说明：  基于互相关函数，采用求和广义互相关函数(summed-GCC)法用于机器人系统平台。由于采用不同的映射函数(mapping functions)，GCC法在该平台下，只需三个麦克风即可进行三维定位，突破了基于TDOA法进行三维声源定位最少需4个麦克风的限制
(Based on cross-correlation function, using generalized cross-correlation function sum (summed-GCC) method for the robot system platform. Because of using different mapping function (mapping functions), GCC method in the platform, the only three to three-dimensional microphone positioning, a breakthrough TDOA method based on three-dimensional sound localization will take at least four microphone restrictions)