Digital spatial acoustic compensation method and system, and audio system

Abstract

The application relates to a digital spatial acoustic compensation (DRC) method comprising: establishing a wireless communication link between a digital spatial acoustic compensation system and a true wireless stereo (TWS) headphone; in response to establishing the wireless communication link, sending a start-up instruction to the true wireless stereo headphone, the start-up instruction comprising an instruction to enable one or more microphones; instructing the audio output system to output the received one or more audio test sounds; receiving one or more first digital signals, each digital signal representing one or more audio test sounds acquired in a respective audio channel; performing digital signal processing, the digital signal processing including spatial impulse response audio signal processing, thereby generating one or more time domain and / or frequency domain correction filters; and at least temporarily storing the one or more time-domain and / or frequency-domain correction filters to apply and correct an audio input signal of the audio output system prior to outputting the audible audio.

Description

Technical Field

[0001] This invention relates to an automatic or semi-automatic digital room acoustics compensation (DRC) method, a digital room acoustics compensation (DRC) system, and an audio system for an audio output system placed in a space. Background Technology

[0002] According to existing technology, when an audio system, such as a soundbar, smart speaker, multiple high-fidelity speakers, or any device that reproduces sound within a space, is placed in a space, its acoustic performance, particularly the audible audio received by the listener, can be severely affected by the acoustic characteristics of the space and the objects within it. Reflective objects, such as walls, ceilings, and furniture, typically alter the original content of the audible audio by introducing amplitude, time, and phase errors across the entire frequency band. Standing waves can cause acoustic vanishing (sound cancellation) and acoustic peaks due to the acoustic characteristics of the space. This challenge becomes even more pronounced in modern surround sound applications, such as spatial audio, 3D audio, Dolby Atmos, DTS, etc., because such systems typically output the same audio (i.e., audible audio) to the space simultaneously through multiple audio channels, such as a living room or other spaces within a building. The individual time and timing calibrations of different audio channels in a surround sound setup are almost unpredictable in most spaces and are frequently affected.

[0003] According to certain solutions, the phase and time response can be corrected, and appropriate time delays can be added to each audio channel.

[0004] However, there is still room for improvement in existing digital acoustic compensation (DSC) methods, particularly in terms of efficiency, ease of implementation, and / or accuracy. Summary of the Invention

[0005] Therefore, the object of the present invention is to provide an automatic or semi-automatic digital spatial acoustic compensation (DRC) method for an audio output system placed in a space and used to output audible audio signals into the space for a listener (human). Furthermore, a corresponding spatial acoustic compensation (DRC) system, a system including this digital spatial acoustic compensation system, and an audio system should also be provided.

[0006] This objective is achieved through the functional combination in the independent claims. Specific implementations can be derived from the dependent claims and the exemplary embodiments described below and in the accompanying drawings.

[0007] According to one embodiment, an automatic or semi-automatic digital spatial acoustic compensation (DRC) method for an audio output system is provided. The audio output system, such as a soundbar, a smart speaker, multiple high-fidelity speakers, or any device for reproducing sound in a space to provide audible audio to a listener, is positioned in a space. The space may be, for example, a living room, a space within a building, or any other location. Specifically, the audio output system is configured to output audible audio to the space. The audio system may have multiple channels for outputting audio.

[0008] The underlying digital spatial acoustic compensation (DRC) method is based on room impulse response (RIR) audio signal processing, a technique known in the field. RIR is a technique used to describe how sound propagates and interacts in a space. By acquiring, for example, the impulse response, the acoustic characteristics of the space, such as reverberation time, frequency response, and reflection patterns, can be analyzed. This information can be used to correct the output of an audio system to compensate for interference caused by spatial characteristics (including furniture, curtains, etc.). Therefore, RIR can provide optimized audible audio output for an audio output system installed in a space. The method can be performed by the digital spatial acoustic compensation system. The digital spatial acoustic compensation system can be integrated into an audio output system or implemented as a standalone component, connected to the audio output system via wired or wireless connections.

[0009] The method includes the following steps:

[0010] i) Establish a wireless communication link between a digital spatial acoustic compensation system (i.e., a system that performs or implements DRC) and true wireless stereo (TWS) earbuds. Each TWS earbud includes a microphone, particularly a beamforming microphone, for acquiring audio. After establishing the wireless communication link, the digital spatial acoustic compensation system and the TWS earbuds can be configured to perform wireless digital signal exchange, particularly bidirectionally between the digital spatial acoustic compensation system and the TWS. True wireless stereo earbuds including one or more microphones are known technology in the art.

[0011] ii) In response to the establishment of a wireless communication link, particularly after successful coordination between components, the method includes sending a start command to the true wireless stereo earbuds, wherein, in order to perform subsequent method steps, the true wireless stereo earbuds need to be placed in the listener's left and right ears respectively. Specifically, one true wireless stereo earbud is placed in the right ear and the other in the left ear. The start command includes an instruction to activate one or more microphones in the true wireless stereo earbuds. This means that each true wireless stereo earbud includes a microphone, and the start command is used to enable the digital spatial acoustic compensation system to receive signals from the earbuds related to the sound or audio recorded by the microphone.

[0012] In response to receiving an acknowledgment signal to confirm the successful establishment of the wireless communication link, such as receiving or detecting an acknowledgment signal from the headset or another entity communicating with the digital spatial acoustic compensation system and / or the headset, the method includes the following additional steps:

[0013] iii) Instruct the audio output system, particularly one or more of its audio speakers, to output one or more (particularly sequentially) audio test sounds (or tones) in the case of multiple speakers or channels, especially sequentially, these sounds being designed to be received by the enabled microphone of the true wireless stereo headphones. Due to the microphone's activation, the audio test sounds can be recorded by the microphone of the true wireless stereo headphones. The recorded audio can be transmitted to or retrieved from the digital spatial acoustic compensation (DSC) system via a wireless communication link, for example, based on an encoded digital signal or a digital signal representing the recorded audio.

[0014] Therefore, the method can continue with the following steps:

[0015] iv) Receive one or more, or a series of, first digital signals from the true wireless stereo headphones, each first digital signal representing one or more, or a series of, sounds from a single audio channel of the acquired audio test sound.

[0016] v) Performing digital signal processing on one or more, or a series of, first digital signals, said digital signal processing including spatial impulse response (RIR) audio signal processing to generate one or more time- and / or frequency-domain correction filters. For the purposes of this disclosure, said correction filters include all correction measures calculated or determined by a digital spatial acoustic compensation system.

[0017] as well as

[0018] vi) At least temporarily store the one or more time and / or frequency domain correction filters for use. The correction filters can be used to correct the audio input signal of the audio output system, for example, before the audio output system outputs audible audio corresponding to the audio input signal, for example, through the output of (particularly two or more) speakers of the audio output system.

[0019] Therefore, the proposed method involves recording the audio test sound through a microphone of the true wireless stereo earbuds and providing the corresponding signal to a digital spatial acoustic compensation (DRC) system for digital spatial acoustic compensation. During DRC, the true wireless stereo earbuds are worn inside the listener's ears, making DRC more accurate and efficient because the microphone is as close as possible to the listener's ears and reflects the position and orientation of the listener's ears. Furthermore, the proposed method is relatively simple and convenient for users / listeners who wish to perform DRC measurements and / or analysis.

