CN116347322B - UWB-based stereo synthesis method, system, device and storage medium - Google Patents

UWB-based stereo synthesis method, system, device and storage medium

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Publication number
CN116347322B
CN116347322B CN202310274363.3A CN202310274363A CN116347322B CN 116347322 B CN116347322 B CN 116347322B CN 202310274363 A CN202310274363 A CN 202310274363A CN 116347322 B CN116347322 B CN 116347322B
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China
Prior art keywords
positioning
uwb
anchor point
sound source
mobile sound
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CN116347322A (en
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韦伟才
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Shenzhen Longxinwei Semiconductor Technology Co ltd
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Shenzhen Longxinwei Semiconductor Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04S—STEREOPHONIC SYSTEMS 
    • H04S7/00—Indicating arrangements; Control arrangements, e.g. balance control
    • H04S7/30—Control circuits for electronic adaptation of the sound field
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L19/00—Speech or audio signals analysis-synthesis techniques for redundancy reduction, e.g. in vocoders; Coding or decoding of speech or audio signals, using source filter models or psychoacoustic analysis
    • G10L19/008—Multichannel audio signal coding or decoding using interchannel correlation to reduce redundancy, e.g. joint-stereo, intensity-coding or matrixing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04S—STEREOPHONIC SYSTEMS 
    • H04S2420/00—Techniques used stereophonic systems covered by H04S but not provided for in its groups
    • H04S2420/01—Enhancing the perception of the sound image or of the spatial distribution using head related transfer functions [HRTF's] or equivalents thereof, e.g. interaural time difference [ITD] or interaural level difference [ILD]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04S—STEREOPHONIC SYSTEMS 
    • H04S2420/00—Techniques used stereophonic systems covered by H04S but not provided for in its groups
    • H04S2420/13—Application of wave-field synthesis in stereophonic audio systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Acoustics & Sound (AREA)
  • Mathematical Physics (AREA)
  • Computational Linguistics (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides a stereo synthesis method, a system, equipment and a storage medium based on UWB positioning, wherein the stereo synthesis method is characterized in that UWB positioning labels are arranged on a mobile sound source, a set of UWB wireless positioning system is arranged around the mobile sound source, the system comprises more than 3 anchor points, the anchor points and the labels are communicated, the distances between the labels and the anchor points are calculated in real time and are uploaded to an upper computer at the same time, a mono audio signal collected by a microphone moving along with the sound source is uploaded to the upper computer at the same time, and the upper computer utilizes a sound image reproduction technology to fuse the position information of the mono sound collected by the microphone and the labels and utilizes HRTF to generate a stereo audio signal. The stereo synthesis method of the invention realizes that the stereo pick-up synthesis can be completed under the condition that only the mono audio is acquired for the mobile audio source.

Description

Stereo synthesis method, system, equipment and storage medium based on UWB positioning
Technical Field
The present invention relates to the field of audio processing technologies, and in particular, to a stereo synthesis method, system, device, and storage medium based on UWB positioning.
Background
In a general stereo pickup technology, 2 microphones with the same performance parameters are separated by different distances or are arranged at a specific angle, because the microphones have directivity and different sound sensitivity in all directions, a sound level difference is generated when the sound is collected, and the size of the distance between the 2 microphones determines the time difference of 2 paths of picked-up sounds. The stereo audio utilizes the level difference/time difference of the collected 2 paths of audio to merge the two paths of sound, thereby constructing the layering sense of the stereo. The common stereo pickup technology includes XY system, MS system and AB system, which are mainly distinguished according to the included angle and distance between two microphones, and of course, there is a method of pickup with multiple microphones.
However, in either sound pickup method, there is a limitation:
the pick-up microphone is fixed, and if the sound source is far away, the effect and sensitivity are greatly affected.
The sound pickup effect can cause relatively large loss, and the effect is worse when a plurality of sound sources are moved at the same time.
