Sound recognition method of an anti-UAV system based on a convolutional neural network
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摘要: 針對如何識別無人機的問題，提出了一種基于卷積神經網絡的聲音識別無人機的方法。首先，對100 m范圍內的無人機、鳥和人的聲音進行采集、預處理和提取MFCC+GFCC特征值，將其特征參數作為卷積神經網絡學習和識別的數據集；然后分別設計了支持向量機和卷積神經網絡兩種模型對無人機等聲音進行識別實驗。實驗結果表明，運用支持向量機識別無人機的準確率為91.9%，卷積神經網絡識別無人機的準確率為96.5%。為了進一步驗證設計的卷積神經網絡的識別能力，在部分UrbanSound8K數據集上進行測試，準確率達到90%。實驗結果表明運用卷積神經網絡識別無人機具有可行性，且識別性能優于支持向量機。Abstract: With the rapid growth of the UAV market, UAVs have been widely used in aerial photography, agricultural plant protection, power inspection, forest fire prevention, high-altitude fire fighting, emergency communication, and UAV logistics. However, “black flight” incidents of unlicensed flights and random flights frequently occur, which results in severe security risks to civil aviation airports, sensitive targets, and major activities. Moreover, owing to their characteristics of maneuverability, intelligent control, and low cost, UAVs can be easily used for criminal activities, which threatens public and national security. How to effectively detect UAVs and implement effective measures for UAVs, especially “black-flying” UAVs, is an active and difficult problem that needs to be urgently solved, and it is also an important research area in the field of anti-UAV systems. The research and development of anti-UAV systems is an important focus in national public security, and UAV identification is one of the key technologies in anti-UAV systems. Aiming at the problem of how to recognize UAVs, a sound-recognition method based on a convolutional neural network (CNN) was proposed. The UAV anti-jamming technology based on acoustic signals is not easily affected by an UAV size, shelter, ambient light, and ground clutter, and sound is an inherent attribute of UAVs, which is also applicable to UAVs in a radio-silence state. In this study, UAV sounds, bird sounds, and human voice within 100 m were collected and preprocessed; then the mel frequency cepstral coefficient and gammatone frequency cepstral coefficient eigenvalues were extracted. Support vector machine (SVM) and CNN models were designed to recognize UAV sounds and other sounds. The experimental results show that the SVM and CNN accuracies are 93.3% and 96.7%, respectively. To further verify the recognition ability of the designed CNN, it was tested on some Urbansound8K datasets, and its accuracy reached 90%. The experimental results show that a CNN is feasible for UAV recognition, and it has a better recognition performance than a SVM.
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Key words:
- UAV /
- voice detection /
- public security /
- MFCC eigenvalue /
- GFCC eigenvalue /
- convolution neural network
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圖 2 無人機聲音樣本加漢明窗函數圖
Figure 2. Function diagram of an UAV sound sample plus a Hamming window
圖 4 Gammatone濾波器幅頻特性圖
Figure 4. Amplitude frequency characteristics of a gammatone filter
圖 5 特征頻譜圖。（a）MFCC+GFCC特征頻譜圖；（b）MFCC特征頻譜圖；（c）GFCC特征頻譜圖
Figure 5. Characteristic spectra: (a) characteristic spectrum of mel frequency cepstral coefficient (MFCC) + gammatone frequency cepstral coefficient (GFCC); (b) characteristic spectrum of MFCC; (c) characteristic spectrum of GFCC
圖 8 采集樣本實驗圖。（a）白天停車場采集樣本圖；（b）晚間操場采集樣本圖
Figure 8. Sample collection experiment map: (a) sample collection map of parking lot during day; (b) sample collection map of playground at night
圖 9 卷積神經網絡結果顯示圖。（a）python顯示圖；（b）測試集識別準確率變化曲線圖
Figure 9. CNN results display: (a) python display; (b) change curve of test set recognition accuracy
圖 11 部分Urbansound8K數據集實驗結果顯示圖。（a）python顯示圖；（b）識別準確率變化曲線圖
Figure 11. Experimental results display of some Urbansound8K datasets: (a) python display; (b) recognition accuracy change curve
表 1 CNN參數設置
Table 1. CNN parameter setting
Layer Input dimension Output dimension Sampling window Function selection Input layer [99,26] Convolution layer 1 [99,26] [99,26,32] 5×5, striding=1,
padding=same,
convolution kernel=32Activation function Relu Pool layer 1 [99,26,32] [50,13,32] 2×2, striding=2 Convolution layer 2 [50,13,32] [50,13,64] 5×5, striding=1,
padding=same,
convolution kernel=32Activation function Relu Pool layer 2 [50,13,64] [25,7,64] 2×2, striding=2 Full connection layer 1 [25,7,64] [1,10] Full connection layer 2 [1,10] [1,10] Output layer [1,10] [1,3] Softmax 
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表 2 各類音頻樣本數量表
Table 2. Number of audio samples
Sample Training set (piece) Test set (piece) UAV 1500 300 Bird 1500 300 People 1500 300
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表 3 不同模型實驗結果
Table 3. Experimental results of different models
Model Accuracy /% CNN 96.5 SVM 91.9
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表 4 不同卷積層測試集準確率實驗結果
Table 4. Experimental results on accuracy of test sets of different convolution layers
Number of layers Accuracy /% Training time/s Number of iterations 2 96.52225 26580.6 1500 3 96.53334 41907.1 1700 4 96.53334 76055.3 2000 5 96.56667 126223.5 2500
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