{"id":16424,"date":"2026-06-02T03:17:15","date_gmt":"2026-06-02T03:17:15","guid":{"rendered":"https:\/\/sistc.com\/?p=16424"},"modified":"2026-06-16T09:24:04","modified_gmt":"2026-06-16T09:24:04","slug":"blog-acoustic-tracking-beamforming-mvdr","status":"publish","type":"post","link":"https:\/\/sistc.com\/zh\/blog-acoustic-tracking-beamforming-mvdr\/","title":{"rendered":"\u51cf\u8f7b\u58f0\u5b66\u6df7\u54cd\uff1a\u76ee\u6807\u8ddf\u8e2a\u4e0e\u6ce2\u675f\u6210\u5f62\u7684\u95ed\u73af\u96c6\u6210"},"content":{"rendered":"<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><strong>\u6807\u7b7e<\/strong>:\u76ee\u6807\u8ddf\u8e2a | \u6ce2\u675f\u6210\u5f62 | MVDR | \u7c92\u5b50\u6ee4\u6ce2\u5668 | \u4fe1\u53f7\u589e\u5f3a | \u97f3\u9891 DSP <strong>\u4f5c\u8005<\/strong>:SISTC \u6280\u672f\u56e2\u961f<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u5df2\u51fa\u7248<\/strong>:2026 \u5e74 6 \u6708 2 \u65e5 <strong>\u9605\u8bfb\u65f6\u95f4<\/strong>:5 \u5206\u949f<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u52a8\u6001\u5de5\u4e1a\u6216\u5b89\u5168\u73af\u5883\u4e2d\uff0c\u901a\u8fc7\u77ac\u65f6\u58f0\u6e90\u5b9a\u4f4d\uff08SSL\uff09\u63d0\u53d6\u5feb\u7167\u6570\u636e\u662f\u4e0d\u591f\u7684\u3002\u5f53\u58f0\u5b66\u76ee\u6807\u5feb\u901f\u79fb\u52a8\u65f6\uff0c\u6216\u5f53\u65ad\u65ad\u7eed\u7eed\u7684\u73af\u5883\u566a\u58f0\u7834\u574f\u58f0\u573a\u65f6\uff0c\u7cfb\u7edf\u5fc5\u987b\u5b9e\u65bd\u8fde\u7eed\u7684\u65f6\u95f4\u5e73\u6ed1\u548c\u7a7a\u95f4\u8fc7\u6ee4\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u65e0\u7f1d\u8026\u5408\u7684 <strong>\u76ee\u6807\u8ddf\u8e2a<\/strong> \u4e0e <strong>\u81ea\u9002\u5e94\u6ce2\u675f\u6210\u5f62\u3002<\/strong>.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u76ee\u6807\u8ddf\u8e2a\uff1a\u5e94\u5bf9\u5b9a\u4f4d\u6296\u52a8\u548c\u906e\u6321<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9a\u4f4d\u53ef\u83b7\u5f97\u77ac\u65f6\u5750\u6807\uff0c\u800c\u76ee\u6807\u8ddf\u8e2a\u5219\u662f\u5bf9\u58f0\u97f3\u5b9e\u4f53\u5728\u8fde\u7eed\u65f6\u95f4\u5e27\u5185\u7684\u7269\u7406\u8f68\u8ff9\u8fdb\u884c\u5efa\u6a21\u3002\u5982\u679c\u6ca1\u6709\u7a33\u5065\u7684\u8ddf\u8e2a\u6ee4\u6ce2\u5668\uff0c\u539f\u59cb DOA \u4f30\u8ba1\u503c\u4f1a\u8868\u73b0\u51fa\u4e25\u91cd\u7684\u89d2\u5ea6\u6296\u52a8\u3001\u591a\u58f0\u6e90\u573a\u4e2d\u7684\u8eab\u4efd\u5207\u6362\u4ee5\u53ca\u77ed\u6682\u7269\u7406\u906e\u6321\u65f6\u7684\u4fe1\u53f7\u4e22\u5931\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u901a\u8fc7\u5c06\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u5d4c\u5165\u8d1d\u53f6\u65af\u6ee4\u6ce2\u6846\u67b6\uff0c\u5de5\u7a0b\u5e08\u53ef\u4ee5\u7ed8\u5236\u51fa\u6e05\u6670\u3001\u8fde\u7eed\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5361\u5c14\u66fc\u6ee4\u6ce2\uff08KF \/ EKF\uff09<\/strong>:\u5bf9\u4e8e\u5177\u6709\u5355\u4e00\u4e3b\u5bfc\u6e90\u7684\u7ebf\u6027\u6216\u5f31\u975e\u7ebf\u6027\u8f68\u8ff9\u5177\u6709\u5f88\u9ad8\u7684\u6548\u7387\u3002\u5b83\u5bf9\u65f6\u949f\u5468\u671f\u7684\u8981\u6c42\u6781\u4f4e\uff0c\u56e0\u6b64\u975e\u5e38\u9002\u5408\u8fb9\u7f18\u90e8\u7f72\u3002<\/li>\n\n\n\n<li><strong>\u7c92\u5b50\u8fc7\u6ee4 (PF)<\/strong>:\u7c92\u5b50\u8fc7\u6ee4\u5668\u5229\u7528\u8fde\u7eed\u8499\u7279\u5361\u7f57\u6a21\u62df\uff0c\u5728\u9ad8\u5ea6\u975e\u7ebf\u6027\u3001\u975e\u9ad8\u65af\u73af\u5883\u4e2d\u8868\u73b0\u51fa\u8272\u3002\u5b83\u4eec\u89e3\u51b3\u4e86\u6570\u636e\u5173\u8054\u6096\u8bba\uff0c\u5373\u4f7f\u5728\u8def\u5f84\u4ea4\u53c9\u65f6\u4e5f\u80fd\u4fdd\u6301\u4e0d\u540c\u7684\u76ee\u6807\u8eab\u4efd\u3002<\/li>\n\n\n\n<li><strong>\u5206\u5e03\u5f0f\u6269\u5c55\u5361\u5c14\u66fc\u7c92\u5b50\u8fc7\u6ee4\u5668\uff08DEKF-PF\uff09<\/strong>:\u6b63\u5982\u6700\u8fd1\u7684 <a href=\"https:\/\/www.google.com\/search?q=https:\/\/ieeexplore.ieee.org\/\" target=\"_blank\" rel=\"noreferrer noopener\"><em>I<\/em><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-ast-global-color-0-color\"><em>EEE \u4ea4\u6613<\/em> \u6587\u732e<\/mark><\/a> , \u73b0\u5728\uff0cDEKF-PF \u914d\u7f6e\u5df2\u6210\u4e3a\u5148\u8fdb\u58f0\u5b66 SLAM \u7684\u57fa\u51c6\uff0c\u5b83\u5c06\u5206\u5e03\u5f0f\u9635\u5217\u89c6\u4e3a\u5408\u4f5c\u7f51\u7edc\u8282\u70b9\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u81ea\u9002\u5e94\u6ce2\u675f\u6210\u5f62\uff1a\u7a7a\u95f4\u6ee4\u6ce2\u5668<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u6ce2\u675f\u6210\u5f62\u6280\u672f\u53ef\u5851\u9020\u9ea6\u514b\u98ce\u9635\u5217\u7684\u7a7a\u95f4\u54cd\u5e94\uff0c\u5c06\u9ad8\u6307\u5411\u6027\u7684 \u201c\u4e3b\u53f6 \u201d\u8f6c\u5411\u76ee\u6807\uff0c\u540c\u65f6\u5728\u5e72\u6270\u65b9\u5411\u8bbe\u7f6e\u7a7a\u57df\u3002\u6838\u5fc3\u7b97\u6cd5\u4f9d\u8d56\u4e8e <strong>\u201c\u5ef6\u8fdf-\u91cd\u91cf-\u603b\u548c\u201d<\/strong> \u534f\u8bae\uff1a<\/p>\n\n\n\n<ol