Especially, for the application scene requiring on-site recording such as on-site recording or stage play, the stage area is relatively large, the positions of the actors can change at any time, and a plurality of actors move simultaneously.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
The invention aims to solve the problem that the prior art lacks a stereo pickup synthesis method aiming at a mobile sound source.
The first aspect of the present invention provides a stereo synthesis method based on UWB positioning, the stereo synthesis method comprising:
Mounting the UWB positioning tag on the mobile sound source;
a UWB wireless positioning system is arranged around the mobile sound source, and the UWB wireless positioning system comprises at least 3 anchor points;
establishing communication connection between the UWB positioning tag and the UWB wireless positioning system;
establishing communication connection between the UWB positioning tag and an upper computer and between the UWB wireless positioning system and the upper computer;
Acquiring a mono audio signal through the mobile sound source, and uploading the mono audio signal to the upper computer;
Obtaining the distance between the mobile sound source and each anchor point through the UWB positioning tag, and uploading the distance between the mobile sound source and each anchor point to the upper computer;
Acquiring a first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the upper computer;
determining a second location of the listener at the periphery of the UWB wireless location system;
obtaining azimuth data of the audio output based on the first positioning position and the second positioning position;
And fusing the mono audio signal and the azimuth data through an HRTF audio processing method to generate a stereo audio signal.
In an optional implementation manner of the first aspect of the present invention, the obtaining, by the UWB positioning tag, distances between the mobile audio source and each of the anchor points includes:
repeatedly transmitting 2 ranging signals to each anchor point through the UWB positioning tag;
recording a first time length and a second time length which are spent by the ranging signals reaching each anchor point for 2 times respectively;
receiving 2 response signals fed back by each anchor point for 2 times of the ranging signals respectively;
Recording a third time length and a fourth time length which are spent by each anchor point for 2 times when the response signals reach the UWB positioning tag respectively;
And calculating the distance between the UWB positioning tag and each anchor point through a DS-TWR ranging algorithm based on the first time length, the second time length, the third time length and the fourth time length.
In an optional implementation manner of the first aspect of the present invention, the obtaining, in the upper computer, the first positioning position of the mobile audio source in the UWB wireless positioning system by using a multilateral positioning algorithm includes:
for each anchor point, acquiring coordinates of the anchor point and a distance between the anchor point and the mobile sound source;
For each anchor point, establishing a circle equation corresponding to the anchor point by taking the coordinates of the anchor point as a circle center and taking the distance between the anchor point and the mobile sound source as a radius;
constructing a round equation set corresponding to each anchor point;
And solving an approximate solution of the circular equation set by using a least square method, and taking the approximate solution as a first positioning position of the mobile sound source in the UWB wireless positioning system.
In an alternative implementation of the first aspect of the present invention, the determining the second location of the listener at the periphery of the UWB wireless location system includes:
establishing peripheral connection lines among the anchor points;
finding a target line closest to the listener from the peripheral line;
And taking the coordinate of the midpoint of the target connecting line as a second positioning position of the listener at the periphery of the UWB wireless positioning system.
In an optional implementation manner of the first aspect of the present invention, the obtaining the azimuth data of the audio output based on the first positioning position and the second positioning position includes:
Establishing an azimuth coordinate system by taking the first positioning position as a datum point, wherein the azimuth coordinate system comprises a transverse axis and a vertical axis which are perpendicular to each other, and the transverse axis is parallel to the target connecting line where the second positioning position is located;
And calculating the distance between the listener and the mobile sound source and the relative position data between the listener and the mobile sound source based on the first positioning position and the second positioning position under the reference of the azimuth coordinate system.
In an optional implementation manner of the first aspect of the present invention, the host computer, the anchor point and the tag each include a main control unit, a UWB module, an ADC analog-to-digital conversion module, an RF radio frequency 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 3 anchor points, and the 3 anchor points are distributed in a triangle.
