CN116347322A - Stereo synthesis method, system, device and storage medium based on UWB positioning - Google Patents

Abstract

The present invention provides a stereo synthesis method, system, equipment and storage medium based on UWB positioning. The stereo synthesis method of the present invention installs a UWB positioning tag on a mobile sound source and sets a set of UWB wireless positioning systems around the mobile sound source. The system includes more than 3 anchor points, the anchor points communicate with the tags, and the distance between the tags and each anchor point is calculated in real time and uploaded to the host computer at the same time; at the same time, the mono audio signal collected by the microphone moving with the sound source is uploaded to the host computer ; The upper computer uses the sound and image reproduction technology to fuse the monophonic sound collected by the microphone with the location information of the label and use HRTF to generate a stereo audio signal. The stereo synthesis method of the present invention realizes that the stereo pickup and synthesis can be completed under the condition that the mobile sound source only acquires monophonic audio.

Description

Stereo synthesis method, system, device and storage medium based on UWB positioning

technical field

The present invention relates to the technical field of audio processing, in particular to a stereo synthesis method, system, device and storage medium based on UWB positioning.

Background technique

In the general stereo pickup technology, two microphones with the same performance parameters are separated by different distances or placed at specific angles. Because the microphone has directivity, the sound sensitivity to each direction is different, and the sound level will be different when collecting sound; 2 The distance between the microphones determines the time difference between the two channels of sound picked up. Stereo audio uses the sound level difference/time difference of the two channels of audio collected to fuse the two channels of sound, thereby constructing a stereo layered sense. Commonly used stereo pickup techniques include XY system, MS system and AB system, which are mainly distinguished according to the angle and distance between the two microphones. Of course, there is also the method of using multiple microphones to pick up sound.

However, no matter which pickup method is used, there are limitations:

The microphone pick-up range is limited; the pick-up microphone is fixed, if the sound source is far away, the effect and sensitivity will be greatly affected.

The effect is not good for moving sound sources; the distance between the moving sound source and the microphone is not fixed, and the sound pickup effect will cause a relatively large loss; multiple sound sources move at the same time, and the effect is even worse.

Especially for application scenarios that require on-site recording, such as live recording or stage plays, the stage area itself is relatively large, and the positions of actors will change at any time, and there are situations where multiple actors move at the same time.

Therefore, the prior art still needs to be improved and developed.

Contents of the invention

The main purpose of the present invention is to solve the lack of a stereo pickup synthesis method for mobile sound sources in the prior art.

The first aspect of the present invention provides a stereo synthesis method based on UWB positioning, the stereo synthesis method includes:

Install the UWB positioning tag on the mobile audio source;

A UWB wireless positioning system is arranged around the mobile sound source, and the UWB wireless positioning system includes at least 3 anchor points;

Establish a communication connection between the UWB positioning tag and the UWB wireless positioning system;

Establish communication connections between the UWB positioning tag and the host computer and the UWB wireless positioning system and the host computer;

Collecting a monophonic audio signal through the mobile sound source, and uploading the monophonic audio signal to the host computer;

Obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag, and uploading the distances between the mobile sound source and each of the anchor points to the host computer;

Obtain the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the host computer;

Determining the second positioning position of the listener on the periphery of the UWB wireless positioning system;

Obtaining orientation data for audio output based on the first location location and the second location location;

The monophonic audio signal is fused with the orientation data through an HRTF audio processing method to generate a stereophonic audio signal.

In an optional implementation manner of the first aspect of the present invention, obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag includes:

Repeatedly sending the ranging signal twice to each of the anchor points through the UWB positioning tag;

Recording the first duration and the second duration that the ranging signal takes to reach each of the anchor points respectively for two times;

receiving two response signals respectively fed back by each of the anchor points to the two ranging signals;

Record the third duration and the fourth duration for each of the anchor points for the response signal to reach the UWB positioning tag twice;

The distance between the UWB positioning tag and each of the anchor points is calculated based on the first duration, the second duration, the third duration, and the fourth duration and through a DS-TWR ranging algorithm.

