摘 要： 基于TDOA(Time Difference Of Arrival)的聲源定位研究的核心問題是時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" title="時(shí)延估計(jì)">時(shí)延估計(jì)" 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??? 關(guān)鍵詞： 聲源定位；時(shí)延估計(jì)；虛擬儀器；互相關(guān)；最小二乘擬合

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　　聲源定位技術(shù)是通過聲學(xué)傳感裝置接收聲波，將其轉(zhuǎn)化為電信號(hào)，再利用該電信號(hào)進(jìn)行分析處理，以此實(shí)現(xiàn)對(duì)聲源位置進(jìn)行探測(cè)、識(shí)別并對(duì)目標(biāo)進(jìn)行定位及跟蹤的一門技術(shù)。
??? 聲源定位的方法中，基于到達(dá)時(shí)差TDOA(Time Difference Of Arrival)的源定位方法的計(jì)算量一般比較小，有利于實(shí)時(shí)處理。這類方法可以適用于象語音這樣的非平穩(wěn)寬帶信源，在只有單個(gè)信源時(shí)能較好地工作，定位的精度與TDOA的估計(jì)精度有關(guān)。
　　基于TDOA的聲源定位研究的核心問題主要是：(1)定位傳感器的研究，包括硬件電路和陣列結(jié)構(gòu)的研究。(2)定位算法的研究以及軟件實(shí)現(xiàn)，一般分兩個(gè)步驟進(jìn)行：第一步，先進(jìn)行時(shí)延估計(jì)TDE(Time Delay Estimation)，從中獲得聲源到傳感器陣列中相應(yīng)陣元對(duì)之間時(shí)間差的方法；第二步，利用TDE的結(jié)果進(jìn)行空間的搜索定位估計(jì)。顯然時(shí)延估計(jì)的精度決定該算法的定位精度。
　　將虛擬儀器技術(shù)引入到聲源定位的測(cè)量中，把傳聲器采集來的電信號(hào)用A/D轉(zhuǎn)換裝置轉(zhuǎn)換成數(shù)字信號(hào)，然后在計(jì)算機(jī)上用數(shù)字信號(hào)處理的方法進(jìn)行時(shí)延估計(jì)。本文主要介紹時(shí)延估計(jì)的算法原理及Labview實(shí)現(xiàn)。
1 時(shí)延估計(jì)的算法原理
??? 在基于到達(dá)時(shí)間差的聲源定位中，目前大多采用互相關(guān)的方法進(jìn)行時(shí)延估計(jì)。但是對(duì)于聲音信號(hào)，其激發(fā)源在傳播過程中會(huì)引入很多的噪聲，如果直接進(jìn)行互相關(guān)，這些噪聲會(huì)使時(shí)延估計(jì)產(chǎn)生較大的偏差。同時(shí)在工業(yè)設(shè)備檢測(cè)中，人們關(guān)心的信號(hào)一般為某一特定頻率的信號(hào)，所以就有必要在互相關(guān)前，進(jìn)行信號(hào)的預(yù)處理，也就是從噪聲中提取所關(guān)心的特定頻率的信號(hào)，并且信號(hào)的時(shí)延一般不會(huì)超過聲波的半波長(zhǎng)(這主要是由傳感器陣列的間距和傳感器與檢測(cè)對(duì)象的間距決定的，在設(shè)計(jì)陣列結(jié)構(gòu)和測(cè)量時(shí)，不允許時(shí)延超過檢測(cè)最低頻率的半波長(zhǎng))，所以在這里可以將時(shí)延估轉(zhuǎn)換成提取后該頻率信號(hào)的相位差。
??? 目前較為常用的相位測(cè)量方法中，利用相關(guān)原理的相位差測(cè)量的精度最高，魯棒性也最好，也最適用于聲源定位中，所以這里選用這種方法。該方法的原理是利用了同頻正弦信號(hào)的互相關(guān)函數(shù)零時(shí)刻值與其相位差的余弦值成正比的原理獲得相位差。
　　設(shè)x(t)是某各態(tài)歷經(jīng)過程的一個(gè)樣本記錄(所謂各態(tài)歷經(jīng)過程是指樣本的集合平均等于時(shí)間平均)，則互相關(guān)定義如下文所述。
??? 設(shè)采集到的同頻信號(hào)x(t)，y(t)分別為：
　　
　　對(duì)于多數(shù)隨機(jī)過程，若x(t)和y(t)之間沒有同頻率的成分，那么當(dāng)時(shí)移很大時(shí)就彼此無關(guān)。
　　當(dāng)t=0時(shí)，
　　

