated result, indicated with sampled point, it can be seen that time delay changes over time the obvious shake of appearance.
Fig. 7 shows the effect that the echo delay time tracked according to the present invention carries out the automatic echo cancellor after delay compensation
Figure, as shown in fig. 7, echo is eliminated very clean after compensating to time delay.
The above-mentioned test specification present invention plays a significant role the performance and stability for promoting AEC.
It is realized in echo cancellation process by the present invention it can be seen from above description for pure software, the echo that system provides
There are uncertain delay variations between reference signal and the audio input signal of microphone, propose a kind of according to cross-correlation letter
The method and apparatus that several peak values determines echo delay time, and by combining the echo delay time of acquisition with delay tracking filtering,
Echo delay time shake during dynamic estimation AEC, it is real for the echo reference signal and audio input signal of input AEC module
When Accurate align provide foundation, thus to ensure that the long-time stability of echo cancellation performance provide basis, make one with machine
Interactive process in have and good interrupt experience.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (16)
1. a kind of method for tracking echo delay time, which is characterized in that the described method includes:
Obtain echo reference signal and audio input signal；
Using echo reference signal and audio input signal in the peak value of the cross-correlation function of present frame, the echo reference is determined
Echo delay time of the signal in present frame, echo delay time of the tracking echo reference signal in each frame；
The method also includes: tracking filter is carried out to the cross-correlation function of the present frame, using mutual after tracking filter
Function is closed, determines the echo reference signal in the echo delay time of present frame；
Error analysis is carried out to the echo delay time for the present frame determined；
According to error analysis as a result, the echo delay time to the present frame carries out tracking filter.
2. the method according to claim 1, wherein the method also includes: determining the echo with reference to letter
Number before the echo delay time of present frame, the energy according to echo reference signal judges that the echo reference signal is in present frame
No there are echoes, if there is echo, then continue to execute the step for determining echo delay time of the echo reference signal in present frame
Suddenly；Otherwise, it takes the echo delay time of former frame or is not processed.
3. according to the method described in claim 2, it is characterized in that, energy judgement described time according to echo reference signal
Acoustic reference signal is specifically included in present frame with the presence or absence of echo:
The signal energy at multiple time points is acquired from the prearranged signals length of the echo reference signal comprising present frame；
The average value of the signal energy of acquisition is compared with least energy threshold value, if the average value of the signal energy is big
In or equal to least energy threshold value, then be judged as that there are echoes, otherwise be not present echo；
Wherein the value of the prearranged signals length is related with preset maximum delay.
4. the method according to claim 1, wherein the method also includes: by the cross-correlation of the present frame
Time domain variable in function is converted to frequency domain variable, and the peak value of the cross-correlation function is determined using Fast Fourier Transform (FFT).
5. the method according to claim 1, wherein the cross-correlation function to the present frame carries out tracking filter
It specifically includes:
It is filtered using cross-correlation function of first coefficient to present frame；
The cross-correlation function after former frame tracking filter is tracked using the second coefficient；
In conjunction with the result filtered using the first coefficient and using the tracking of the second coefficient as a result, obtaining the tracking filter
Cross-correlation function afterwards.
6. the method according to claim 1, wherein according to error analysis as a result, echo to the present frame
Time delay carries out tracking filter and specifically includes:
It is filtered using echo delay time of the third coefficient to present frame；
The echo delay time after former frame tracking filter is tracked using the 4th coefficient；
In conjunction with the result filtered using third coefficient and using the tracking of the 4th coefficient as a result, being returned to the present frame
Sound time delay carries out tracking filter.
7. according to the method described in claim 6, it is characterized in that, according to error analysis as a result, echo to the present frame
Time delay carries out tracking filter further include:
If the error of the echo delay time of present frame is within error range, by increasing the value of third coefficient to increase tracking
Weight；Otherwise by reducing the value of third coefficient to increase the weight of filtering.