[0020] Furthermore, because the headphones are placed in both ears of the listener, and the test signals are recorded from both headphones, optimal results for reasonable digital spatial acoustic compensation (DRC) can be obtained. Specifically, placing the headphones in each of the listener's ears closely simulates how the listener's ears perceive sound, particularly regarding the position and orientation of the ears in space relative to the audio output system (such as two or more speakers or a soundbar). It is suggested that using headphones in both ears, compared to a one-dimensional system using only a single microphone in space, offers the following advantages: it enables the assessment of (precise) spatial location information of sound, which is crucial for correcting the root causes of acoustic errors.

[0021] It is important to note that the proposed method is described from the perspective of communication between the Digital Spatial Acoustic Compensation (DRC) system and the headphones and potentially other components. Other perspectives, such as those from one or both headphones, or additional devices like smartphones, tablets, computers, smart TVs, etc., that mediate communication between the DRC and the true wireless stereo headphones, should also be considered. In these cases, the direction of digital signals, such as the exchange of wireless signals (transmission and reception), may change.

[0022] Furthermore, the method should not be limited to direct wireless interaction between the digital spatial acoustic compensation system and the headphones, but should also include wireless interaction mediated by a device capable of wirelessly communicating with both the digital spatial acoustic compensation system and the headphones. For example, mobile devices such as smartphones, tablets, computers, or smart devices (such as smart TVs) can be used, containing software, such as applications (Apps), which, when executed on the device (by one or more processors), are capable of at least partially mediating data communication between the digital spatial acoustic compensation system and the headphones, or executing the DRC. For instance, a smartphone includes a user interface with a display and may include software (e.g., an App) that allows the user to select the digital spatial acoustic compensation system and headphones that are available and identified within the smartphone's wireless range. The App can be configured to allow the user to set up the wireless connection between the DRC and the headphones, start or stop the DRC, select an operating mode, and / or enable DRC configuration settings. Furthermore, the display of the user interface of the smartphone can also be used to provide listeners or users with (visual) instructions related to performing DRC, such as guiding listeners to put on headphones, select a preferred listening position in space, move to different listening positions, keep their heads stable, or move their heads. When using the app, DRC can be performed or initiated by the listener or a third party.

[0023] In some implementations, instructions to the listener can be provided to the listener via the headphones' speakers. For example, an instruction to move to a preferred listening position in the space can be transmitted audibly through the headphones. In some implementations, the microphone of the true wireless stereo headphones can be used to receive voice instructions from the user or listener representing the execution of digital spatial acoustic compensation (DRC) related operations. For example, these instructions may include instructions to perform DRC measurements, such as "Start DRC measurement," "Stop DRC measurement," "Preferred listening position reached," etc.

[0024] In some embodiments, the method may further include applying one or more correction filters to the audio input system before outputting audible audio signals through the audio output system (particularly two or more speakers). This means that the correction filters previously obtained or determined can be subsequently applied to the audio output after DRC measurements and analysis are completed.

[0025] In some implementations, the wireless link is based on a short-range wireless communication protocol (e.g., Wi-Fi, Bluetooth, Zigbee, Z-Wave). In particular, the digital spatial acoustic compensation system and headphones, and (if applicable) other devices, may include wireless communication components suitable for wireless communication according to the communication protocol.

[0026] In some implementations, the activation command may include one or more second digital signals that instruct at least one of the true wireless stereo headphones to output the first audible message through the headphones' speakers. The first audible message indicates to the listener that the DRC measurement has been initiated, is about to be initiated, is in progress, or has been completed. The audible message may include a beep or tone, or may include voice output, such as "DRC measurement initiated" or "DRC measurement in progress." Alternatively or supplementarily, based on one or more second digital signals of the activation command, relevant information may also be displayed on the display screen of the user interface of the mobile device that wirelessly communicates with the digital spatial acoustic compensation system and / or the headphones and participates in the DRC measurement; for example, text information such as "DRC measurement initiated" or "DRC measurement in progress" may be displayed.

[0027] In some implementations, the activation command may include one or more third digital signals instructing at least one of the true wireless stereo headphones to output a second audible message through the headphones' speakers, the second audible message instructing the listener to move to a specific location within the space. This specific location may be related to the user's preferred listening position in the space, where DRC measurements are advantageous. Reaching this specific location can be detected by a digital spatial acoustic compensation system, such as through headphone position tracking and / or receiving an acknowledgment signal (e.g., voice input via the headphone's microphone), and by manual confirmation (e.g., input on the user interface of the mobile device participating in DRC, pressing a button or touch area on the headphones, etc.). These corresponding communication methods and the ability to interact with the listener or user greatly simplify the execution and measurement of DRC, meaning that even non-professionals can perform DRC operations.

[0028] In some implementations, the method may further include receiving one or more, or a series of, fourth digital signals via a wireless connection from a position and / or orientation tracking unit of at least one of the true wireless stereo headphones. These fourth digital signals encode position and / or orientation information of the relevant headphones, particularly relative to the space. The method may include associating the position and / or orientation information obtained from the fourth digital signals with one or more first digital signals received almost simultaneously with, or immediately before or after, the fourth digital signals. Therefore, the digital spatial acoustic compensation system can automatically determine the orientation and / or position of the headphones, i.e., by detecting or recording test signals using its microphones. In this way, DRC (Digital Spatial Acoustic Compensation) measurements can be continuously performed. Furthermore, multiple DRC measurements can be performed, for example, as the listener or user moves within the space, thereby obtaining DRC for multiple (preferred) positions. If DRC is performed at multiple locations within the space, the digital spatial acoustic compensation system can store DRC functions associated with each location, and the system can be configured to receive a selection command for a location and then apply the DRC function for that location based on the received command. The location selection can be signaled to the system via voice and / or manual input, such as through headphones or a mobile device. In another scenario, DRC can be performed to generate filters to optimize the audio of multiple locations or a specific area within the space. In some implementations, location tracking can be external, for example, using one or more cameras and / or distance measurement systems (e.g., LiDAR).

[0029] In some embodiments, the method may involve repeated execution of steps iii) through vi), for example, for different locations in space. Time and / or frequency domain correction filters may (at least temporarily) be stored with position and / or orientation information so that they can be applied to correct the audio input signal before the audio output system outputs the audible audio. In some embodiments, these filters may be applied during audio playback based on position and / or orientation information signals received from headphones and / or a position tracking system.

[0030] In some implementations, the method may further include determining whether the position and / or orientation of the encoded signal in the fourth signal has changed, and performing a response upon determining a change. For example, if the digital spatial acoustic compensation system or associated mobile device may determine that the difference between the current position and the previous position exceeds a set threshold, the method may include repeating steps iii) to vi) and storing the previously generated correction filter along with the previously determined position and / or orientation information, at least temporarily. If the corresponding position is selected, the stored DRC data for that specific position can be applied by the digital spatial acoustic compensation system, for example, by voice or manual input on a mobile device to display available positions, or by voice input received by the microphone of the headset. Furthermore, or alternatively, information obtained for different positions can be combined to obtain one or more filters suitable for correcting audio in a region or space covering two or more positions.

