Three-dimensional motion sound source tracking and positioning method based on sound array and motion trail generation method

The invention belongs to the field of array signal processing and automatic control, and particularly relates to a three-dimensional motion sound source tracking and positioning method and a motion trail generation method based on a sound array, and the method comprises the steps: setting two sound array devices which form a certain included angle; establishing a two-dimensional reference coordinate system on any plane opposite to each piece of acoustic array equipment, and taking a central point coordinate of the equipment in a detection area on the plane as a reference coordinate; mapping the three-dimensional space position with the maximum sound source intensity found by each device in real time to a two-dimensional reference coordinate system; based on a difference value between the two-dimensional coordinate and the reference coordinate, the equipment is subjected to attitude adjustment through negative feedback control by taking an equipment detection plane directly facing a sound source as a target; a