In an optional implementation manner of the first aspect of the present invention, the obtaining the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the host computer includes:

For each anchor point, obtain the coordinates of the anchor point and the distance between the anchor point and the mobile sound source;

For each of the anchor points, a circle equation corresponding to the anchor point is established with the coordinates of the anchor point as the center and the distance between the anchor point and the mobile sound source as the radius;

Constructing the set of circle equations corresponding to each of the anchor points;

The least square method is used to obtain an approximate solution of the circle equation set, and the approximate solution is used as the first positioning position of the mobile sound source in the UWB wireless positioning system.

In an optional implementation manner of the first aspect of the present invention, the determining the second positioning position of the listener on the periphery of the UWB wireless positioning system includes:

Establishing peripheral connections between each of the anchor points;

finding the closest target connection to the listener from the peripheral connections;

The coordinates of the midpoint of the target line are used as the second positioning position of the listener on the periphery of the UWB wireless positioning system.

In an optional implementation manner of the first aspect of the present invention, the obtaining the orientation data of the audio output based on the first positioning position and the second positioning position includes:

Using the first positioning position as a reference point, an azimuth coordinate system is established, and the azimuth coordinate system includes a horizontal axis and a vertical axis perpendicular to each other, wherein the horizontal axis is connected to the target where the second positioning position is located. line parallel;

Under the reference of the azimuth coordinate system, the distance between the listener and the mobile sound source and the distance between the listener and the mobile sound source are calculated based on the first positioning position and the second positioning position Relative location data.

In an optional implementation manner of the first aspect of the present invention, the host computer, the anchor point, and the tag all include a main control unit, a UWB module, an ADC analog-to-digital conversion module, an RF transceiver unit, and an antenna.

In an optional implementation manner of the first aspect of the present invention, the UWB wireless positioning system is provided with three anchor points, and the three anchor points are distributed in a triangle.

The second aspect of the present invention provides a stereo synthesis system based on UWB positioning, the stereo synthesis system includes:

UWB positioning label, described UWB positioning label is used for being installed on the mobile sound source;

UWB wireless positioning system, the UWB wireless positioning system is arranged around the mobile sound source, the UWB wireless positioning system includes at least 3 anchor points, and the UWB positioning tag is communicatively connected with the UWB wireless positioning system;

A host computer, the host computer communicates with the UWB positioning tag and the UWB wireless positioning system;

The mobile sound source is used to collect monophonic audio signals and upload the monophonic audio signals to the host computer;

The UWB positioning tag is used to obtain the distance between the mobile sound source and each of the anchor points, and upload the distance between the mobile sound source and each of the anchor points to the host computer;

The host computer is used to obtain the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm; determine the second positioning position of the listener on the periphery of the UWB wireless positioning system; based on the first Obtaining orientation data of the audio output at the positioning position and the second positioning position; and fusing the monophonic audio signal with the orientation data through an HRTF audio processing method to generate a stereo audio signal.

The third aspect of the present invention provides a stereo synthesis device based on UWB positioning. The stereo synthesis device based on UWB positioning includes: a memory and at least one processor, instructions are stored in the memory, and the memory and the at least one A processor is interconnected by wires;

The at least one processor invokes the instruction in the memory, so that the UWB positioning-based stereo synthesis device executes the UWB positioning-based stereo synthesis method as described in any one of the above.

The fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the UWB-based positioning as described in any one of the above-mentioned Stereo synthesis method.

Beneficial effects: the present invention provides a stereo synthesis method, system, equipment and storage medium based on UWB positioning. The stereo synthesis method of the present invention installs a UWB positioning tag on the mobile sound source, and sets a set of UWB wireless radios around the mobile sound source. Positioning system, the system includes more than 3 anchor points, the anchor points communicate with the tags, calculate the distance between the tags and each anchor point in real time and upload it to the host computer at the same time; at the same time upload the monophonic audio signal collected by the microphone moving with the sound source To the host computer; the host computer uses the sound and image reproduction technology to fuse the monophonic sound collected by the microphone with the location information of the label and use HRTF to generate a stereo audio signal. The stereo synthesis method of the present invention realizes that the stereo pickup and synthesis can be completed under the condition that the mobile sound source only acquires monophonic audio.

Description of drawings

Fig. 1 is a schematic diagram of an embodiment of a stereo synthesis method based on UWB positioning of the present invention;

Fig. 2 is a schematic diagram of an embodiment of a stereo synthesis system based on UWB positioning of the present invention;

Fig. 3 is a schematic diagram of an embodiment of a host computer of the present invention;

Fig. 4 is a schematic diagram of an embodiment of a stereo synthesis device based on UWB positioning according to the present invention.