[0031] In some implementations, the RIR (Room Impulse Response) audio signal processing may include one or more of the following analyses: frequency response, time delay representing the time from transmitting to receiving the audio signal, received audio resonance, location of the sound source for outputting the audible sound, and analysis of direct and reflected audio. The delay may include, for example, the delay caused by wireless communication between the digital spatial acoustic compensation system and the true wireless stereo headphones. Such time delays can be corrected. Direct and reflected audio can be recorded using beamforming microphones (particularly multiple beamforming microphones), which can be implemented in the true wireless stereo headphones.

[0032] In some embodiments, the one or more time and / or frequency domain correction filters may include at least one of the following: an inverse filter for correcting the frequency response of a single audio channel; a time-domain alignment filter applied to multiple audio channels so that audio from different channels can reach the headphones almost simultaneously; an amplitude correction filter for calibrating all channels to a predetermined sound pressure level (particularly 75 dB SPL) at a listening position; and a phase correction filter for compensating for phase shifts caused by the position of the audio output speaker and reflective surfaces. The corresponding filters or filter elements are suitable for achieving efficient digital spatial acoustic compensation (DRC).

[0033] In some implementations, as briefly discussed above, the method may involve a mobile communication device in addition to the digital spatial acoustic compensation system or system components and headphones. Therefore, the method may include establishing an additional wireless connection between the digital spatial acoustic compensation system and the mobile communication device, the device including a user interface. The mobile communication device may be configured to receive one or more fifth digital signals from the digital spatial acoustic compensation system to instruct the user interface to display DRC information to a listener. Furthermore, the digital spatial acoustic compensation system may receive, in response to a user input on the user interface, one or more sixth digital signals from the mobile communication device, indicating one or more location information of the listener at a specific location in the space, a confirmation to initiate DRC, an indication of the type and configuration of the headphones, a command to stop DRC, and a configuration setting of DRC. The information encoded in the sixth digital signals can be used by the connected digital spatial acoustic compensation system to perform DRC. This means that the device can be used, at least in part, as a communication intermediary between the digital spatial acoustic compensation system and the headphones, and can provide the listener with control options for at least part of performing DRC measurements and analysis.

[0034] In various implementations, when a listener wears the true wireless stereo headphones and is seated in an appropriate position, they can make a gesture to a gesture sensor on the true wireless stereo headphones or speak to the beamforming microphone of the true wireless stereo headphones. Once the gesture or voice is detected, the true wireless stereo headphones send a command signal to the digital spatial acoustic compensation system to notify the listener that they are wearing the headphones or seated in an appropriate position. Specifically, in various implementations, the method may include receiving a gesture made by the listener to a gesture sensor on at least one of the true wireless stereo headphones, and / or a voice notification or prompt to the beamforming microphone of the true wireless stereo headphones, when the listener wears the true wireless stereo headphones and is located in a target listening position or listening area where DRC is required. The gesture or voice notification may indicate that the listener is wearing the true wireless stereo headphones and / or is located in the target listening position. The method may further include: sending a command signal to the digital spatial acoustic compensation system via the true wireless stereo headphones, the command signal being used to notify the digital spatial acoustic compensation system that the listener has worn the true wireless stereo headphones and / or is located at the target listening position.

[0035] According to various implementations, each true wireless stereo headset may be equipped with a position sensor capable of detecting a distance and orientation between each speaker in the audio output system and each headset. The method may further include: generating a corresponding relative position and orientation for the true wireless stereo headset, such that a digital spatial acoustic compensation system can generate a corresponding correction filter for each relative position and orientation of the true wireless stereo headset, and storing these correction filters as or in a lookup table, thereby allowing the digital spatial acoustic compensation system to retrieve the corresponding correction filter when the relative position and orientation of the headset are subsequently detected. Specifically, the method may include: generating a relative position and orientation of each true wireless stereo headset relative to a position and orientation of each speaker in the audio output system. Based on the relative position and orientation data, the digital spatial acoustic compensation system can generate a correction filter for each true wireless stereo headset and store it in a lookup table, database, or similar system. The lookup table may, for example, include one or more entries or datasets that associate the relative position and orientation with the corresponding correction filter. Based on the lookup table, the digital spatial acoustic compensation system can retrieve a corresponding correction filter (e.g., the correction filter associated with the entry) when a relative position and / or orientation available in the lookup table is subsequently detected (e.g., corresponding to an entry in the lookup table). The digital spatial acoustic compensation system can then apply the retrieved correction filter. In this way, computational costs can be reduced because correction filters already calculated for a specific position and / or orientation do not need to be recalculated.

[0036] In some embodiments, a digital spatial acoustic compensation (DRC) system is provided for automated or semi-automated digital spatial acoustic compensation of an audio system placed in a space, and is designed to output audible audio signals into the space. The system includes digital signal processing circuitry configured to perform, and / or includes a non-transitory storage medium storing instructions that, when executed by one or more digital processing units, cause the system to perform a method comprising the steps of any embodiment described herein in relation to the proposed method.

[0037] In some embodiments, a system includes a digital spatial acoustic compensation (DRC) system, as described in one of the related embodiments of the present invention, and includes true wireless stereo (TWS) earphones, wherein the true wireless stereo earphones include hardware components, particularly a microphone, especially a beamforming microphone, and digital signal circuitry suitable for any of the methods related to this embodiment of the present invention.

[0038] In some embodiments, an audio system is provided that includes a digital spatial acoustic compensation system as described in any relevant embodiment of the invention, or a system comprising the foregoing description. The audio system also includes two or more audio output components comprising one or more audio speakers for outputting audible audio signals into the space. Attached Figure Description

[0039] The following description, in conjunction with the accompanying drawings, illustrates some non-limiting examples. Components that are identical or functionally corresponding use the same reference numerals. In the drawings:

[0040] Figure 1 An example setup for digital spatial acoustic compensation (DRC) in a space is shown;

[0041] Figure 2 A graphical representation of example steps for performing DRC measurement and calibration is shown;

[0042] Figure 3 A flowchart related to an example DRC method is shown; and

[0043] Figure 4 Showing with Figure 3 An example flowchart related to a DRC method is provided, which includes one or more optional process steps.

[0044] Figure Labels

[0045] 1 space

[0046] 2 Audio Output System

[0047] 3 speakers

[0048] 3.1 soundbar

[0049] 3.2 subwoofers

[0050] 3.3 satellite speakers

[0051] 4-digital spatial acoustic compensation system

[0052] 5 sofas

[0053] 6 listeners

[0054] 7 headphones

[0055] 8 ears

[0056] 9 Wireless Communication

[0057] 10 Acoustic Test Signals

[0058] 11 Startup Command

[0059] 12 confirmed

[0060] 13 Output Commands

[0061] 14 First digital signal

[0062] 15 mobile devices

[0063] 16. Audio Test Sound (or Tone)

[0064] F filter

[0065] I command

[0066] Steps S1 and S7

[0067] Actions A1..A3

[0068] D2..D3 - The second and third digital signals of the start instruction

[0069] D4 Fourth Digital Signal

[0070] D5 Fifth Digital Signal Detailed Implementation

[0071] Figure 1 An example setup for digital spatial acoustic compensation (DRC) measurement and analysis is shown in a space 1, such as a living space. Within this space, an audio output system 2 is provided, comprising several speakers, such as a soundbar 3.1, one or more woofers 3.2, and one or more satellite speakers 3.3, collectively referred to as speakers 3.

