Azimuth estimation method, device, and storage medium

A computing device, comprising one or more processors, memory and a plurality of computer programs stored in the memory that, when executed by the one or more processors, cause the computing device to perform a plurality of operations including:

• obtaining, in real time, multi-channel sampling signals and buffering the multi-channel sampling signals, wherein the multi-channel sampling signals are respectively obtained through N1 channels corresponding to N1 beams in N1 different directions;
• performing wakeup word detection on one or more sampling signals of the multi-channel sampling signals, and determining a wakeup word detection score for each channel of the one or more sampling signals;
• computing, upon a determination that the wakeup word detection scores of the one or more sampling signals indicates that a wakeup word exists in the one or more sampling signals, a time period from appearance to disappearance of the wakeup word based on the wakeup word detection scores, further including:
• determining a time point of the appearance of the wakeup word as a starting time point at which a wakeup word detection score starts changing;
• determining a time point of the disappearance of the wakeup word as an ending time point corresponding to the highest wakeup word detection score among the wakeup word detection scores;
• and
• determining the time period from the appearance to the disappearance of the wakeup word according to the starting time point and the ending time point;
• extracting a target sampling signal within the time period from the buffered multi-channel sampling signals;
• performing a spatial spectrum estimation on the target sampling signal extracted within the time period to obtain a spatial spectrum estimation result indicating signal power strengths at N2 candidate azimuths, wherein N2 is different from N1;
• and
• determining, among the N2 candidate azimuths, an azimuth of a target voice associated with the multi-channel sampling signals based on the spatial spectrum estimation result and a highest wakeup word detection score.

A non-transitory computer-readable storage medium storing a plurality of computer programs that, when executed by one or more processors of a computing device, cause the computing device to perform a plurality of operations including:

• obtaining, in real time, multi-channel sampling signals and buffering the multi-channel sampling signals, wherein the multi-channel sampling signals are respectively obtained through N1 channels corresponding to N1 beams in N1 different directions;
• performing wakeup word detection on one or more sampling signals of the multi-channel sampling signals, and determining a wakeup word detection score for each channel of the one or more sampling signals;
• computing, upon a determination that the wakeup word detection scores of the one or more sampling signals indicates that a wakeup word exists in the one or more sampling signals, a time period from appearance to disappearance of the wakeup word based on the wakeup word detection scores, further including:
• determining a time point of the appearance of the wakeup word as a starting time point at which a wakeup word detection score starts changing;
• determining a time point of the disappearance of the wakeup word as an ending time point corresponding to the highest wakeup word detection score among the wakeup word detection scores;
• and
• determining the time period from the appearance to the disappearance of the wakeup word according to the starting time point and the ending time point;
• extracting a target sampling signal within the time period from the buffered multi-channel sampling signals;
• performing a spatial spectrum estimation on the target sampling signal extracted within the time period to obtain a spatial spectrum estimation result indicating signal power strengths at N2 candidate azimuths, wherein N2 is different from N1;
• and
• determining, among the N2 candidate azimuths, an azimuth of a target voice associated with the multi-channel sampling signals based on the spatial spectrum estimation result and a highest wakeup word detection score.