clear;%%////////// 1 初始化設置 //////////fs=30000; %采樣率t = 0:1/fs:4-1/fs; %總采樣時間為4 秒v=343;%%////////// 聲源和傳聲器位賈的設定 //////////posSrc=[10,10,10];posMic=[ 10,10,0;0,10,0;0,0,0; 10,0,0];%%////////// 聲源到各個傳聲器之間的時間延遲 //////////disMS=posMlic-ones(4, l)*posSrc;disMS=sqrt(sum(disMS.^2,2));tDelayMic =disMS/v;%%//////////互相關長度的計算//////////Mlag==min([2*ceil(max(sqrt(sum((posMic-posMic([2 3 4 1],:)).^2,2 )))/v*fs),nMic]);sigTChirp=iniine('chirp((t/Ts-f1oor(t/Ts))*Ts,0,Ts,fm)‘t', ‘Ts’,‘fm');estRes=struct('posSrcEst\[],'err,[],'SNR',[],W,[]);sigMic=sigMicPure+randn(nMic,4).*(ones(nMic,l)*sqrt(Pn));%%//////////互相關函數的計算//////////rMicAB=rMicAB+xcoor(sigMic(:,l),sigMic(:,2),Mlag,'biased');rMicA=rMicAC+xcoor(sigMic(:,l),sigMic(:,3),Mlag,'biased');rMicAD=rMicAD+xcorr(sigMic(:,l),sigMic(:,4),Mlag,'biased');%%/////////時延估計///////////delayDifferABRes=-(Mlag+l)+rMicAB(nDelayDifrerAB(nIter)+(3:3))'*(nDelayDifFerAB(nIter)+(-3:3))'/sum(rMicAB(nDeIayDifferAB(nIter)+(-3:3)));delayDifferACRes=-(Mlag+l)+rMicAC(nDelayDifferAC(nIter)+(3:3))'*(nDelayDifferAC(nlter)+(-3:3))'/sum(rMicAC(nDelayDifferAC(nIter)+(-3:3)));delayDifrerADRes=-(Mlag+l)+rMicAD(nDelayDifferAD(nIter)+(-3:3))'*(nDelayDitTerAD(nlter)+(-3:3))'/sum(rMicAD(nDeIayDifferAD(nlter)+(-3:3)));distDifrAB=delayDifferABRes/fs*v;distDiffAC=delayDifferACRes/fs*v;distDiffAD=delayDifFerADRes/fs*v;%%//////////聲源定位//////////funSrc=inline('[sqrt(sum((x-posMic(1,:)).^2))-sqrt(sum((x-posMic(4,:)).^2))-dAB;sqrt(sum((x-posMic(l,:)).^2))-sqrt(sum((x-posMic(3,:)).^2))-dAC;sqrt(sum((x-posMic(1,:)).^2))-sqrt(sum((x-posMic(4,:)).^2))-dAD]','x','posMic','dAB','dAC','dAD');figure(2);plot(funSrc);[posSrcEst,en-]=fsolve(funSrc,posMic(l,:),[],posMic,distDiffAB,distDiffAC,distDiffAD);errSrcEst=sqrt(sum((posSrcEst-posSrc).^2));