[0072] A digital spatial acoustic compensation system 4 is used for digital spatial acoustic compensation (DRC). The digital spatial acoustic compensation system 4 may be part of the audio output system 2, and... Figure 1 The diagram is shown only as a dashed rectangle. The digital spatial acoustic compensation system 4 may include one or more processors and / or digital circuitry for performing any of the DRC methods described herein.

[0073] In space 1, there is also a sofa 5, on which listener 6 sits. Sofa 5 is merely an example of a piece of furniture representing an ideal listening position. Other furniture may also be placed in the space. For the purposes of this disclosure, the sofa 5 where listener 6 sits represents their preferred listening position, and DRC will be performed for said position. It should be understood that DRC can also be performed for any other position in space 1.

[0074] Figure 2 A graphical representation of example steps and actions for performing digital spatial acoustic compensation (DRC) measurements and corrections is shown.

[0075] from Figure 1The setup shown begins with the first action A1, which may involve placing the left and right true wireless stereo earbuds 7 into the left and right ears 8 of the listener 6. The listener 6 may be instructed by the digital spatial acoustic compensation system 4, for example, through the system itself or the earbuds 7, to move to or be in their preferred listening position, such as... Figure 1 As shown, the location is sofa 5. Although the present invention is described using headphones as an example, it should be understood that in other embodiments, the system can also be implemented using over-ear headphones.

[0076] After the earphone 7 is placed in the ear 8, the next action A2 includes establishing a wireless connection (or communication) 9 between the earphone 7 and the digital spatial acoustic compensation system 4. Once the wireless connection 9 is established, the digital spatial acoustic compensation system 4 is ready to perform DRC analysis and measurement, as shown in action A3. Specifically, the digital spatial acoustic compensation system 4 transmits an audio test signal 10 (such as...) Figure 2 (Indicated by dashed arrows), to control and instruct the speaker 3 of the audio output system 2 to output one or more and / or a series of audio test sounds (or tones) 16 (indicated by solid double arrows), and the digital spatial acoustic compensation system 4 to transmit a control signal (e.g., Figure 3 The start command 11) controls the headphones 7 to detect the audio test sounds 16. Preferably, the audio test sounds 16 are output individually from each speaker 3 in each channel of the audio output system 2. These audio test sounds 16 are then detected or recorded by the beamforming microphone included in the headphones 7. Next, the headphones 7 transmits the first digital signal of the received audio test sounds detected by the beamforming microphone to the digital spatial acoustic compensation system 4 for subsequent DRC analysis and correction.

[0077] The audio test sound 16 may include a sweep tone and / or pink noise to obtain the combined frequency and time domain response of the speaker 3 and space 1. The DRC analysis may include, as determined by the digital spatial acoustic compensation system 4, a distance between the speaker 3 and the beamforming microphone, particularly the distance between the speaker 3 and the headphones 7. The analysis may also include determining a sound pressure level (SPL) and a frequency response for each channel (or speaker) of the audio output system 2. Based on the respective analysis and signal processing, the digital spatial acoustic compensation system 4 may determine and provide correction filters for each channel (or speaker). These correction filters may provide correction measures such as a time delay correction to allow sounds from different speakers to reach the listener's ear 8 simultaneously, and a correction or adjustment of the sound pressure level, for example, to make the sounds from each speaker reach, for example, 75 dB SPL at the listener's ear 8. Furthermore, the digital spatial acoustic compensation system 4 may determine or calculate phase-inverted (or inverse) equalization (eq) response filters, thereby generating the audio input signal of the audio output system 2 by applying these filters before the audible audio / sound is output by the speaker 3, so that all channels produce a predetermined target frequency profile for the listener's ear 8 in the headphones 7. This is feasible in particular because the audio test sound 16 is recorded or measured immediately at the listener's ear 8 via the microphone built into the true wireless stereo headphones 7.

[0078] After all correction filters are determined and calculated by the digital spatial acoustic compensation system 4, the system and the listener's position will calibrate the space, particularly for physical distance, amplitude, and frequency response. These correction filters can be stored at least temporarily, for example, associated with listener position information at a preferred listening position. Listener position information can be defined in two ways: (1) the distance between the listener's headphones 7 and each speaker 3, or (2) the relative distance and direction between the listener's headphones 7 and the digital spatial acoustic compensation system 4. When definition (2) is used, the relative position between the digital spatial acoustic compensation system 4 and each speaker 3 must be known.

[0079] Figure 3 A flowchart is shown for an automatic or semi-automatic digital spatial acoustic compensation (DRC) method for an audio output system 2 in a space 1, the audio output system 2 being configured to output the audible audio signal to the space 1, and the DRC being based on spatial impulse response (RIR) audio signal processing.

[0080] The method includes:

[0081] In the first step S1, a wireless communication link 9 is established between the digital spatial acoustic compensation system 4 and the true wireless stereo headphones 7. The wireless communication link 9 is based on a short-range wireless communication protocol; for example, it can be established via Wi-Fi.

[0082] In response to the establishment of the wireless communication link 9, the method includes a second step S2, sending a start command 11 (e.g., ...) to the earphone 7. Figure 2 (As shown, indicated by dashed arrows). Before or after this, the earphone 7 needs to be placed in the listener's ear 8. The activation command 11 may include command I, which is used to activate the beamforming microphone of the earphone 7 and notify the listener 6 to sit in a listening position.

[0083] In a third step S3, in response to receiving confirmation 12 to confirm the successful establishment of the wireless communication link 9 and to confirm that the listener 6 is seated in a final listening position, for example, by the listener 6 responding vocally or by touching a button or touch key on the headphones; the method proceeds to a fourth step S4, which instructs the audio output system 2 to output one or more, particularly a series of, audio test sounds 16 (e.g., one for each channel) through the speakers 3, by sending a corresponding output command 13 to the audio output system 2, the corresponding output command 13 including the audio test signal 10. Subsequently, each speaker 3 generates a corresponding audio test sound 16 based on its audio test signal 10, wherein the audio test signal 10 has been adjusted to generate the corresponding audio test sound 16, which is received by the activated beamforming microphone of the headphones 7. Accordingly, in step S5, the audio output system 2 outputs the audio test sound 16, which is recorded or detected by the microphone of the headphones 7.

[0084] Subsequently, in step S6, the method involves receiving processing from the earphone 7, which includes one or more, or a series of, first digital signals 14, each first digital signal 14 representing one or more, or a series of acquisition signals corresponding to an audio test sound 16 of a single channel.