8. according to claim 1,6,7 described in any item methods, which is characterized in that the echo for the present frame determined
Time delay carries out error analysis and specifically includes:
It obtains the filtered echo delay time of one or more frames before present frame and determines its mean value and variance；
Determine the echo delay time of present frame and the absolute value of the difference of mean value；
If the absolute value is less than or equal to error threshold, it is determined that the error of the echo delay time of the present frame is in error range
Within；
Otherwise, it determines the error of the echo delay time of the present frame is more than error range；
Wherein the error threshold is determined by the variance.
9. a kind of device for tracking echo delay time, which is characterized in that described device includes:
Acquiring unit, for obtaining echo reference signal and audio input signal；
Echo delay time determination unit, for utilizing echo reference signal and audio input signal in the cross-correlation function of present frame
Peak value determines that the echo reference signal in the echo delay time of present frame, tracks echo reference signal in the echo of each frame
Prolong；
Described device further includes cross-correlation function tracking filter unit, is tracked for the cross-correlation function to the present frame
Filtering determines the echo reference signal so that the echo delay time determination unit is using the cross-correlation function after tracking filter
In the echo delay time of present frame；
Error analysis unit carries out error analysis for the echo delay time to the present frame determined；And
Echo delay time tracking filter unit, for foundation error analysis as a result, being tracked to the echo delay time of the present frame
Filtering.
10. device according to claim 9, which is characterized in that described device further includes echo judging unit, the echo
Judging unit is used in the energy for determining the echo reference signal before the echo delay time of present frame, according to echo reference signal
Amount judges the echo reference signal in present frame with the presence or absence of echo；
If there is echo, then triggers the echo delay time determination unit and continue to execute the determining echo reference signal current
The operation of the echo delay time of frame；
Otherwise, maintenance unit is transferred to take the echo delay time of former frame or be not processed.
11. device according to claim 10, which is characterized in that the echo judging unit specifically performs the following operations:
The signal energy at multiple time points is acquired from the prearranged signals length of the echo reference signal comprising present frame；
The average value of the signal energy of acquisition is compared with least energy threshold value, if the average value of the signal energy is big
In or equal to least energy threshold value, then be judged as that there are echoes, otherwise be not present echo；
Wherein the value of the prearranged signals length is related with preset maximum delay.
12. device according to claim 9, which is characterized in that described device further includes cross-correlation function determination unit, is used
In the time domain variable in the cross-correlation function of the present frame is converted to frequency domain variable using Fast Fourier Transform (FFT), to make
Echo delay time determination unit determines the echo with reference to letter using the peak value of the determining cross-correlation function of Fast Fourier Transform (FFT)
Number present frame echo delay time.
13. device according to claim 9, which is characterized in that the cross-correlation function tracking filter unit specifically executes
Following operation:
It is filtered using cross-correlation function of first coefficient to present frame；
The cross-correlation function after former frame tracking filter is tracked using the second coefficient；
In conjunction with the result filtered using the first coefficient and using the tracking of the second coefficient as a result, obtaining the tracking filter
Cross-correlation function afterwards.
14. device according to claim 9, which is characterized in that the echo delay time tracking filter unit specifically executes such as
Lower operation:
It is filtered using echo delay time of the third coefficient to present frame；
The echo delay time after former frame tracking filter is tracked using the 4th coefficient；
In conjunction with the result filtered using third coefficient and using the tracking of the 4th coefficient as a result, being returned to the present frame
Sound time delay carries out tracking filter.
15. device according to claim 14, which is characterized in that the echo delay time tracking filter unit also executes as follows
Operation:
If the error of the echo delay time of present frame is within error range, by increasing the value of third coefficient to increase tracking
Weight；Otherwise by reducing the value of third coefficient to increase the weight of filtering.
16. according to the described in any item devices of claim 9,14,15, which is characterized in that the error analysis unit is specifically held
The following operation of row:
It obtains the filtered echo delay time of one or more frames before present frame and determines its mean value and variance；
Determine the echo delay time of present frame and the absolute value of the difference of mean value；
If the absolute value is less than or equal to error threshold, it is determined that the error of the echo delay time of the present frame is in error range
Within；
Otherwise, it determines the error of the echo delay time of the present frame is more than error range；
Wherein the error threshold is determined by the variance.
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