Detailed ways

Embodiments of the present invention provide a stereo synthesis method, system, device and storage medium based on UWB positioning.

The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and not necessarily Used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the term "comprising" or "having" and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to those explicitly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

For ease of understanding, the specific flow of the embodiment of the present invention is described below. Please refer to FIG. 1. The first aspect of the present invention provides a stereo synthesis method based on UWB positioning. The stereo synthesis method includes:

S001, install the UWB positioning tag on the mobile sound source; a scene applicable to the present invention can be a stage performance, and the mobile sound source is a microphone device carried by the actor. In this step, installing the UWB positioning tag on the mobile sound source is Install the UWB positioning tag on the microphone device carried by the actor. Of course, the UWB positioning tag can also be integrated with the microphone device;

S002. Arrange a UWB wireless positioning system around the mobile sound source, and the UWB wireless positioning system includes at least 3 anchor points; in the step, taking a stage play as an example, the moving range of the mobile sound source is generally on the stage, To deploy a UWB wireless positioning system around the mobile sound source is to set anchor points around the stage of the performance. The number of anchor points needs to be determined according to the size of the actual stage and the positioning accuracy of the sound source; for easy understanding, Figure 2 shows A schematic diagram of a stereo synthesis system based on UWB positioning is shown in the present invention;

S003. Establish a communication connection between the UWB positioning tag and the UWB wireless positioning system; in the present invention, the UWB positioning tag needs to obtain positioning information through each anchor point in the UWB wireless positioning system, so it is necessary to establish the UWB positioning tag and the UWB wireless positioning system. The communication connection of each anchor point in the UWB wireless positioning system;

S004. Establish the communication connection between the UWB positioning tag and the upper computer and the UWB wireless positioning system and the upper computer; After the audio signal is collected by the sound source and the location information is collected by the UWB positioning tag, the audio signal is synthesized through the host computer;

S005. Obtain a monophonic audio signal through the collection of the mobile sound source, and upload the monophonic audio signal to the host computer; in the present invention, a mobile sound source generally carries only one microphone, and the audio obtained by the mobile sound source The signal is just a monophonic audio signal, and the inventive point of the present invention is exactly to synthesize a stereophonic audio signal according to the monophonic audio signal and its position information obtained by the mobile sound source;

S006. Obtain the distances between the mobile sound source and each of the anchor points through the UWB positioning tag, and upload the distances between the mobile sound source and each of the anchor points to the host computer; in the present invention Determining the position of the UWB positioning tag is mainly obtained by calculating the distance between the UWB positioning tag and each anchor point in the UWB wireless positioning system. In the present invention, the distance between the UWB positioning tag and each anchor point is processed in the UWB positioning tag. Obtaining the position of the UWB positioning tag according to the distance between the UWB positioning tag and each anchor point is processed in the host computer. In the present invention, the coordinates of each anchor point are known in the UWB wireless positioning system;

S007. Obtain the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the host computer; in the present invention, the multilateral positioning algorithm is based on the distance between the UWB positioning tag and each anchor point The distance and the exact coordinates of each anchor point are calculated to obtain the coordinates of the UWB positioning tag, and the first positioning position is the coordinate of the solved UWB positioning tag;

S008. Determine the second positioning position of the listener on the periphery of the UWB wireless positioning system; in the present invention, the purpose of determining the second positioning position of the listener on the periphery of the UWB wireless positioning system is to determine the relative relationship between the mobile sound source and the listener Position, whether the sound source is on the left or right of the audience, what is the included angle, after obtaining these relative position information, it is easy to calculate the output time of the left and right channel audio signals and the delay of the left and right channel audio signals when synthesizing stereo audio ;

S009. Obtain orientation data of audio output based on the first positioning position and the second positioning position; in the present invention, the orientation data is the relative position between the first positioning position and the second positioning position, In this step, the mobile sound source is usually used as a reference to obtain the position of the listener relative to the mobile sound source;

S010. Fusion the monaural audio signal and the orientation data by using an HRTF audio processing method to generate a stereo audio signal. In the present invention, HRTF is a kind of general audio processing technology, through HRTF processing, the sound of single channel is changed into the sound of two channels, and information such as the intensity delay of adjusting left and right channels of two channels of sound, listener just It can tell whether the sound is coming from the left or the right, which is equivalent to integrating the spatial position information of the mobile sound source into the played sound.

