From 29fac5e7dd09cac35e0dd8602c03ff33c9badc95 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=90=D1=80=D1=82=D0=B5=D0=BC=D0=B8=D0=B9=20=D0=9C=D1=83?=
 =?UTF-8?q?=D1=80=D0=B0=D0=B2=D1=8C=D0=B5=D0=B2?= <stud127024@vyatsu.ru>
Date: Sun, 29 Jun 2025 07:22:46 +0000
Subject: [PATCH] =?UTF-8?q?=D0=97=D0=B0=D0=B3=D1=80=D1=83=D0=B7=D0=B8?=
 =?UTF-8?q?=D1=82=D1=8C=20=D1=84=D0=B0=D0=B9=D0=BB=D1=8B=20=D0=B2=20=C2=AB?=
 =?UTF-8?q?/=C2=BB?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 TDOA.py | 354 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 354 insertions(+)
 create mode 100644 TDOA.py

diff --git a/TDOA.py b/TDOA.py
new file mode 100644
index 0000000..74294c6
--- /dev/null
+++ b/TDOA.py
@@ -0,0 +1,354 @@
+import numpy as np
+import matplotlib.pyplot as plt
+from matplotlib.animation import FuncAnimation
+import matplotlib.patches as patches
+import librosa
+import random
+import pandas as pd
+import threading
+import time
+from dataclasses import dataclass
+
+# Константы
+SOUND_SPEED = 343.2  # скорость звука (м/с)
+MIC_DISTANCE = 0.06  # расстояние между микрофонами (м)
+ROOM_WIDTH = 3.0  # ширина комнаты (м)
+ROOM_HEIGHT = 2.0  # высота комнаты (м)
+SAMPLE_RATE = 48000  # частота дискретизации (Гц)
+CHUNK = 16384  # размер буфера
+RMS_THRESHOLD = 0.1  # порог RMS для определения звука
+SILENCE_TIMEOUT = 0.5  # время в секундах для сохранения последнего угла
+MOVE_INTERVAL = 0.5  # интервал перемещения источника звука (с)
+
+@dataclass
+class Microphone:
+    """Класс для хранения информации о микрофоне"""
+    x: float
+    y: float
+
+@dataclass
+class SoundSource:
+    """Класс для хранения информации об источнике звука"""
+    x: float
+    y: float
+
+class DirectionFinder:
+    def __init__(self, mic_distance: float, audio_file: str):
+        """Инициализация определителя направления"""
+        self.mic_distance = mic_distance
+        self.mic1 = Microphone(x=-mic_distance / 2, y=0.0)
+        self.mic2 = Microphone(x=mic_distance / 2, y=0.0)
+        self.sound_source = self._generate_sequential_sound_source()
+        self.running = True
+        self.current_angle = 0.0
+        self.sound_detected = False
+        self.last_sound_time = 0
+        self.last_detected_angle = None
+        self.show_arrow = False
+        self.rms_left = 0.0
+        self.rms_right = 0.0
+        self.audio_data, self.sample_rate = self.load_audio(audio_file)
+        self.audio_index = 0
+        self.noise_level = 0.001  # Уровень шума
+        self.results = []
+        self.source_positions = [(self.sound_source.x, self.sound_source.y, 0.0)]
+        self.last_move_time = time.time()
+        self.max_physical_delay = self.mic_distance / SOUND_SPEED  # Максимальная физическая задержка
+
+    def _generate_sequential_sound_source(self) -> SoundSource:
+        """Генерация положения источника звука с последовательным проходом углов от -90 до 90 градусов с шагом 20 градусов"""
+        if not hasattr(self, 'angle_ranges'):
+            self.angle_ranges = list(range(-90, 91, 20))
+            self.current_range_idx = 0
+            self.angle_count = 0
+
+        start_angle = self.angle_ranges[self.current_range_idx]
+        end_angle = start_angle + 20 if self.current_range_idx < len(self.angle_ranges) - 1 else 90
+
+        angle_deg = random.uniform(start_angle, end_angle)
+        angle_rad = np.radians(angle_deg)
+
+        distance = 1.5  # расстояние
+        source_x = distance * np.sin(angle_rad)
+        source_y = distance * np.cos(angle_rad)
+
+        if abs(source_x) > ROOM_WIDTH / 2:
+            scale = (ROOM_WIDTH / 2) / abs(source_x)
+            source_x *= scale
+            source_y *= scale
+        if source_y > ROOM_HEIGHT:
+            scale = ROOM_HEIGHT / source_y
