麦克风数量16，麦克风间距4cm，多个波束分别为30度，60度，90度方向，时域延迟相加波束形成，考虑小数的精度，C语言代码

以下是实现多波束形成的C语言代码：

#include <stdio.h>
#include <math.h>

#define PI 3.14159265358979323846

// 麦克风数量
#define MIC_NUM 16
// 麦克风间距
#define MIC_DIST 0.04
// 波束角度
#define BEAM_ANGLES {30.0, 60.0, 90.0}
// 波束数量
#define BEAM_NUM 3

int main()
{
    // 麦克风坐标
    double mic_coords[MIC_NUM][3] = {
        {0.0, 0.0, 0.0},
        {MIC_DIST, 0.0, 0.0},
        {2*MIC_DIST, 0.0, 0.0},
        {3*MIC_DIST, 0.0, 0.0},
        {0.5*MIC_DIST, 0.5*MIC_DIST*cos(60.0*PI/180), 0.0},
        {1.5*MIC_DIST, 0.5*MIC_DIST*cos(60.0*PI/180), 0.0},
        {2.5*MIC_DIST, 0.5*MIC_DIST*cos(60.0*PI/180), 0.0},
        {MIC_DIST, MIC_DIST*cos(60.0*PI/180), 0.0},
        {2*MIC_DIST, MIC_DIST*cos(60.0*PI/180), 0.0},
        {1.5*MIC_DIST, 0.5*MIC_DIST*cos(60.0*PI/180) - MIC_DIST*sin(60.0*PI/180), 0.0},
        {2.5*MIC_DIST, 0.5*MIC_DIST*cos(60.0*PI/180) - MIC_DIST*sin(60.0*PI/180), 0.0},
        {0.0, MIC_DIST*sin(60.0*PI/180), 0.0},
        {MIC_DIST, MIC_DIST*sin(60.0*PI/180), 0.0},
        {2*MIC_DIST, MIC_DIST*sin(60.0*PI/180), 0.0},
        {1.0*MIC_DIST, 0.5*MIC_DIST*cos(60.0*PI/180) + MIC_DIST*sin(60.0*PI/180), 0.0},
        {2.0*MIC_DIST, 0.5*MIC_DIST*cos(60.0*PI/180) + MIC_DIST*sin(60.0*PI/180), 0.0}
    };

    // 波束方向
    double beam_angles[BEAM_NUM] = BEAM_ANGLES;

    // 波束形成结果
    double beam_out[BEAM_NUM] = {0};

    // 计算每个波束的时域延迟
    for (int i = 0; i < BEAM_NUM; i++) {
        double beam_angle = beam_angles[i];
        double beam_radians = beam_angle * PI / 180.0;
        double beam_x = cos(beam_radians);
        double beam_y = sin(beam_radians);
        double beam_dir[3] = {beam_x, beam_y, 0};

        double max_delay = 0;
        for (int j = 1; j < MIC_NUM; j++) {
            double delay = (mic_coords[j][0]*beam_dir[0] + mic_coords[j][1]*beam_dir[1]) / 343.0;
            max_delay = fmax(max_delay, delay);
        }

        // 计算每个麦克风的时域延迟，并加权相加
        for (int j = 0; j < MIC_NUM; j++) {
            double mic_delay = (mic_coords[j][0]*beam_dir[0] + mic_coords[j][1]*beam_dir[1]) / 343.0;
            double weight = cos(beam_radians * (j % 2 == 0 ? j/2 : (j-1)/2));
            beam_out[i] += weight * sin(2*PI*(mic_delay - max_delay)*16000) / (MIC_NUM-1);
        }
    }

    // 输出波束形成结果
    for (int i = 0; i < BEAM_NUM; i++) {
        printf("Beam %d: %f\n", i+1, beam_out[i]);
    }

    return 0;
}

注意事项：

- 麦克风坐标按照从左到右，从下到上，从前到后的顺序排列。
- 波束方向以正右方为0度，逆时针旋转为正角度。