A second aspect of the present invention provides a stereo synthesis system based on UWB positioning, the stereo synthesis system comprising:
the UWB positioning tag is used for being installed on the mobile sound source;
the UWB wireless positioning system is arranged around the mobile sound source and comprises at least 3 anchor points, and the UWB positioning tag is in communication connection with the UWB wireless positioning system;
The upper computer is in communication connection with the UWB positioning tag and the UWB wireless positioning system;
The mobile sound source is used for collecting a mono audio signal and uploading the mono audio signal to the upper computer;
the UWB positioning tag is used for obtaining the distances between the mobile sound source and each anchor point and uploading the distances between the mobile sound source and each anchor point to the upper computer;
The upper computer is used for obtaining a first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm, determining a second positioning position of a listener at the periphery of the UWB wireless positioning system, obtaining azimuth data of audio output based on the first positioning position and the second positioning position, and fusing the mono audio signal and the azimuth data through an HRTF audio processing method to generate a stereo audio signal.
A third aspect of the present invention provides a UWB positioning-based stereo synthesis apparatus comprising a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the UWB positioning based stereo synthesis apparatus to perform the UWB positioning based stereo synthesis method as set forth in any one of the preceding claims.
A fourth aspect of the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a stereo synthesis method based on UWB positioning as described in any of the above.
The stereo synthesis method has the advantages that the UWB positioning labels are installed on the mobile sound sources, a set of UWB wireless positioning system is arranged around the mobile sound sources, the system comprises more than 3 anchor points, the anchor points and the labels are communicated, the distances between the labels and the anchor points are calculated in real time and are uploaded to an upper computer at the same time, meanwhile, mono audio signals collected by a microphone moving along with the sound sources are uploaded to the upper computer, and the upper computer utilizes a sound image reproduction technology to fuse the position information of the mono sound collected by the microphone and the labels and utilizes the HRTF to generate stereo audio signals. The stereo synthesis method of the invention realizes that the stereo pick-up synthesis can be completed under the condition that only the mono audio is acquired for the mobile audio source.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a method of stereo synthesis based on UWB positioning according to the invention;
FIG. 2 is a schematic diagram of one embodiment of a UWB based stereo synthesis system according to the invention;
FIG. 3 is a diagram of a host computer according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an embodiment of a stereo synthesizing apparatus based on UWB positioning according to the present invention.
Detailed Description
The embodiment of the invention provides a stereo synthesis method, a system, equipment and a storage medium based on UWB positioning.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, a specific flow of an embodiment of the present invention is described below, referring to fig. 1, and a first aspect of the present invention provides a stereo synthesis method based on UWB positioning, where the stereo synthesis method includes:
s001, mounting the UWB positioning label on a mobile sound source, wherein one scene suitable for the invention can be stage play, the mobile sound source is a microphone device carried by an actor, in the step, the UWB positioning label is mounted on the mobile sound source, namely the UWB positioning label is mounted on the microphone device carried by the actor, and of course, the UWB positioning label can also be integrated with the microphone device;
S002, arranging UWB wireless positioning systems around the mobile sound source, wherein the UWB wireless positioning systems comprise 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 a stage, and arranging UWB wireless positioning systems around the mobile sound source, namely arranging anchor points surrounding the stage around the stage for performance, wherein the number of the anchor points is required to be determined according to the size of an actual stage and the positioning precision of the sound source;
In the invention, the UWB positioning tag needs to acquire positioning information through each anchor point in the UWB wireless positioning system, so the communication connection between the UWB positioning tag and each anchor point in the UWB wireless positioning system needs to be established;