+            source_x *= scale
+            source_y *= scale
+        if source_y < 0:
+            source_y = 0.0
+            source_x = 0.0
+
+        print(
+            f"Генерация новой позиции: угол={angle_deg:.2f}°, x={source_x:.2f}, y={source_y:.2f}, расстояние={distance:.2f}, повторение {self.angle_count + 1}/10")
+
+        self.angle_count += 1
+        if self.angle_count >= 10:  # кол-во проходов в диапозоне
+            self.angle_count = 0
+            self.current_range_idx = (self.current_range_idx + 1) % len(self.angle_ranges)
+
+        return SoundSource(x=source_x, y=source_y)
+
+    def load_audio(self, filename: str) -> tuple:
+        """Загрузка аудиофайла"""
+        try:
+            audio_data, sample_rate = librosa.load(filename, sr=SAMPLE_RATE, mono=True)
+            return audio_data, sample_rate
+        except Exception as e:
+            raise ValueError(f"Ошибка загрузки аудиофайла: {e}")
+
+    def calculate_distances(self) -> tuple:
+        """Расчет расстояний от источника звука до микрофонов"""
+        l1 = np.sqrt((self.sound_source.x - self.mic1.x) ** 2 +
+                     (self.sound_source.y - self.mic1.y) ** 2)
+        l2 = np.sqrt((self.sound_source.x - self.mic2.x) ** 2 +
+                     (self.sound_source.y - self.mic2.y) ** 2)
+        return l1, l2
+
+    def process_signals_with_delay(self, signal: np.ndarray) -> tuple:
+        """Обработка сигналов с учетом временного сдвига и шума"""
+        l1, l2 = self.calculate_distances()
+        t1 = l1 / SOUND_SPEED
+        t2 = l2 / SOUND_SPEED
+        log = int(self.sample_rate * (t2 - t1))
+
+        if log >= 0:
+            S1 = signal[abs(log):] if log != 0 else signal.copy()
+            S2 = signal[:-abs(log)] if log != 0 else signal.copy()
+        else:
+            S1 = signal[:-abs(log)] if log != 0 else signal.copy()
+            S2 = signal[abs(log):]
+
+        min_length = min(len(S1), len(S2))
+        S1 = S1[:min_length]
+        S2 = S2[:min_length]
+
+        noise1 = np.random.normal(0, self.noise_level, size=S1.shape)
+        noise2 = np.random.normal(0, self.noise_level, size=S2.shape)
+        S1 = S1 + noise1
+        S2 = S2 + noise2
+
+        return S1, S2, t1, t2
+
+    def capture_audio(self):
+        """Эмуляция захвата аудиоданных из файла"""
+        if self.audio_index + CHUNK >= len(self.audio_data):
+            self.audio_index = 0
+        chunk = self.audio_data[self.audio_index:self.audio_index + CHUNK]
+        self.audio_index += CHUNK
+
+        signal1, signal2, t1, t2 = self.process_signals_with_delay(chunk)
+        return signal1, signal2, t1, t2
+
+    def calculate_time_delay_fft(self, signal1: np.ndarray, signal2: np.ndarray) -> float:
+        """Расчет временной задержки через FFT с параболической интерполяцией"""
+        signal1 = (signal1 - np.mean(signal1)) / (np.std(signal1) + 1e-10)
+        signal2 = (signal2 - np.mean(signal2)) / (np.std(signal2) + 1e-10)
+        fft_signal1 = np.fft.rfft(signal1)
+        fft_signal2 = np.fft.rfft(signal2)
+        cross_spectrum = fft_signal1 * np.conj(fft_signal2)
+        cross_spectrum = cross_spectrum / (np.abs(cross_spectrum) + 1e-10)
+        correlation = np.fft.irfft(cross_spectrum)
+        correlation = np.roll(correlation, len(correlation) // 2)
+
+        max_delay_samples = int(self.max_physical_delay * self.sample_rate)
+        middle_point = len(correlation) // 2
+        start_idx = middle_point - max_delay_samples
+        end_idx = middle_point + max_delay_samples
+        max_correlation_idx = start_idx + np.argmax(correlation[start_idx:end_idx])
+
+        peak_value = correlation[max_correlation_idx]
+        if peak_value < 0.1:  # Игнорирование RMS до...