[0085] In some implementations, step S6 may optionally include receiving one or more, or a series of, fourth digital signals (in the context of wireless communication link 9) from at least one position and / or orientation tracking unit of the true wireless stereo headset 7. Figure 3(Indicated by a dashed arrow in the image), the fourth digital signal D4 encodes position and / or orientation information of the earphone 7, such as information about the position of the speaker 3 relative to the space 1. The position and / or orientation information obtained from the fourth digital signal D4 may be associated with one or more first digital signals 14 and used for processing in subsequent steps. The first digital signals 14 may be received simultaneously with the fourth digital signal D4, or immediately before or after it.

[0086] In response to receiving the first digital signal 14, in step S7, the digital spatial acoustic compensation system 4 performs digital signal processing on the one or more, or the series of, the first digital signals 14. The digital signal processing may include processing of the spatial impulse response audio signal to generate one or more time and / or frequency domain correction filters F.

[0087] After completing the digital spatial acoustic compensation (DRC) measurements and related signal processing to determine the filter F and correction measures, the digital spatial acoustic compensation system 4 can at least temporarily store one or more time and / or frequency domain correction filters. Furthermore, these filters F can be applied to the subsequent audio output through the audio output system 2. Specifically, in step S8, the filter F and correction measures can be applied to the audio input signal of the audio output system 2 before the audible audio signal (or "sound") is output through the speaker 3. The correction filter F is used to calibrate the audio input signal to be provided to the speaker 3 of the audio output system 2 to produce sound, so that the sound (audible audio) subsequently generated from the speaker 3, when received by the headphones 7, conforms to a preset ideal value. After calibration, the listener 6 can remove the headphones 7, and the sound heard by the listener 6 afterward is the optimal sound performance after calibration. That is, this sound performance eliminates spatial acoustic effects and acoustic errors caused by speaker position, calibrating the space 1 to a state closer to the ideal state of the sound source.

[0088] Any further implementations discussed in the icon-related exemplary implementations may also be applied to the exemplary implementations.

[0089] Specifically regarding step S2 and the activation command 11, the activation command 11, in addition to providing command I for activating the beamforming microphone of the earphone 7, may also provide other types or additional (digital) commands to the earphone 7 based on digital signals. The associated digital signals may be provided together with command I in a single activation command, or in multiple separate activation commands. For example, an activation command 11 may additionally include one or more second digital signals D2 or third digital signals D3. The second digital signal D2, for example, can be used to instruct the earphone 7 to output a first audible message through the earphone's speaker, indicating that the listener 6's DRC measurement has been initiated, is about to be initiated, is in progress, or has been completed. The third digital signal D3, for example, can be used to instruct the earphone 7 to output a second audible message through the earphone's speaker, indicating that the listener 6 has moved to a specific location in the space 1.

[0090] In some embodiments, communication between the digital spatial acoustic compensation system 4 and the headphones 7 can be at least partially mediated by a mobile device (e.g., a smartphone, a tablet computer, a smart device, a smart TV, etc.) to enable user interaction via a user interface. A corresponding mobile device 15 in Figure 1 and Figure 3 In simplified form, such as Figure 3 As shown, the communication between the digital spatial acoustic compensation system 4 and the headphones 7, and (if necessary) with the audio output system 2, can be mediated and / or controlled by the wireless connection established between the mobile device 15 and the devices.

[0091] In some embodiments, such as Figure 3A dotted double arrow indicates that an additional wireless connection 9.1 can be established with the mobile communication device 15. The mobile communication device 15 may include a user interface. Furthermore, the device 15 may be configured to receive one or more fifth digital signals D5 from the digital spatial acoustic compensation system 4, which instruct the user interface (not shown) to display DRC information to the listener 6. As an alternative or supplement, the method may include the digital spatial acoustic compensation system 4 receiving one or more sixth digital signals D6 from the mobile communication device 15, which may originate from user input on the user interface, or from gestures detected by the true wireless stereo headset 7 via a gesture sensor, and / or responding to voice notifications detected by the beamforming microphone of the true wireless stereo headset 7. The one or more sixth digital signals D6 may represent one or more of the following: confirmation that the listener 6 is wearing the true wireless stereo headset, an indication of a specific location of the listener 6 in the space 1, confirmation that the listener 6 is located at the specific location, such as the desired listening position for DRC, a confirmation to start DRC, an indication of the type and configuration of the headset 7, a command to stop DRC, and a configuration setting for DRC. The fifth and sixth digital signals D5 and D6 in Figure 3 The dashed arrows indicate this. If the true wireless stereo earphones 7 are used to receive instructions from the listener 6, such as gestures, touch, or voice commands, the corresponding digital signals can be sent directly from the true wireless stereo earphones 7 to the digital spatial acoustic compensation system 4 (e.g., if a wireless communication link is or can be established between the true wireless stereo earphones 7 and the digital spatial acoustic compensation system 4), or transmitted to the digital spatial acoustic compensation system 4 via a mobile communication device 15 acting as an intermediary.

[0092] The proposed method and system offer the advantage of a simplified user experience. In particular, the placement of the microphone for recording the audio test sound is simplified by eliminating the need for a wired connection, as the recording position can be perfectly matched to the listening position of the audible audio output by the audio output system 2 later using the headphones 7. The user / listener 6 simply inserts the true wireless stereo headphones 7 into their ears 8 and then sits down or positions themselves in the desired or preferred listening position (e.g., ...). Figure 1 As shown in sofa 5), ​​the system can use the microphone built into the true wireless stereo headphones 7 to calibrate the mode effect of the space 1.

[0093] Furthermore, the method and system provide predictable results because the system "listens" to space 1 from the user's ear 8 perspective. Therefore, it can be said that the digital spatial acoustic compensation system 4 is able to hear the sound heard by the user's ear 8 through the headphones 7. Specifically, it can be ensured that the measurement is performed at the height and position of the listener's ear 8. This is very important because the variation of standing waves (e.g., spatial patterns) moving to different positions in a space 1 can be very significant.

[0094] In particular, it ensures that the measurement position is exactly at the listening height of the preferred listening position, wherein the proposed method and system are capable of stereo measurements and can include the interaction between multiple speakers 3, since there are at least two microphones (at least one in each earphone 7). By using the beamforming microphones in a true wireless stereo earphone 7, measurements can be performed in the time domain, thereby enabling time calibration of a (better) multi-channel immersive audio setup.

[0095] In some embodiments, a true wireless stereo headset 7 with multiple beamforming microphones (e.g., a beamforming microphone array) can be used. In this way, three-dimensional spatial data can be recorded and incorporated into correction measures, particularly filters. Therefore, by locating the sound source (especially time- and spatial domain-related data) in the three-dimensional acoustic data of said space 1, improved phase and time-domain corrections can be obtained, allowing for frequency, amplitude, time-domain, and / or phase corrections. It should be noted that beamforming microphones are typically configured to distinguish between direct and reflected sound waves, and this information can also be used to set correction measures, particularly filters F.