In general, the present invention provides a spatial stereo pickup method based on UWB wireless positioning. Using this method, the stereo pickup of a sound source can be completed with only one microphone. The main idea of the present invention is shown in Figure 1: set a set of UWB wireless positioning system around the sound source, the system includes more than 3 fixed anchor points providing positioning coordinates and a label that can move with the sound source, and the anchor point and the label Communication, real-time calculation of the coordinates of the label and upload to the host computer at the same time; at the same time, the monophonic audio signal collected by the microphone moving with the sound source is uploaded to the host computer; The location information of the tag is fused through HRTF (Head-Response Transfer Function, Head Response Transfer Function) to generate a spatial stereo audio signal. Furthermore, because the UWB wireless positioning accuracy can reach 2-5cm, it can also be well applied to the scene where multiple sound sources move at the same time.

In an optional implementation manner of the first aspect of the present invention, obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag includes:

The ranging signal is repeatedly sent twice to each of the anchor points through the UWB positioning tag; in the present invention, when the distance of each anchor point of the UWB positioning tag is obtained each time, the ranging signal is sent twice at intervals, 2 The interval between the second ranging signal is 10-30ms. The UWB positioning tag will record the sending time of the ranging signal without sending a ranging signal; every time the anchor point receives the ranging signal, it will record the time received each time. And feed back the response signal to the UWB positioning tag. In addition to sending the response signal to the UWB positioning tag, the anchor point will also send the time when the ranging signal is received each time and the sending time of the response signal;

Record the first duration and the second duration that the ranging signal takes to reach each anchor point twice; in the present invention, the UWB positioning tag will communicate with the corresponding measuring signal after receiving the receiving time The length of time it takes to obtain the ranging signal by performing difference calculations on the sending time of the ranging signal. In the present invention, since the ranging signal will be sent twice, there will be 2 corresponding durations;

Receiving the 2 response signals fed back by each of the anchor points for the 2 ranging signals; in the present invention, the UWB positioning tag also records the reception of the response signal after receiving the response signal each time, and then communicates with The sending time of the response signal is differentially calculated to obtain the propagation duration of the response signal;

Record the third time length and the fourth time length that the response signal takes to reach the UWB positioning tag twice for each of the anchor points; in the present invention, because the ranging signal is sent twice, the corresponding response signal will also There are 2 times, and the propagation time of the response signal will also be 2;

The distance between the UWB positioning tag and each of the anchor points is calculated based on the first duration, the second duration, the third duration, and the fourth duration and through a DS-TWR ranging algorithm. In the present invention, the specific calculation method is to obtain the average duration first, and the acquisition formula of the average duration is (first duration*second duration-third duration*fourth duration)/(first duration+second duration+third duration) duration + the fourth duration), after obtaining the average duration, the distance between the UWB positioning tag and each anchor point is obtained by multiplying the average duration by the propagation speed of electromagnetic waves in the air.

In an optional implementation manner of the first aspect of the present invention, the obtaining the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the host computer includes:

For each anchor point, obtain the coordinates of the anchor point and the distance between the anchor point and the mobile sound source; in the present invention, taking three anchor points as an example, the coordinates of the three anchor points are respectively For (a, b), (c, d) and (e, f), the corresponding distances are p, q, r respectively;

For each of the anchor points, a circle equation corresponding to the anchor point is established with the coordinates of the anchor point as the center and the distance between the anchor point and the mobile sound source as the radius; in the present invention , the circle equations corresponding to the three anchor points are (xa) ² +(xb) ² =p ² , (xc) ² +(xd) ² =q ² and (xe) ² +(xf) ² =r ² ;

Constructing the set of circle equations corresponding to each of the anchor points;

The least square method is used to obtain an approximate solution of the circle equation set, and the approximate solution is used as the first positioning position of the mobile sound source in the UWB wireless positioning system. In the present invention, during the actual calculation, since p, q, and r actually have errors, the circles corresponding to the three anchor points will not intersect with one point, and the three circles in the overlapping area of the three circles are calculated first. The intersection point, and finally the average value of the three intersection points may be taken as the coordinate of the first positioning position.

