我有一些麻烦，找到或实现一个算法来找到信号源。我的工作的目标是找到声音发射位置

I am having some trouble to find or implement an algorithm to find a signal source. The objective of my work is to find the sound emitter position.

要我用三个microfones做到这一点。我使用该技术的多点是基于到来的的时间差

To accomplish this I am using three microfones. The technique that I am using is multilateration that is based on the time difference of arrival.

到来的的时间差之间的每个microfones使用的互相关接收信号的找到。

The time difference of arrival between each microfones are found using Cross Correlation of the received signals.

我已经实现的算法找出到达的的时间差，但我的问题是更多关于如何多点的作品，目前还不清楚，我根据我的参考，并我无法找到这一点，是不含任何​​其他很好的参考/开放。

I already implemented the algorithm to find the time difference of arrival, but my problem is more on how multilateration works, it's unclear for me based on my reference, and I couldn't find any other good reference for this that are free/open.

如果您有关于如何我可以实现一个多点算法或其他三边测量算法，基于到达的时间差，我可以使用一些参考这将是一个很大的帮助。

If you have some references on how I can implement a multilateration algorithm, or some other trilateration algorithm that I can use based on time difference of arrival it would be a great help.

在此先感谢。

推荐答案

您正在寻找的点是三个双曲线的交点。我假设2D这里，因为你只用3受体。从技术上讲，你可以找到一个独特的3D解决方案，但你可能有噪音，我认为如果你想要一个3D效果，你会采取4个麦克风（或更多）。

The point you are looking for is the intersection of three hyperbolas. I am assuming 2D here since you only use 3 receptors. Technically, you can find a unique 3D solution but as you likely have noise, I assume that if you wanted a 3D result, you would have taken 4 microphones (or more).

借助维基页面使得一些计算你。他们这样做是在3D，你只需要设置Z = 0，求解方程组的（7）。

The wikipedia page makes some computations for you. They do it in 3D, you just have to set z = 0 and solve for system of equations (7).

该系统是超定的，所以你要解决它在最小平方意义（这点在使用3受体实际上）。

The system is overdetermined, so you will want to solve it in the least squares sense (this is the point in using 3 receptors actually).