[0096] An exemplary sequence of steps for performing DRC might include:

[0097] 1) Insert the true wireless stereo earphones 7 into both ears 8 and select a preferred listening position. After inserting the true wireless stereo earphones 7 into the ears 8 and / or sitting in the preferred listening position, a signal can be sent from the earphones 7 or the device 15 to the digital spatial acoustic compensation system 4 to begin the calibration process. For example, this may involve the user (i.e., the listener 6) interacting with a user interface on a mobile device (such as device 15), such as a user pressing or interacting with a confirmation button on a screen of a mobile device generated by an app related to spatial calibration. Alternatively, or additionally, the confirmation may be generated by a user pressing or interacting with a (touch-sensitive) button, a gesture-sensitive camera (gesture sensor), or a touch panel on the earphones 7. Furthermore, as an alternative, calibration may also begin automatically, for example, by automatically triggering when a timer expires after a command is sent requesting the selection of a preferred listening position for spatial calibration. As mentioned above, the command may be at least one of the following: audio or gesture control via the earphones 7, or a display screen on a device (such as a smartphone, television, etc.). For example, when the listener wears the headphones 7 and sits in a preferred / appropriate position, he / she can gesture to the gesture sensor on the headphones or speak into the beamforming microphone of the headphones 7. Upon detecting the gesture or speech, the IC controller of the headphones 7 sends a command signal to the digital spatial acoustic compensation system 4 to notify the listener that he / she has put on the headphones 7 or is sitting in the appropriate position.

[0098] 2) The digital spatial acoustic compensation system 4 plays a series of audio test sounds (or tones) through the audio output system 2, in particular multiple test tones at a reference level (e.g., 75dB SPL), one by one through all channels of the audio output system 2.

[0099] 3) The digital spatial acoustic compensation system 4 measures or determines the following based on the sound recorded by the microphone of the earphone 7 using beamforming: a) frequency response b) time c) amplitude d) sound source location e) direct sound and reflected sound.

[0100] 4) Optionally, the user 6 is prompted to move to a non-axial seating position to take further measurements.

[0101] 5) The digital spatial acoustic compensation system 4 calculates an audio setup including: 1) an inverse filter to correct the frequency response of each channel in space; 2) time alignment of each channel so that their sounds arrive at the ear simultaneously; 3) correction of the amplitude of each channel to calibrate it to a specific value, such as 75 dB SPL, at the listening position; and 4) in a particular embodiment, the digital spatial acoustic compensation system 4 may calculate and provide a phase correction filter to compensate for phase shifts caused by speaker position and reflective surfaces. In particular, the digital spatial acoustic compensation system 4 may calculate or determine a correction algorithm, or a combination of a series of Infinite Impulse Response (IIR) or Finite Impulse Response (FIR) inverse filters. For the purposes of this disclosure, the term "filter" should encompass all correction measures determined by the digital spatial acoustic compensation system 4.

[0102] 6) Store the audio settings, including the aforementioned filter / correction measures. Once completed, the system calibrates the space 1 to a more ideal state closer to the sound source by eliminating spatial acoustic effects and errors caused by speaker position.

[0103] One advantage of a particular embodiment is that the position and orientation of the headphones can be determined using units built into the headphones, thereby determining the position and orientation of the listener 6's head or ears. For example, an inertial measurement unit (IMU) head-tracking sensor integrated into the true wireless stereo headphones 7 can be used. While acquiring the audio test sound (or test tone) 16, the position and / or orientation of the headphones 7 worn by the listener 6 can also be recorded and used to determine or calculate filter / correction measures. In some embodiments, each headphone 7 is equipped with a position sensor, such as an infrared sensor, which can detect the distance and orientation between each headphone 7 and each speaker 3. This generates the relative position and orientation of the headphone 7 to each speaker 3, enabling the digital spatial acoustic compensation system 4 to generate a corresponding correction filter F for each relative position and orientation of the headphone 7. These correction filters F are stored in memory to form a lookup table, allowing the digital spatial acoustic compensation system 4 to directly retrieve the appropriate correction filter F for each channel when the relative position and orientation of the headphone 7 are subsequently detected. In some embodiments, the digital spatial acoustic compensation system 4 can read position and / or orientation data from, for example, the true wireless stereo earphones 7 to determine whether the listener 6 has stopped moving, and based on this state, begin sending or playing an audio test signal 10 or an audio test sound (or tone) 16. The advantage of this is that the measurement process can be performed continuously, and the listener 6 only needs to be instructed to "start from the preferred listening position and move within the listening space." Head / ear position and / or orientation data obtained from various sensors and acquired microphone signals are correlated to simplify the measurement process for multiple listening positions without requiring separate or subsequent measurement rounds. The digital spatial acoustic compensation system 4 can be configured to automatically adjust to the optimal sound effect for a listening position (including position and / or orientation) based on correction measures for different positions and / or orientations. In some embodiments, data obtained from different positions can be used to calibrate the audio output system 2 with the space 1 to ensure an acceptable audio response in other positions besides the preferred listening position. This solves a common spatial compensation problem—attempting to perfect the preferred listening position results in degraded sound effects in other positions.

[0104] According to an embodiment, a series of default position and / or audio settings can be stored, which relate to adjusting the sound in a space based on the different positions of different numbers of users. Obviously, setting a soundscape for a listener directly in front of a speaker will differ from setting it for multiple listeners distributed in different areas of the space. One or more of these default position and / or audio settings can be assigned to a user ID, and the default position and / or audio settings can be stored along with the user ID. The default position and / or audio settings associated with the user ID can be set and stored separately for a single listener (possibly in a preferred position), multiple listeners, or a group of listeners distributed in preferred / known positions in the space. These stored default position and / or audio settings can be queried or retrieved, for example, through an application implemented on a user device (mobile phone), and operated by a single listener, any one of multiple listeners, or the group of listeners. In an embodiment, the default position and / or audio settings can be stored within the system and / or on one or more user devices for selection by the user. Specifically, these stored default locations and / or audio settings can be presented to the specific listener for selection on a display screen of the user's device.

[0105] In some embodiments, the system and / or method may provide an option, for example, for the individual user to select the option to perform an audio test. The audio test may be performed before performing the DRC method suggested herein, and / or after completing the DRC method suggested herein. In some embodiments, the method and / or system and / or application may, for example, prompt the listener to perform an audio test via a visual request on an screen or an audio request via the headphones. Upon receiving confirmation from the listener, an audio test should be performed, and the system and / or method may provide the audio test accordingly, for example, by playing preset and / or user-selectable audio playback through speakers. Alternatively, the headphones may be instructed to perform an audio test without using the speakers. Such audio tests can be used to cover the frequency range of each ear to test the listener's binaural hearing ability, thereby enabling the system to provide improved sound, adapted to the user's hearing ability when using the speakers.

[0106] Furthermore, the system and / or method may, after performing the sound quality test, ask the listener whether the DRC method should be performed additionally. If confirmation is received from the listener (e.g., via a voice command, or by selecting a confirmation button on the user's device (phone) screen), the system and / or method will continue performing the DRC method. However, if feedback is received from the listener indicating that the DRC method is not needed (e.g., if the sound quality test is satisfactory to the user), the system and / or method may cancel the DRC. Such an embodiment can take into account the different hearing qualities of some users. Therefore, the system and / or method can provide dual compensation, both for the listener (especially the listener's hearing characteristics and / or preferences) and for the spatial acoustics.