In an optional implementation manner of the first aspect of the present invention, the determining the second positioning position of the listener on the periphery of the UWB wireless positioning system includes:

Establish the peripheral connection between each of the anchor points; in the present invention, taking 3 anchor points as an example, it is the connection line connecting the 3 anchor points. Specifically, the peripheral connection lines of the 3 anchor points form a triangle, The peripheral connections of 4 anchor points form a 4-sided shape, and so on, the peripheral connections of N anchor points form an N-sided shape;

Find the target connection closest to the listener from the peripheral connection; taking the three anchor points as an example, the audience generally tends to be set on one side of the peripheral connection. In the present invention, because the listener In fact, there is not only one person, so a group of listeners can be replaced by points. In the present invention, the coordinates of the midpoint of the target line are selected as the second positioning position of the listeners on the periphery of the UWB wireless positioning system.

In an optional implementation manner of the first aspect of the present invention, the obtaining the orientation data of the audio output based on the first positioning position and the second positioning position includes:

Using the first positioning position as a reference point, an azimuth coordinate system is established, and the azimuth coordinate system includes a horizontal axis and a vertical axis perpendicular to each other, wherein the horizontal axis is connected to the target where the second positioning position is located. Lines are parallel; in the present invention, when determining the orientation of the audience, the moving sound source is used as the reference point, and the target line on the audience side is used as the X-axis or Y-axis direction of the orientation coordinate system

Under the reference of the azimuth coordinate system, the distance between the listener and the mobile sound source and the distance between the listener and the mobile sound source are calculated based on the first positioning position and the second positioning position Relative location data. In the present invention, the relative position data between the listener and the mobile sound source is the angle between the line formed by the listener and the mobile sound source and the horizontal axis and the vertical axis of the azimuth coordinate system, the The main effect of the distance between the listener and the moving sound source and the included angle is to determine the delay of the subsequent synthesized stereo left and right channel audio signals.

In an optional implementation manner of the first aspect of the present invention, the host computer, the anchor point, and the tag all include a main control unit, a UWB module, an ADC analog-to-digital conversion module, an RF transceiver unit, and an antenna. Referring to Fig. 3, the specific structure of a kind of host computer of the present invention, the host computer used in the present invention also includes audio power amplifier module and microphone module, and main control unit also connects data processing terminal through serial port during specific use.

In an optional implementation manner of the first aspect of the present invention, the UWB wireless positioning system is provided with three anchor points, and the three anchor points are distributed in a triangle. In the present invention, the use of three anchor points can reduce the calculation amount of data and improve the processing efficiency of data under the condition of meeting certain positioning accuracy requirements. The situation sets the specific number of anchor points.

Referring to Fig. 2, the second aspect of the present invention provides a stereo synthesis system based on UWB positioning, the stereo synthesis system includes:

UWB positioning tag 10, the UWB positioning tag is used to be installed on the mobile sound source;

UWB wireless positioning system 20, the UWB wireless positioning system is arranged around the mobile sound source, the UWB wireless positioning system includes at least 3 anchor points, and the UWB positioning tag is communicatively connected with the UWB wireless positioning system;

A host computer 30, the host computer is connected to the UWB positioning tag and the UWB wireless positioning system in communication;

The mobile sound source is used to collect monophonic audio signals and upload the monophonic audio signals to the host computer;

The UWB positioning tag is used to obtain the distance between the mobile sound source and each of the anchor points, and upload the distance between the mobile sound source and each of the anchor points to the host computer;

The host computer is used to obtain the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm; determine the second positioning position of the listener on the periphery of the UWB wireless positioning system; based on the first Obtaining orientation data of the audio output at the positioning position and the second positioning position; and fusing the monophonic audio signal with the orientation data through an HRTF audio processing method to generate a stereo audio signal.

In an optional implementation manner of the second aspect of the present invention, obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag includes:

Repeatedly sending the ranging signal twice to each of the anchor points through the UWB positioning tag;

Recording the first duration and the second duration that the ranging signal takes to reach each of the anchor points respectively for two times;

receiving two response signals respectively fed back by each of the anchor points to the two ranging signals;

Record the third duration and the fourth duration for each of the anchor points for the response signal to reach the UWB positioning tag twice;

The distance between the UWB positioning tag and each of the anchor points is calculated based on the first duration, the second duration, the third duration, and the fourth duration and through a DS-TWR ranging algorithm.

