Sigma Point H_∞ Filtering Method for Speaker Tracking
Hou Dai-wen, Yin Fu-liang · Signal Processing · 2009
Based on theories of H_∞filtering and sigma point transformation,a sigma point H_∞filtering method is proposed.Since sigma point transformation technique is used instead of Taylor series expansion in the new method,linearization error of high nonlinear system is decreased.Moreover,the noise uncertainty problem is solved by utilizing H_∞filtering method.Compared with existing method for microphone array based speaker tracking system,the estimation accuracy is improved and the system is more robust to measurement error of time difference of arrival(TDOA).Simulation results of a speaker tracking system demonstrate that the proposed method decreases the tracking error by 25%compares to the extended Kalman filter.