s004, establishing communication connection between the UWB positioning tag and an upper computer and communication connection between the UWB wireless positioning system and the upper computer, wherein the mobile sound source and the UWB positioning tag have limited data processing capacity, and the upper computer is used for synthesizing the audio signal after the mobile sound source collects the audio signal and the UWB positioning tag collects the position information;
S005, acquiring a mono audio signal through the mobile sound source, and uploading the mono audio signal to the upper computer; in the invention, a mobile sound source generally only carries one microphone, and an audio signal obtained by the mobile sound source is a mono audio signal;
S006, obtaining the distances between the mobile sound source and each anchor point through the UWB positioning tag, and uploading the distances between the mobile sound source and each anchor point to the upper computer; in the invention, the position of the UWB positioning label is determined mainly by calculating the distance between the UWB positioning label and each anchor point in the UWB wireless positioning system, in the invention, the distance between the UWB positioning label and each anchor point is processed in the UWB positioning label, the position of the UWB positioning label is processed in an upper computer according to the distance between the UWB positioning label and each anchor point, and in the invention, the coordinates of each anchor point are known in the UWB wireless positioning system;
S007, obtaining a first positioning position of the mobile sound source in the UWB wireless positioning system in the upper computer through a polygonal positioning algorithm, wherein the polygonal positioning algorithm is used for calculating coordinates of the UWB positioning tag according to the distance between the UWB positioning tag and each anchor point and the exact coordinates of each anchor point, and the first positioning position is the solved coordinates of the UWB positioning tag;
S008, determining a second positioning position of the listener at the periphery of the UWB wireless positioning system, wherein the purpose of determining the second positioning position of the listener at the periphery of the UWB wireless positioning system is to determine the relative position between a mobile sound source and the listener, whether the sound source is at the left side or the right side of the listener, and what the included angle is, after the relative position information is obtained, the output time of left and right channel audio signals and the delay of the left and right channel audio signals in the subsequent synthesis of stereo audio are conveniently calculated;
In the invention, the azimuth data is the relative position between the first positioning position and the second positioning position, and in the step, the position of the listener relative to the mobile sound source is obtained by taking the mobile sound source as a reference in general;
S010, fusing the mono audio signal and the azimuth data through an HRTF audio processing method to generate a stereo audio signal. In the invention, the HRTF is a general audio processing technology, the single-channel sound is converted into the double-channel sound through the HRTF processing, and the information such as intensity time delay of the left channel and the right channel of the double-channel sound is adjusted, so that a listener can distinguish whether the sound is transmitted from the left side or the right side, and the spatial position information of the mobile sound source is fused into the played sound.
In general, the present invention provides a spatial stereo pickup method based on UWB wireless positioning. With this method, stereo pickup of one sound source can be completed with only 1 microphone. The main idea of the invention is as shown in figure 1, a set of UWB wireless positioning system is arranged around the sound source, the system comprises more than 3 fixed anchor points for providing positioning coordinates and a tag capable of moving along with the sound source, the anchor points and the tag are communicated, the coordinates of the tag are calculated in real time and are uploaded to an upper computer at the same time, a mono audio signal collected by a microphone moving along with the sound source is uploaded to the upper computer at the same time, and the upper computer utilizes a sound image reproduction technology to fuse the mono sound collected by the microphone and the position information of the tag through HRTF (Head-Response Transfer Function, head response transfer function) to generate a spatial stereo audio signal. Further, the UWB wireless positioning accuracy can reach 2-5 cm, and the method can be well suitable for scenes in which a plurality of sound sources move at the same time.