start=\"1\" class=\"wp-block-list\">\n<li><strong>\u5ef6\u8fdf\u5bf9\u9f50<\/strong>:\u8865\u507f\u58f0\u6ce2\u6ce2\u9762\u5728\u9635\u5217\u51e0\u4f55\u4e2d\u7684\u7269\u7406\u4f20\u64ad\u5ef6\u8fdf\u3002<\/li>\n\n\n\n<li><strong>\u81ea\u9002\u5e94\u52a0\u6743<\/strong>:\u52a8\u6001\u7f29\u653e\u4fe1\u9053\u632f\u5e45\u548c\u76f8\u4f4d\uff0c\u4ee5\u6291\u5236\u8fb9\u97f3\u3002<\/li>\n\n\n\n<li><strong>\u603b\u7ed3<\/strong>:\u5728\u6d88\u9664\u6ce2\u675f\u5916\u566a\u97f3\u7684\u540c\u65f6\uff0c\u8fd8\u80fd\u8fde\u8d2f\u5730\u653e\u5927\u76ee\u6807\u8bed\u97f3\u3002<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u9ad8\u7ea7\u4fe1\u53f7\u5904\u7406\u4e2d <strong>\u6700\u5c0f\u65b9\u5dee\u65e0\u5931\u771f\u54cd\u5e94 (MVDR)<\/strong> \u6ce2\u675f\u6210\u5f62\u5668\u53d7\u5230\u5e7f\u6cdb\u9752\u7750\u3002\u5b83\u80fd\u6700\u5927\u9650\u5ea6\u5730\u51cf\u5c0f\u9635\u5217\u7684\u603b\u8f93\u51fa\u65b9\u5dee\uff08\u529f\u7387\uff09\uff0c\u540c\u65f6\u6cbf\u76ee\u6807\u89c2\u6d4b\u65b9\u5411\u4fdd\u6301\u4e25\u683c\u7684\u65e0\u5931\u771f\u7ea6\u675f\uff08\u589e\u76ca\u7edf\u4e00\uff09\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u672c\u5730\u5316-\u589e\u5f3a-\u518d\u672c\u5730\u5316 \u201c\u95ed\u73af<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3a\u4e86\u6700\u5927\u9650\u5ea6\u5730\u63d0\u9ad8\u5d4c\u5165\u5f0f\u5e73\u53f0\u7684\u5904\u7406\u6548\u7387\uff0c\u73b0\u4ee3\u58f0\u5b66\u67b6\u6784\u5e76\u6ca1\u6709\u5c06\u8ddf\u8e2a\u548c\u6ce2\u675f\u6210\u5f62\u4f5c\u4e3a\u5b64\u7acb\u7684\u6d41\u6c34\u7ebf\u6765\u5904\u7406\u3002\u76f8\u53cd\uff0c\u5b83\u4eec\u5728\u4e00\u4e2a\u8fed\u4ee3\u3001\u81ea\u9002\u5e94\u7684\u95ed\u73af\u4e2d\u8fd0\u884c\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>[4\/8\/16-Ch MEMS \u9635\u5217 ] \u2500\u2500&gt; [ \u4f4e\u566a\u58f0\u524d\u7f6e\u653e\u5927\u5668 ] \u2500\u2500&gt; [ \u540c\u6b65 ADC \u91c7\u6837 ]\u3002\n                                                                   \u2502\n   +---------------------------------------------------------------+\n   \u2502 \uff08\u96f6\u8d85\u524d DMA \u4f20\u8f93\uff09\n   \u25bc\n[DSP L1 \u5185\u90e8\u5b58\u50a8\u5668 ] \u2500\u2500&gt; [ \u9884\u5904\u7406\uff1aFFT \/ \u53bb\u6df7\u54cd ] \u2502 \u2502 \uff08\u96f6\u5f00\u9500 DMA \u4f20\u8f93\n                                                   \u2502\n   +---------------------------------------------------------------+\n   \u25bc\n[\u6838\u5fc3\u58f0\u5b66\u5f15\u64ce\uff1aTDOA \/ MVDR \/ PF ] \u2500\u2500&gt; [ \u540e\u5904\u7406\uff1aVAD \/ AEC ] \u2500\u2500&gt; [ I2S \u8f93\u51fa ]\u3002<\/code><\/pre>\n\n\n\n<ol start=\"1\" class=\"wp-block-list\">\n<li><strong>\u7c97\u521d\u59cb\u5316<\/strong>:\u8f7b\u91cf\u7ea7 TDOA \u6216 SRP-PHAT \u901a\u8fc7\u786e\u5b9a\u6d3b\u52a8\u626c\u58f0\u5668\u7684\u5927\u81f4\u6247\u533a\u3002<\/li>\n\n\n\n<li><strong>\u7a7a\u95f4\u9694\u79bb<\/strong>:MVDR \u6ce2\u675f\u5f62\u6210\u5668\u4f1a\u7acb\u5373\u5c06\u5176\u7a7a\u57df\u8f6c\u5411\u5468\u56f4\u7684\u566a\u58f0\u6e90\uff0c\u4ece\u800c\u63d0\u53d6\u51fa\u7ecf\u8fc7\u51c0\u5316\u7684\u9ad8 SNR \u76ee\u6807\u97f3\u9891\u6d41\u3002<\/li>\n\n\n\n<li><strong>\u7cbe\u7ec6\u5316\u8ddf\u8e2a<\/strong>:\u8ddf\u8e2a\u6ee4\u6ce2\u5668\uff08\u5982 EKF \u6216\u7c92\u5b50\u6ee4\u6ce2\u5668\uff09\u5904\u7406\u8fd9\u4e00\u589e\u5f3a\u6d41\uff0c\u8f93\u51fa\u8d85\u7cbe\u786e\u5750\u6807\uff0c\u540c\u65f6\u9884\u6d4b\u4e0b\u4e00\u5e27\u7684\u76ee\u6807\u72b6\u6001\uff0c\u4ee5\u66f4\u65b0\u6ce2\u675f\u6210\u5f62\u5668\u7684\u89c2\u6d4b\u65b9\u5411\u3002<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">SISTC \u7684\u786c\u4ef6\u8bc4\u4f30\u677f\u5177\u6709\u672c\u673a\u4f18\u5316\u3001\u8f6f\u786c\u4ef6\u96c6\u6210\u7684 DSP \u5c42\uff0c\u652f\u6301\u4f4e\u5ef6\u8fdf\u95ed\u73af\u97f3\u9891\u5904\u7406\u3002\u786e\u4fdd\u60a8\u7684\u786c\u4ef6\u9635\u5217\u4ece\u7b2c\u4e00\u5929\u8d77\u5c31\u80fd\u4e3a\u60a8\u7684\u8ddf\u8e2a\u7b97\u6cd5\u63d0\u4f9b\u7eaf\u51c0\u7684\u58f0\u97f3\u6570\u636e\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud83d\udc49<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-ast-global-color-0-color\"> <strong><a href=\"https:\/\/sistc.com\/zh\/products\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u63a2\u7d22 SISTC \u7684\u591a\u901a\u9053\u667a\u80fd\u97f3\u9891\u786c\u4ef6\u9635\u5bb9<\/a><\/strong> <\/mark><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>","protected":false},"excerpt":{"rendered":"<p>Tags: Target Tracking | Beamforming | MVDR | Particle Filter | Signal Enhancement | Audio DSP Author: SISTC Technical Team Published: June 2, 2026 Reading Time: 5 mins Extracting snapshot [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_monsterinsights_skip_tracking":false,"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center 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