In an optional implementation manner of the second aspect of the present invention, the obtaining the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the host computer includes:

For each anchor point, obtain the coordinates of the anchor point and the distance between the anchor point and the mobile sound source;

For each of the anchor points, a circle equation corresponding to the anchor point is established with the coordinates of the anchor point as the center and the distance between the anchor point and the mobile sound source as the radius;

Constructing the set of circle equations corresponding to each of the anchor points;

The least square method is used to obtain an approximate solution of the circle equation set, and the approximate solution is used as the first positioning position of the mobile sound source in the UWB wireless positioning system.

In an optional implementation manner of the second aspect of the present invention, the determining the second positioning position of the listener on the periphery of the UWB wireless positioning system includes:

Establishing peripheral connections between each of the anchor points;

finding the closest target connection to the listener from the peripheral connections;

The coordinates of the midpoint of the target line are used as the second positioning position of the listener on the periphery of the UWB wireless positioning system.

In an optional implementation manner of the second aspect of the present invention, the obtaining the orientation data of the audio output based on the first positioning position and the second positioning position includes:

Using the first positioning position as a reference point, an azimuth coordinate system is established, and the azimuth coordinate system includes a horizontal axis and a vertical axis perpendicular to each other, wherein the horizontal axis is connected to the target where the second positioning position is located. line parallel;

Under the reference of the azimuth coordinate system, the distance between the listener and the mobile sound source and the distance between the listener and the mobile sound source are calculated based on the first positioning position and the second positioning position Relative location data.

In an optional implementation manner of the second aspect of the present invention, the host computer, the anchor point, and the tag all include a main control unit, a UWB module, an ADC analog-to-digital conversion module, an RF transceiver unit, and an antenna.

Fig. 4 is a schematic structural diagram of a stereo synthesis device based on UWB positioning provided by an embodiment of the present invention. The stereo synthesis device based on UWB positioning may have relatively large differences due to different configurations or performances, and may include one or more than one processing 50 (central processing units, CPU) (for example, one or more processors) and memory 60, and one or more storage media 70 for storing application programs or data (for example, one or more mass storage devices). Among them, memory and storage medium can be temporary storage or persistent storage. The program stored in the storage medium may include one or more modules (not shown in the figure), and each module may include a series of instruction operations for the stereo synthesis device based on UWB positioning. Furthermore, the processor may be configured to communicate with the storage medium, and execute a series of instruction operations in the storage medium on the UWB positioning-based stereo synthesis device.

The stereo synthesis device based on UWB positioning can also include one or more power supplies 80, one or more wired or wireless network interfaces 90, one or more input and output interfaces 100, and/or, one or more operating systems, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, and more. Those skilled in the art can understand that the structure of the stereo synthesis device based on UWB positioning shown in FIG. some components, or a different arrangement of components.

The present invention also provides a computer-readable storage medium. The computer-readable storage medium may be a non-volatile computer-readable storage medium. The computer-readable storage medium may also be a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium, and when the instructions are run on the computer, the computer is made to execute the steps of the stereo synthesis method based on UWB positioning.

Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described system or system or unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disk and other various media that can store program codes. .