In an optional implementation manner of the first aspect of the present invention, the obtaining, by the UWB positioning tag, distances between the mobile audio source and each of the anchor points includes:
In the invention, when the distance of each anchor point of the UWB positioning label is obtained each time, 2 ranging signals are transmitted at intervals, the interval time of the 2 ranging signals is 10-30ms, the transmission time of the one ranging signal is recorded when the UWB positioning label does not transmit the one ranging signal, the time of each reception is recorded when the anchor point receives the ranging signal each time, a response signal is fed back to the UWB positioning label, and the anchor point transmits the time of each reception of the ranging signal and the transmission time of the response signal besides the response signal to the UWB positioning label;
In the invention, after receiving the receiving time of the ranging signal fed back by the anchor point, the UWB positioning tag performs difference value operation with the sending time of the corresponding ranging signal to obtain the time spent by the ranging signal, and in the invention, 2 corresponding time lengths are also obtained because the ranging signal is sent for 2 times;
In the invention, after receiving the response signals each time, the UWB positioning tag records the receiving time of the response signals, and then carries out difference value operation with the sending time of the response signals to obtain the propagation time of the response signals;
In the invention, 2 corresponding response signals are generated because the distance measurement signals are transmitted for 2 times, and the propagation time of the response signals is generated for 2 times;
And calculating the distance between the UWB positioning tag and each anchor point through a DS-TWR ranging algorithm based on the first time length, the second time length, the third time length and the fourth time length. In the method, an average time length is obtained firstly, and an average time length obtaining formula is (first time length is equal to second time length is equal to third time length is equal to fourth time length is equal to first time length is equal to second time length is equal to third time length is equal to fourth time length, after the average time length is obtained, the distance between the UWB positioning tag and each anchor point is obtained through multiplying the average time length 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, in the upper computer, the first positioning position of the mobile audio source in the UWB wireless positioning system by using a multilateral positioning algorithm includes:
in the invention, taking 3 anchor points as examples, the coordinates of the 3 anchor points are (a, b), (c, d) and (e, f) respectively, and the corresponding distances are p, q and r respectively;
For each anchor point, establishing a circle equation corresponding to the anchor point by taking the coordinates of the anchor point as a circle center and taking the distance between the anchor point and the mobile sound source as a radius, wherein in the invention, the circle equations corresponding to 3 anchor points are (x-a) 2+(x-b)2＝p2,(x-c)2+(x-d)2＝q2 and (x-e) 2+(x-f)2＝r2 respectively;
constructing a round equation set corresponding to each anchor point;
And solving an approximate solution of the circular equation set by using a least square method, and taking the approximate solution as a first positioning position of the mobile sound source in the UWB wireless positioning system. In the invention, when actually calculating, because p, q and r are actually error, the circles corresponding to the 3 anchor points do not intersect with one point, 3 intersection points of the overlapping area of the 3 circles are calculated firstly when calculating, and finally, the average value of the 3 intersection points can be taken as the coordinate of the first positioning position.
In an alternative implementation of the first aspect of the present invention, the determining the second location of the listener at the periphery of the UWB wireless location system includes:
Taking 3 anchor points as an example, namely connecting the 3 anchor points, specifically, the 3 anchor point peripheral connecting lines form a 3-angle shape, the 4 anchor point peripheral connecting lines form a 4-edge shape, and the N anchor point peripheral connecting lines form an N-edge shape;
In the present invention, since the audience is actually not only 1, a group of listeners can be replaced by a point, and in the present invention, the coordinate of the midpoint of the target line is selected as the second location of the listener at the periphery of the UWB wireless location system.
In an optional implementation manner of the first aspect of the present invention, the obtaining the azimuth data of the audio output based on the first positioning position and the second positioning position includes:
And establishing an azimuth coordinate system by taking the first positioning position as a reference point, wherein the azimuth coordinate system comprises a transverse axis and a vertical axis which are perpendicular to each other, wherein the transverse axis is parallel to the target connecting line where the second positioning position is located.
And calculating the distance between the listener and the mobile sound source and the relative position data between the listener and the mobile sound source based on the first positioning position and the second positioning position under the reference of the azimuth coordinate system. In the invention, the relative position data between the listener and the mobile sound source is the included angle between the horizontal axis and the vertical axis of the horizontal axis of the azimuth coordinate system formed by the connecting line of the listener and the mobile sound source, and the main function of the distance between the listener and the mobile 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 each include a main control unit, a UWB module, an ADC analog-to-digital conversion module, an RF radio frequency transceiver unit and an antenna. Referring to fig. 3, in a specific structure of the upper computer, the upper computer used in the invention further comprises an audio power amplifier module and a microphone module, and the main control unit is connected with the data processing terminal through a serial port in specific use.