[0107] In some embodiments, in addition to or replacing the integrated positioning and / or orientation detection unit in the earphone 7, separate components may be used to detect positioning and / or orientation, such as camera systems or other systems, particularly optical systems such as LiDAR (Light Detection and Ranging).

[0108] In some embodiments, the digital spatial acoustic compensation system 4 can read positioning and / or orientation data from, for example, the TWS earphone 7 to determine whether the user 6 has stopped moving, and accordingly begin transmitting or playing the audio test signal 10 or audio test sound (or tone) 16. When the listener 6 moves their head, the system can detect, for example, through IMU data, that the listener 6 is only rotating their head without making any other movement, and therefore the system can infer that the listener 6 is still in a preferred or primary listening position. In some embodiments, further measurements can be taken at this position to ensure good performance even when the listener 6 slightly turns their head. The same procedure can be repeated at other listening positions.

[0109] In some embodiments, the distance between the listener and each speaker 3 can also be measured by a sensor on the earphone 7, or determined based on the time difference between playing and recording sound, provided that the data transmission delay between the true wireless stereo earphone 7 and the digital spatial acoustic compensation system 4 is known.

[0110] Figure 4 Showing with Figure 3 A schematic flowchart related to the example DRC method is shown below. Compared to... Figure 3 , Figure 4 The flowchart includes one or more optional steps according to various embodiments. In particular, such as Figure 4Steps S4 to S8, indicated by R, can be repeated. During the repetition of these steps, the time and / or frequency domain correction filter F can be stored, at least temporarily, along with the position and / or orientation information of the true wireless stereo earphones 7 to apply and correct the audio input signal of the audio output system 2 before the audible audio signal is output by the speaker 3. Specifically, one or more correction filters F can be stored in a lookup table along with the relevant position and orientation data of the true wireless stereo earphones 7, i.e., at least one filter F corresponds to each earphone orientation. To determine the position and orientation data, each true wireless stereo earphone 7 can be equipped with a position and / or orientation sensor capable of detecting the distance and orientation between each true wireless stereo earphone 7 and each speaker 3 of the audio output system 2. The method may also include generating corresponding relative position and orientation data of the true wireless stereo earphones 7 based on data obtained from the sensor. The digital spatial acoustic compensation system 4 can determine or generate one or more correction filters F for each relative position and orientation of the true wireless stereo earphones 7. The relative position and orientation data can be stored in a database, such as a lookup table, along with one or more corresponding filters F. The digital spatial acoustic compensation system 4 can retrieve one or more correction filters F associated with the detected relative position and orientation from the database when it subsequently detects that the position and orientation of the true wireless stereo headphones match an entry in the database. The digital spatial acoustic compensation system 4 can then apply these retrieved correction filters F, for example, replacing the need to recalculate the correction filters F.

[0111] In some embodiments, the listening position or preferred listening position can be stored as a vector-like form, including data associated with an identifier of the position, spatial response, one or more correction measures, distance from the speaker, etc. For example, the vector might include ("primary / preferred position", "spatial response is X", "distance from speaker 2.1m"). The corresponding stored data can be retrieved and applied to correct the audio output.

[0112] The proposed method and system may use swept tones or pink noise to obtain the combined frequency and time-domain response of the speaker product and the space 1. The proposed method may also incorporate embedded pulses to gain deeper insights into the time domain.

[0113] According to an embodiment, the proposed method may include measures to compensate for time delays caused by the wireless communication protocol used in digital communication between the true wireless stereo headphones 7 and the digital spatial acoustic compensation system 4.

[0114] In an embodiment, the response compensation curve of the true wireless stereo earphone 7 can be applied to linearize the microphone built into the earphone 7 for spatial measurement purposes.

[0115] In this disclosure, spatial impulse response (RIR) specifically refers to an audio signal processing task involving the acquisition and analysis of the acoustic properties of a space or environment. Its goal is to measure and model how sound waves interact with space, including, for example, reflections, reverberation, and echoes.

[0116] Digital spatial correction (DRC) should be understood specifically as a process that uses digital signal processing (DSP) technology to adjust the audio output of a sound system to compensate for the acoustic characteristics of a space. Its goal is to improve overall sound quality by addressing issues such as reverberation, standing waves, and frequency response irregularities caused by the interaction of sound waves with spatial surfaces and objects.

[0117] In conclusion, the above discussion demonstrates that the proposed methods and systems address the relevant fundamental problems.

Claims

1. An automatic or semi-automatic digital room acoustics compensation (DRC) method applied to an audio output system (2) located within a space (1) and used to output audible audio signals to said space (1), wherein the digital room acoustics compensation is based on room impulse response (RIR) audio signal processing, the method comprising: i) Establish (S1) a wireless communication link (9) between the digital spatial acoustic compensation system (4) and the true wireless stereo (TWS) earphones (7), wherein each of the true wireless stereo earphones (7) includes a microphone specifically for beamforming, the microphone being used to acquire audio; ii) In response to establishing (S1) the wireless communication link (9), a (S2) activation command (11) is sent to the true wireless stereo headset (7), wherein, in order to perform subsequent method steps, the true wireless stereo headset (7) is placed in the left and right ears (8) of the listener (6), respectively, and the activation command (11) includes a command (I) for activating one or more microphones of the true wireless stereo headset (7); In response to receiving the confirmation signal (12) indicating successful establishment of the wireless communication link (9) as stated in (S3): iii) Instruct (S4) the audio output system (2) placed in the room (1) to output (S5) one or more audio test sounds (16), in particular a series of audio test sounds, so as to be received by the activated microphone of the true wireless stereo headset (7); iv) Receive (S6) one or more, or a series of first digital signals (14) from the true wireless stereo headset (7), each first digital signal (14) representing one or more, or A series of audio test sounds (16) obtained from individual audio channels; v) Perform (S7) digital signal processing (DSP) on the first digital signal (14) of the one or more, or the series, the digital signal processing including spatial impulse response audio signal processing, thereby generating one or more time and / or frequency domain correction filters (F); and vi) store the one or more time and / or frequency domain correction filters (F) at least temporarily for use (S8).

2. The method according to claim 1, further comprising applying (S8) the one or more correction filters (F) to the audio output system (2) before outputting audible audio through the audio output system (2).

3. The method according to claim 1, wherein the wireless communication link (9) is based on a short-range wireless communication protocol.

4. The method according to claim 1, wherein the activation command (11) further comprises one or more second digital signals (D2) for instructing at least one of the true wireless stereo headphones (7) to output a first audible message through the speaker of the headphones, the first audible message indicating to the listener (6) that dynamic range compression (DRC) measurement is about to start, is in progress and / or has been completed.

5. The method according to claim 1, wherein, The activation command (11) further includes one or more third digital signals (D3) for instructing at least one of the true wireless stereo headphones (7) to output a second audible message through the speaker of the headphones, the second audible message instructing the listener (6) to move to a specific location in the space (1).

6. The method according to claim 1, further comprising receiving, via the wireless communication link (9), one or more or a sequence of fourth digital signals (D4) from at least one position and / or orientation tracking unit of the true wireless stereo headphones (7), the fourth digital signals (D4) encoding position and / or orientation information of the true wireless stereo headphones (7) relative to the audio output system (2), and associating the position and / or orientation information obtained from the fourth digital signals (D4) with one or more first digital signals (14), the first digital signals (14) being received almost simultaneously or immediately before or after the fourth digital signals (D4) being received.