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still understand the foregoing The technical solutions recorded in each embodiment are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. a kind of stereo synthesis method based on UWB positioning, it is characterized in that, described stereo synthesis method comprises: Install the UWB positioning tag on the mobile audio source; A UWB wireless positioning system is arranged around the mobile sound source, and the UWB wireless positioning system includes at least 3 anchor points; Establish a communication connection between the UWB positioning tag and the UWB wireless positioning system; Establish communication connections between the UWB positioning tag and the host computer and the UWB wireless positioning system and the host computer; Collecting a monophonic audio signal through the mobile sound source, and uploading the monophonic audio signal to the host computer; Obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag, and uploading the distances between the mobile sound source and each of the anchor points to the host computer; Obtain the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the host computer; Determining the second positioning position of the listener on the periphery of the UWB wireless positioning system; Obtaining orientation data for audio output based on the first location location and the second location location; The monophonic audio signal is fused with the orientation data through an HRTF audio processing method to generate a stereophonic audio signal. 2. the stereophonic synthesis method based on UWB positioning according to claim 1, is characterized in that, described acquisition by described UWB positioning label obtains described mobile sound source respectively and the distance of each described anchor point and comprises: Repeatedly sending the ranging signal twice to each of the anchor points through the UWB positioning tag; Recording the first duration and the second duration that the ranging signal takes to reach each of the anchor points respectively for two times; receiving two response signals respectively fed back by each of the anchor points to the two ranging signals; Record the third time length and the fourth time length that the response signal takes to reach the UWB positioning tag twice for each of the anchor points; The distance between the UWB positioning tag and each of the anchor points is calculated based on the first duration, the second duration, the third duration, and the fourth duration and through a DS-TWR ranging algorithm. 3. the stereo synthesis method based on UWB positioning according to claim 2, is characterized in that, described in described upper computer obtains the first location of described mobile sound source in described UWB wireless positioning system by multilateral positioning algorithm Locations include: For each anchor point, obtain the coordinates of the anchor point and the distance between the anchor point and the mobile sound source; For each of the anchor points, a circle equation corresponding to the anchor point is established with the coordinates of the anchor point as the center and the distance between the anchor point and the mobile sound source as the radius; Constructing the set of circle equations corresponding to each of the anchor points; The least square method is used to obtain an approximate solution of the circle equation set, and the approximate solution is used as the first positioning position of the mobile sound source in the UWB wireless positioning system. 4. the stereophonic synthesis method based on UWB positioning according to claim 3, is characterized in that, described determining the listener's second positioning position on the periphery of the UWB wireless positioning system comprises: Establishing peripheral connections between each of the anchor points; finding the closest target connection to the listener from the peripheral connections; The coordinates of the midpoint of the target line are used as the second positioning position of the listener on the periphery of the UWB wireless positioning system. 5. The stereo synthesis method based on UWB positioning according to claim 4, wherein said obtaining the orientation data of audio output based on said first positioning position and said second positioning position comprises: Using the first positioning position as a reference point, an azimuth coordinate system is established, and the azimuth coordinate system includes a horizontal axis and a vertical axis perpendicular to each other, wherein the horizontal axis is connected to the target where the second positioning position is located. line parallel; Under the reference of the azimuth coordinate system, the distance between the listener and the mobile sound source and the distance between the listener and the mobile sound source are calculated based on the first positioning position and the second positioning position Relative location data. 6. the stereo synthesis method based on UWB positioning according to claim 1, is characterized in that, described upper computer, described anchor point and described label all comprise master control unit, UWB module, ADC analog-to-digital conversion module, RF A radio frequency transceiver unit and an antenna. 7. The stereo synthesis method based on UWB positioning according to claim 1, wherein the UWB wireless positioning system is provided with 3 anchor points, and the 3 anchor points are distributed in a triangle. 8. A stereo synthesis system based on UWB positioning, characterized in that, the stereo synthesis system comprises: UWB positioning tag, the UWB positioning tag is used to be installed on the mobile sound source; UWB wireless positioning system, the UWB wireless positioning system is arranged around the mobile sound source, the UWB wireless positioning system includes at least 3 anchor points, and the UWB positioning tag is communicatively connected with the UWB wireless positioning system; A host computer, the host computer communicates with the UWB positioning tag and the UWB wireless positioning system; The mobile sound source is used to collect monophonic audio signals and upload the monophonic audio signals to the host computer; The UWB positioning tag is used to obtain the distance between the mobile sound source and each of the anchor points, and upload the distance between the mobile sound source and each of the anchor points to the host computer; The host computer is used to obtain the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm; determine the second positioning position of the listener on the periphery of the UWB wireless positioning system; based on the first Obtaining orientation data of the audio output at the positioning position and the second positioning position; and fusing the monophonic audio signal with the orientation data through an HRTF audio processing method to generate a stereo audio signal. 9. A stereo synthesis device based on UWB positioning, characterized in that, the stereo synthesis device based on UWB positioning includes: a memory and at least one processor, instructions are stored in the memory, and the memory and the at least one The processors are interconnected by wires; The at least one processor invokes the instruction in the memory, so that the UWB positioning-based stereo synthesis device executes the UWB positioning-based stereo synthesis method according to any one of claims 1-7. 10. A computer-readable storage medium, with a computer program stored on the computer-readable storage medium, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1-7 is realized. Stereo synthesis method based on UWB positioning.

Images