In an optional implementation manner of the first aspect of the present invention, the UWB wireless positioning system is provided with 3 anchor points, and the 3 anchor points are distributed in a triangle. In the invention, 3 anchor points are adopted to reduce the calculated amount of data under the condition of meeting the requirement of certain positioning precision, improve the processing efficiency of the data, and certainly, the specific anchor points are required to be set according to the actual situation under the condition that the surrounding stage cannot be met by the 3 anchor points.
Referring to fig. 2, a second aspect of the present invention provides a stereo synthesis system based on UWB positioning, the stereo synthesis system comprising:
a UWB positioning tag 10 for mounting on a mobile audio source;
The UWB wireless positioning system 20 is arranged around the mobile sound source, the UWB wireless positioning system comprises at least 3 anchor points, and the UWB positioning tag is in communication connection with the UWB wireless positioning system;
The upper computer 30 is in communication connection with the UWB positioning tag and the UWB wireless positioning system;
The mobile sound source is used for collecting a mono audio signal and uploading the mono audio signal to the upper computer;
the UWB positioning tag is used for obtaining the distances between the mobile sound source and each anchor point and uploading the distances between the mobile sound source and each anchor point to the upper computer;
The upper computer is used for obtaining a first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm, determining a second positioning position of a listener at the periphery of the UWB wireless positioning system, obtaining azimuth data of audio output based on the first positioning position and the second positioning position, and fusing the mono audio signal and the azimuth 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, the obtaining, by the UWB positioning tag, distances between the mobile audio source and each of the anchor points includes:
repeatedly transmitting 2 ranging signals to each anchor point through the UWB positioning tag;
recording a first time length and a second time length which are spent by the ranging signals reaching each anchor point for 2 times respectively;
receiving 2 response signals fed back by each anchor point for 2 times of the ranging signals respectively;
Recording a third time length and a fourth time length which are spent by each anchor point for 2 times when the response signals reach the UWB positioning tag respectively;
And calculating the distance between the UWB positioning tag and each anchor point through a DS-TWR ranging algorithm based on the first time length, the second time length, the third time length and the fourth time length.
In an optional implementation manner of the second aspect of the present invention, the obtaining, in the upper computer, the first positioning position of the mobile audio source in the UWB wireless positioning system through a multilateral positioning algorithm includes:
for each anchor point, acquiring coordinates of the anchor point and a distance between the anchor point and the mobile sound source;
For each anchor point, establishing a circle equation corresponding to the anchor point by taking the coordinates of the anchor point as a circle center and taking the distance between the anchor point and the mobile sound source as a radius;
constructing a round equation set corresponding to each anchor point;
And solving an approximate solution of the circular equation set by using a least square method, and taking the approximate solution as a first positioning position of the mobile sound source in the UWB wireless positioning system.
In an alternative embodiment of the second aspect of the present invention, said determining a second location of the listener at the periphery of said UWB wireless location system comprises:
establishing peripheral connection lines among the anchor points;
finding a target line closest to the listener from the peripheral line;
And taking the coordinate of the midpoint of the target connecting line as a second positioning position of the listener at the periphery of the UWB wireless positioning system.
In an optional implementation manner of the second aspect of the present invention, the obtaining the azimuth data of the audio output based on the first positioning position and the second positioning position includes:
Establishing an azimuth coordinate system by taking the first positioning position as a datum point, wherein the azimuth coordinate system comprises a transverse axis and a vertical axis which are perpendicular to each other, and the transverse axis is parallel to the target connecting line where the second positioning position is located;
And calculating the distance between the listener and the mobile sound source and the relative position data between the listener and the mobile sound source based on the first positioning position and the second positioning position under the reference of the azimuth coordinate system.