7. The method according to claim 1, further comprising repeating steps iii) to vi), wherein the time and / or frequency domain correction filter (F) is stored at least temporarily together with position and / or orientation information to apply and correct the audio input signal of the audio output system (2) before the audible audio signal is output through the audio output system (2).

8. The method according to claim 6 further includes determining whether the position and / or orientation encoded by the fourth digital signal (D4) has changed, and, in response to determining that a change has occurred, repeating steps iii) to vi), and temporarily storing the previously generated correction filter (F) together with the previously determined position and / or orientation information.

9. The method of claim 1, wherein the RIR audio signal processing includes analysis of one or more of the following: the frequency response, a time delay representing the time between transmitting the audio signal and receiving the audio signal, the amplitude of the received audio, the location of the sound source from which the audible sound is output, and analysis of the direct and reflected output audible sound.

10. The method of claim 1, wherein the one or more time and / or frequency domain correction filters (F) comprises at least one of the following: an inverse filter for correcting the frequency response of individual audio channels; a time domain alignment filter used for each of the plurality of audio channels such that audio from different channels can reach the true wireless stereo headphones (7) almost simultaneously; an amplitude correction filter for calibrating all channels at a predetermined sound pressure level value of 75 dBSPL at the listening position; and a phase correction filter for compensating for phase shift caused by the positioning and reflective surfaces of the audio output speaker.

11. The method of claim 1, further comprising establishing an additional wireless connection between the digital spatial acoustic compensation system (4) and the mobile communication device (15), the device (15) including a user interface, wherein - The mobile communication device (15) is configured to receive one or more fifth digital signals (D5) from the digital spatial acoustic compensation system (4) for instructing the user interface to display DRC information to the listener (6), and / or The method further includes receiving one or more sixth digital signals (D6) from the mobile communication device (15) at the digital spatial acoustic compensation system (4), the sixth digital signal (D6) responding to user input on the user interface to indicate one or more of the following information: location information of the listener (6) at a specific location in the space (1), confirmation of starting DRC, indication of the type and configuration of the true wireless stereo headphones (7), instruction to stop DRC, and configuration settings of the DRC.

12. According to the method of claim 1, when the listener (6) wears the true wireless stereo headphones (7) and sits in an appropriate position, the listener can make a gesture to the gesture sensor of the true wireless stereo headphones (7), or touch the touch keys on the true wireless stereo headphones (7), or speak to the beamforming microphone of the true wireless stereo headphones (7). After detecting the gesture or voice, the true wireless stereo headphones (7) will send an instruction signal to the digital spatial acoustic compensation system (4) to notify the listener (6) that he / she has worn the true wireless stereo headphones (7) or has sat in the appropriate position.

13. The method according to claim 1, wherein, Each of the true wireless stereo earphones (7) is equipped with a position sensor that can detect the distance and direction between each earphone (7) and each speaker (3) in the audio output system (2), and further includes generating the corresponding relative position and direction of the true wireless stereo earphones (7), so that the digital spatial acoustic compensation system (4) can generate corresponding correction filters (F) for each relative position and direction of the true wireless stereo earphones (7), and store the correction filters (F) in a lookup table, so that the digital spatial acoustic compensation system (4) can retrieve the corresponding correction filters (F) when the relative position and direction of the true wireless stereo earphones (7) are subsequently detected.

14. A digital spatial acoustic compensation (DRC) system (4) for automatically or semi-automatically performing digital spatial acoustic compensation on an audio output system (2) placed in a space (1) and for outputting audible audio signals to the space (1), the digital spatial acoustic compensation system (4) including digital signal processing circuitry configured to perform and / or include a non-transitory storage medium for storing complex instructions, which, when executed by one or more digital processing units, cause the digital spatial acoustic compensation system (4) to perform the following method: i) Establish (S1) a wireless communication link (9) between the digital spatial acoustic compensation system (4) and the true wireless stereo (TWS) earphones (7), wherein each of the true wireless stereo earphones (7) includes a microphone specifically for beamforming, which is used to acquire audio; ii) In response to establishing (S1) the wireless communication link (9), a (S2) activation command (11) is sent to the true wireless stereo headset (7), wherein, in order to perform subsequent method steps, the true wireless stereo headset (7) is placed in the left and right ears (8) of the listener (6), respectively, and the activation command (11) includes a command (I) for activating one or more microphones of the true wireless stereo headset (7); In response to receiving the confirmation signal (12) indicating successful establishment of the wireless communication link (9) as stated in (S3): iii) Instruct (S4) the audio output system (2) to output (S5) one or more audio test sounds (16) so that they can be received by the enabled microphone of the true wireless stereo headphones (7); iv) Receive (S6) one or more, or a series of first digital signals (14) from the true wireless stereo headphones (7), each first digital signal (14) representing one or more, or a series of audio test sounds (16) obtained from individual audio channels. v) Perform (S7) digital signal processing (DSP) on the first digital signal (14) of the one or more, or the series, said digital signal processing including spatial impulse response audio signal processing, thereby generating one or more time and / or frequency domain correction filters (F); and vi) At least temporarily store the one or more time and / or frequency domain correction filters (F) for use (S8).

15. A system comprising: The digital spatial acoustic compensation (DRC) system (4) according to claim 14, wherein the true wireless stereo headphones (7) include hardware components and digital signal circuitry, configured to perform the following method: i) Establish (S1) a wireless communication link (9) between the digital spatial acoustic compensation system (4) and the true wireless stereo (TWS) earphones (7), wherein each of the true wireless stereo earphones (7) includes a microphone specifically for beamforming, which is used to acquire audio; ii) In response to establishing (S1) the wireless communication link (9), a (S2) activation command (11) is sent to the true wireless stereo headset (7), wherein, in order to perform subsequent method steps, the true wireless stereo headset (7) is placed in the left and right ears (8) of the listener (6), respectively, and the activation command (11) includes a command (I) for activating one or more microphones of the true wireless stereo headset (7); In response to receiving the confirmation signal (12) indicating successful establishment of the wireless communication link (9) as stated in (S3): iii) Instruct (S4) the audio output system (2) to output (S5) one or more audio test sounds (16) so that they can be received by the enabled microphone of the true wireless stereo headphones (7); iv) Receive (S6) one or more, or a series of first digital signals (14) from the true wireless stereo headphones (7), each first digital signal (14) representing one or more, or a series of audio test sounds (16) obtained from individual audio channels. v) Perform (S7) digital signal processing (DSP) on the first digital signal (14) of the one or more, or the series, said digital signal processing including spatial impulse response audio signal processing, thereby generating one or more time and / or frequency domain correction filters (F); and vi) Store the one or more time and / or frequency domain correction filters (F) at least temporarily for use (S8).

16. An audio output system (2) comprising a digital spatial acoustic compensation system (4) according to claim 14, or a system according to claim 15, wherein the audio output system (2) further comprises two or more audio output components, including one or more audio speakers (3) for outputting audible audio signals to the space (1).

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