本组设计的声音导引系统使用双MCU结构，采用基于时间差的声源定位算法（利用三路接收器的时差信号）结合PID算法判断并控制移动声源的速度。本设计的特色在于使用四阶Butterworth带通滤波器对声音信号进行处理，使其具有较强抗干扰能力。且系统设计性价比高，功耗低。-Our group design the Sound Guidance System based on Bi-MCU configuration, using time difference sound source orientation arithmetic（the time difference signal from three receivers）combining PID arithmetic to determine and control the mobile sound source’s velocity. The feature of the designation is processing the sound signal by four-order Butterworth band-pass filter. This enhances the anti-jamming ability. Furthermore, the system has the high performance and low price.