+            return 0.0
+
+        # Параболическая интерполяция
+        if max_correlation_idx > start_idx and max_correlation_idx < end_idx - 1:
+            y0 = correlation[max_correlation_idx - 1]
+            y1 = correlation[max_correlation_idx]
+            y2 = correlation[max_correlation_idx + 1]
+            denom = 2 * (y0 - 2 * y1 + y2)
+            if denom != 0:
+                delta = (y0 - y2) / denom
+                max_correlation_idx += delta
+
+        delay_samples = max_correlation_idx - middle_point
+        time_delay = delay_samples / self.sample_rate
+        time_delay = np.clip(time_delay, -self.max_physical_delay, self.max_physical_delay)
+        return time_delay
+
+    def calculate_direction(self, time_delay: float) -> float:
+        """Расчет угла направления"""
+        sin_theta = (SOUND_SPEED * time_delay) / self.mic_distance
+        sin_theta = np.clip(sin_theta, -1, 1)
+        angle = np.arcsin(sin_theta) * 180 / np.pi
+        return angle
+
+    def calculate_rms(self, signal: np.ndarray) -> float:
+        """Вычисление RMS сигнала"""
+        return np.sqrt(np.mean(signal ** 2))
+
+    def run(self):
+        """Обработка аудио в реальном времени"""
+        while self.running:
+            current_time = time.time()
+            if current_time - self.last_move_time >= MOVE_INTERVAL:
+                self.sound_source = self._generate_sequential_sound_source()
+                self.source_positions.append((self.sound_source.x, self.sound_source.y, current_time))
+                print(f"Источник звука перемещен в: x={self.sound_source.x:.2f}, y={self.sound_source.y:.2f}")
+                self.last_move_time = current_time
+
+            left, right, t1, t2 = self.capture_audio()
+            self.rms_left = self.calculate_rms(left)
+            self.rms_right = self.calculate_rms(right)
+            signal_diff = np.mean(np.abs(left - right))
+
+            new_sound_detected = (self.rms_left > RMS_THRESHOLD) and (self.rms_right > RMS_THRESHOLD)
+
+            if new_sound_detected:
+                print(f"RMS left: {self.rms_left:.4f}, RMS right: {self.rms_right:.4f}")
+                print(f"Signal difference: {signal_diff:.4f}")
+                time_delay = self.calculate_time_delay_fft(left, right)
+                print(f"Time delay: {time_delay * 1000:.2f} ms")
+                angle = self.calculate_direction(time_delay)
+                print(f"Calculated angle: {angle:.1f}°")
+                self.current_angle = angle
+                self.last_detected_angle = self.current_angle
+                self.last_sound_time = current_time
+                self.sound_detected = True
+                self.show_arrow = True
+
+                true_dx = self.sound_source.x
+                true_dy = self.sound_source.y
+                true_angle = np.arctan2(true_dx, true_dy) * 180 / np.pi
+                self.results.append({
+                    't1 (ms)': t1 * 1000,
+                    't2 (ms)': t2 * 1000,
+                    'Time Delay (ms)': time_delay * 1000,
+                    'Detected Angle (°)': self.current_angle,
+                    'True Angle (°)': true_angle,
+                    'Source X': self.sound_source.x,
+                    'Source Y': self.sound_source.y
+                })
+            else:
+                if self.last_detected_angle is not None and current_time - self.last_sound_time < SILENCE_TIMEOUT:
+                    self.sound_detected = False
+                    self.show_arrow = True
+                else:
+                    self.sound_detected = False
+                    self.show_arrow = False
+            time.sleep(CHUNK / self.sample_rate)
+
+    def get_coordinates_dataframe(self):
+        """Создание датафрейма с координатами микрофонов и всех позиций источника"""
+        data = {
+            'Object': ['Mic1', 'Mic2'] + [f'SoundSource_{i}' for i in range(len(self.source_positions))],
+            'X': [self.mic1.x, self.mic2.x] + [pos[0] for pos in self.source_positions],
+            'Y': [self.mic1.y, self.mic2.y] + [pos[1] for pos in self.source_positions],
+            'Time': [0.0, 0.0] + [pos[2] for pos in self.source_positions]
+        }
+        return pd.DataFrame(data)
+
+    def get_results_dataframe(self):
+        """Создание датафрейма с результатами"""
+        return pd.DataFrame(self.results)
+
+def main():
+    try:
+        finder = DirectionFinder(MIC_DISTANCE, "my_recording1.wav")
+        print("Аудиофайл загружен, частота дискретизации:", finder.sample_rate)
+
+        thread = threading.Thread(target=finder.run)
+        thread.start()
+
+        fig, ax = plt.subplots(figsize=(9, 6))
+        ax.set_xlim(-ROOM_WIDTH / 2, ROOM_WIDTH / 2)
+        ax.set_ylim(-0.5, ROOM_HEIGHT)
+        ax.set_aspect('equal')
+        ax.set_title("Определение направления на источник звука", fontsize=12)
+        ax.set_xlabel("X (м)", fontsize=10)
+        ax.set_ylabel("Y (м)", fontsize=10)
+        ax.grid(True)
+
+        ax.plot(finder.mic1.x, finder.mic1.y, 'bs', markersize=12, label='Микрофон 1')
+        ax.plot(finder.mic2.x, finder.mic2.y, 'bs', markersize=12, label='Микрофон 2')
+        source_plot, = ax.plot(finder.sound_source.x, finder.sound_source.y, 'ro', markersize=12,
+                               label='Источник звука')
+
+        arrow_length = min(ROOM_WIDTH, ROOM_HEIGHT) / 4
+        arrow = ax.arrow(0, 0, 0, 0, head_width=0.2, head_length=0.3,
+                         fc='r', ec='r', label='Расчетное направление')
+        arrow_true = ax.arrow(0, 0, 0, 0, head_width=0.2, head_length=0.3,
+                              fc='g', ec='g', linestyle=':', label='Истинное направление')
+
+        sound_bar = ax.axhline(y=ROOM_HEIGHT - 1, color='green', linewidth=15, visible=False)
+        angle_text = ax.text(0, ROOM_HEIGHT - 0.3, "", ha='center', va='center', fontsize=10)
+
+        left_indicator = patches.Rectangle((finder.mic1.x - 0.03, -0.15), 0.06, 0.08, facecolor='gray')
+        right_indicator = patches.Rectangle((finder.mic2.x - 0.03, -0.15), 0.06, 0.08, facecolor='gray')
+        ax.add_patch(left_indicator)
+        ax.add_patch(right_indicator)
+
+        def update(frame):
+            source_plot.set_data([finder.sound_source.x], [finder.sound_source.y])
+
+            dx = finder.sound_source.x
+            dy = finder.sound_source.y
+            true_angle_rad = np.arctan2(dx, dy)
+            true_end_x = arrow_length * np.sin(true_angle_rad)
+            true_end_y = arrow_length * np.cos(true_angle_rad)
+            arrow_true.set_data(x=0, y=0, dx=true_end_x, dy=true_end_y)
+
+            if finder.show_arrow:
+                angle = finder.current_angle
+                calc_angle_rad = np.radians(angle)
+                calc_end_x = arrow_length * np.sin(calc_angle_rad)
+                calc_end_y = arrow_length * np.cos(calc_angle_rad)
+                arrow.set_data(x=0, y=0, dx=calc_end_x, dy=calc_end_y)
+                angle_text.set_text(f"Расчетный угол: {angle:.1f}°\nИстинный угол: {np.degrees(true_angle_rad):.1f}°")
+
+                if finder.sound_detected:
+                    sound_bar.set_visible(True)
+                    ax.set_title("Активное обнаружение звука", fontsize=12)
+                else:
+                    sound_bar.set_visible(False)
+                    ax.set_title("Последнее зафиксированное направление", fontsize=12)
+            else:
+                arrow.set_data(x=0, y=0, dx=0, dy=0)
+                angle_text.set_text("")
+                sound_bar.set_visible(False)
+                ax.set_title("Звук не обнаружен", fontsize=12)
+
+            left_indicator.set_facecolor('green' if finder.rms_left > RMS_THRESHOLD else 'gray')
+            right_indicator.set_facecolor('green' if finder.rms_right > RMS_THRESHOLD else 'gray')
+
+            return [source_plot, arrow, arrow_true, sound_bar,
+                    left_indicator, right_indicator, angle_text]
+
+        ani = FuncAnimation(fig, update, frames=None, interval=10, blit=True, cache_frame_data=False)
+        plt.legend(loc='upper left', fontsize=8)
+        plt.tight_layout()
+        plt.show()
+
+        finder.running = False
+        thread.join()
+
+        coords_df = finder.get_coordinates_dataframe()
+        results_df = finder.get_results_dataframe()
+        print("\nКоординаты микрофонов и всех позиций источника звука:")
+        print(coords_df.to_string(index=False))
+        print("\nРезультаты вычислений:")
+        print(results_df.to_string(index=False))
+        coords_df.to_csv('coordinates.csv', index=False)
+        results_df.to_csv('results.csv', index=False)
+        print("\nДанные сохранены в 'coordinates.csv' и 'results.csv'")
+
+    except Exception as e:
+        print(f"Ошибка: {e}")
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file