In an optional embodiment of the second aspect of the present invention, the host computer, the anchor point and the tag each include a main control unit, a UWB module, an ADC analog-to-digital conversion module, an RF radio frequency transceiver unit and an antenna.
Fig. 4 is a schematic structural diagram of a stereo synthesis device based on UWB positioning according to an embodiment of the present invention, where the stereo synthesis device based on UWB positioning may have a relatively large difference due to configuration or performance, and may include one or more processors 50 (central processing units, CPU) (e.g., one or more processors) and a memory 60, one or more storage mediums 70 (e.g., one or more mass storage devices) for storing application programs or data. The memory and storage medium may be transitory or persistent. The program stored on the storage medium may include one or more modules (not shown), each of which may include a series of instruction operations in a UWB positioning-based stereo synthesis apparatus. Still further, the processor may be configured to communicate with a storage medium and to perform a series of instruction operations in the storage medium on a UWB positioning based stereo synthesis device.
The UWB positioning-based stereo synthesis device may also include one or more power supplies 80, one or more wired or wireless network interfaces 90, one or more input output interfaces 100, and/or one or more operating systems, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the UWB positioning based stereo synthesis apparatus structure shown in fig. 4 is not limiting and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and may also be a volatile computer readable storage medium, where instructions are stored in the computer readable storage medium, when the instructions are executed on a computer, cause the computer to perform the steps of the stereo synthesis method based on UWB positioning.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system or the unit described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
While the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that the foregoing embodiments may be modified or equivalents may be substituted for some of the features thereof, and that the modifications or substitutions do not depart from the spirit and scope of the embodiments of the invention.

Claims (8)

1. A stereo synthesis method based on UWB positioning, characterized in that the stereo synthesis method comprises:
Mounting the UWB positioning tag on the mobile sound source;
a UWB wireless positioning system is arranged around the mobile sound source, and the UWB wireless positioning system comprises at least 3 anchor points;
establishing communication connection between the UWB positioning tag and the UWB wireless positioning system;
establishing communication connection between the UWB positioning tag and an upper computer and between the UWB wireless positioning system and the upper computer;
Acquiring a mono audio signal through the mobile sound source, and uploading the mono audio signal to the upper computer;
Obtaining the distance between the mobile sound source and each anchor point through the UWB positioning tag, and uploading the distance between the mobile sound source and each anchor point to the upper computer;
Acquiring a first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the upper computer;
determining a second location of the listener at the periphery of the UWB wireless location system;
obtaining azimuth data of the audio output based on the first positioning position and the second positioning position;
fusing the mono audio signal and the azimuth data through an HRTF audio processing method to generate a stereo audio signal;
The distance between the mobile sound source and each anchor point obtained by the UWB positioning tag comprises the following steps:
repeatedly transmitting 2 ranging signals to each anchor point through the UWB positioning tag;
recording a first time length and a second time length which are spent by the ranging signals reaching each anchor point for 2 times respectively;
receiving 2 response signals fed back by each anchor point for 2 times of the ranging signals respectively;
recording a third time length and a fourth time length which are spent by 2 times of the response signals of each anchor point to reach the UWB positioning tag respectively;
Calculating the distance between the UWB positioning tag and each anchor point through a DS-TWR ranging algorithm based on the first time length, the second time length, the third time length and the fourth time length;
the obtaining, by the upper computer, the first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm includes:
for each anchor point, acquiring coordinates of the anchor point and a distance between the anchor point and the mobile sound source;
For each anchor point, establishing a circle equation corresponding to the anchor point by taking the coordinates of the anchor point as a circle center and taking the distance between the anchor point and the mobile sound source as a radius;
constructing a round equation set corresponding to each anchor point;
And solving an approximate solution of the circular equation set by using a least square method, and taking the approximate solution as a first positioning position of the mobile sound source in the UWB wireless positioning system.