　　由于信號(hào)來自A/D轉(zhuǎn)換裝置的離散數(shù)字信號(hào)，因此只能求出互相關(guān)函數(shù)的離散解，其表達(dá)式如下(離散化的方法這里不做推導(dǎo)，其誤差是與采樣頻率有關(guān)的高階無窮小，這里忽略)[2]：
　　
　　在計(jì)算互相關(guān)的時(shí)候也可以直接調(diào)用LabVIEW的函數(shù)
　　
　　由于噪聲對(duì)信號(hào)是不相關(guān)的，使用該方法可以有效地消除干擾的影響。但微小的頻率差異往往也會(huì)對(duì)互相關(guān)求取時(shí)延的結(jié)果造成較大的影響。所以這里引入了最小二乘的方法將各信號(hào)盡量擬合到某一頻率，也就是進(jìn)行某一特定頻率信號(hào)的最小二乘擬合。
　　為了提高算法的計(jì)算效率，這里對(duì)正弦信號(hào)進(jìn)行了以下變換，將非線性最小二乘問題轉(zhuǎn)換成了線性最小二乘問題。
　　　　

　　求解(6)，(7)兩式組成的方程組就得到對(duì)應(yīng)a、b值的最小二乘擬合曲線。該方法有效地從混有噪聲的信號(hào)中提取出來了需要的特定頻率信號(hào)。
2 時(shí)延估計(jì)算法的LabVIEW實(shí)現(xiàn)
??? 算法的程序流程如圖1所示。首先將傳聲器采集來的信號(hào)通過A/D轉(zhuǎn)換為數(shù)字信號(hào)，傳送到PC機(jī)上，然后各路信號(hào)取500個(gè)點(diǎn)的數(shù)據(jù)進(jìn)行自相關(guān)，自相關(guān)的目的是為了計(jì)算信號(hào)的頻率，通過對(duì)自相關(guān)信號(hào)的波峰計(jì)數(shù)得到信號(hào)的頻率。然后比較各路信號(hào)的頻率差。由于采樣聲源相同，頻率應(yīng)該也相同，但因?yàn)樵肼暤拇嬖谟绊懥祟l率的求取，放棄本次求取，數(shù)據(jù)窗口后移50個(gè)點(diǎn)。再進(jìn)行自相關(guān)，直到各路的頻率差小于頻率的5%。對(duì)各路信號(hào)進(jìn)行最小二乘擬合方式的濾波，并對(duì)濾波后的各路信號(hào)間進(jìn)行互相關(guān)，求取相位差，并將計(jì)算結(jié)果顯示。

　　使用LabVIEW進(jìn)行編程實(shí)現(xiàn)的程序框圖如圖2和圖3所示。程序主要包括自相關(guān)器求取頻率后擬合曲線的程序框圖和互相關(guān)后求相位的程序。這里調(diào)用了LabVIEW中的三個(gè)信號(hào)處理的子VI。

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??? 本文通過使用了自相關(guān)與曲線擬合的方法，從混有噪聲的信號(hào)中提取出所需要的信號(hào)，再通過互相關(guān)的方法提取相位，有效地提高了時(shí)延的精度。
??? 利用虛擬儀器技術(shù)替代部分的硬件電路，從而避免外界干擾對(duì)電路的影響。當(dāng)信號(hào)經(jīng)過數(shù)據(jù)采集卡采集后，已經(jīng)以離散的數(shù)據(jù)形式存儲(chǔ)在計(jì)算機(jī)中，在以后的計(jì)算中以計(jì)算機(jī)的數(shù)據(jù)處理代替原來的計(jì)算電路，不會(huì)再造成測(cè)量誤差的進(jìn)一步積累，因此測(cè)量結(jié)果的精度僅取決于計(jì)算機(jī)中存儲(chǔ)的采集的數(shù)據(jù)的精度，有效地提高了測(cè)量的準(zhǔn)確性。

參考文獻(xiàn)
[1] 鄧焱，王磊.Labview7.1測(cè)試技術(shù)與儀器應(yīng)用[M].北京：機(jī)械工業(yè)出版社，2004.
[2] 胡海濤，鄒澎，張荷濤.基于虛擬儀器的相位測(cè)量.傳感器與儀器儀表，2007，23(1-1).
(收稿日期：2009-05-11)?