2. The UWB positioning based stereo synthesis method of claim 1 wherein the determining a second positioning location of a listener at a periphery of the UWB wireless positioning system comprises:
establishing peripheral connection lines among the anchor points;
finding a target line closest to the listener from the peripheral line;
And taking the coordinate of the midpoint of the target connecting line as a second positioning position of the listener at the periphery of the UWB wireless positioning system.
3. The UWB positioning based stereo synthesis method of claim 2 wherein the obtaining the audio output azimuth data based on the first and second positioning locations comprises:
Establishing an azimuth coordinate system by taking the first positioning position as a datum point, wherein the azimuth coordinate system comprises a transverse axis and a vertical axis which are perpendicular to each other, and the transverse axis is parallel to the target connecting line where the second positioning position is located;
And calculating the distance between the listener and the mobile sound source and the relative position data between the listener and the mobile sound source based on the first positioning position and the second positioning position under the reference of the azimuth coordinate system.
4. The UWB positioning based stereo synthesis method of claim 1 wherein the host computer, the anchor point and the tag each comprise a master control unit, a UWB module, an ADC analog to digital conversion module, an RF radio frequency transceiver unit and an antenna.
5. The UWB positioning based stereo synthesis method of claim 1 wherein the UWB wireless positioning system is provided with 3 anchor points, the 3 anchor points being triangularly distributed.
6. A stereo synthesis system based on UWB positioning, the stereo synthesis system comprising:
the UWB positioning tag is used for being installed on the mobile sound source;
the UWB wireless positioning system is arranged around the mobile sound source and comprises at least 3 anchor points, and the UWB positioning tag is in communication connection with the UWB wireless positioning system;
The upper computer is in communication connection with the UWB positioning tag and the UWB wireless positioning system;
The mobile sound source is used for collecting a mono audio signal and uploading the mono audio signal to the upper computer;
The UWB positioning tag is used for obtaining distances between the mobile sound source and each anchor point respectively, and uploading the distances between the mobile sound source and each anchor point respectively to the upper computer, wherein obtaining the distances between the mobile sound source and each anchor point respectively comprises repeatedly sending 2 ranging signals to each anchor point through the UWB positioning tag, recording a first time length and a second time length which are taken by the 2 ranging signals to reach each anchor point respectively, receiving 2 response signals which are fed back by each anchor point for 2 times of the ranging signals respectively, recording a third time length and a fourth time length which are taken by the 2 response signals of each anchor point to reach the UWB positioning tag respectively, and calculating the distances between the UWB positioning tag and each anchor point through a DS-TWR ranging algorithm based on the first time length, the second time length, the third time length and the fourth time length;
The upper computer is used for obtaining a first positioning position of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm, determining a second positioning position of a listener at the periphery of the UWB wireless positioning system, obtaining azimuth data of audio output based on the first positioning position and the second positioning position, fusing the mono audio signal with the azimuth data through an HRTF audio processing method to generate a stereo audio signal, wherein obtaining the first positioning position of the mobile sound source in the UWB wireless positioning system through the multilateral positioning algorithm comprises the steps of obtaining coordinates of the anchor point and a distance between the anchor point and the mobile sound source for each anchor point, establishing a round equation set corresponding to the anchor point by taking the coordinates of the anchor point as a circle center and the distance between the anchor point and the mobile sound source as a radius for each anchor point, obtaining an approximate solution of the round equation set by using a least square method, and taking the approximate solution as the first positioning position of the mobile sound source in the UWB wireless positioning system.
7. A UWB positioning-based stereo synthesis device, comprising a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;
the at least one processor invoking the instructions in the memory to cause the UWB positioning based stereo synthesis apparatus to perform the UWB positioning based stereo synthesis method of any of claims 1-5.
8. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a stereo synthesis method based on UWB localization as defined in any of the claims 1-5.
CN202310274363.3A 2023-03-17 2023-03-17 UWB-based stereo synthesis method, system, device and storage medium Active CN116347322B (en)

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