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

Abstract

This invention provides a stereo synthesis method, system, device, and storage medium based on UWB positioning. The stereo synthesis method involves installing UWB positioning tags on a moving sound source and setting up a UWB wireless positioning system around the sound source. The system includes three or more anchor points, which communicate with the tags, calculating the distance between the tags and each anchor point in real time and uploading the data to a host computer. Simultaneously, the mono audio signal collected by a microphone moving with the sound source is uploaded to the host computer. The host computer uses image reproduction technology to fuse the mono sound collected by the microphone and the tag's location information using HRTF to generate a stereo audio signal. This stereo synthesis method enables stereo pickup and synthesis even when only mono audio is acquired from a moving sound source.

Description

Technical Field

[0001] This invention relates to the field of audio processing technology, and in particular to a stereo synthesis method, system, device, and storage medium based on UWB positioning. Background Technology

[0002] Typical stereo sound pickup techniques use two microphones with identical specifications, spaced at different distances or angles. Because microphones are directional, their sensitivity to sound varies in different directions, resulting in sound level differences during recording. The distance between the two microphones determines the time difference between the two captured audio streams. Stereo audio utilizes these sound level / time differences to blend the two audio streams, creating a sense of depth and stereo sound. Common stereo pickup techniques include XY, MS, and AB systems, primarily distinguished by the angle and distance between the two microphones. Of course, there are also methods that use multiple microphones for pickup.

[0003] However, regardless of the method used for sound pickup, there are limitations:

[0004] Microphones have a limited pickup range; since the microphone is fixed, the effect and sensitivity will be significantly affected if the sound source is far away.

[0005] The sound quality is poor for moving sound sources; the distance between the moving sound source and the microphone is not fixed, which will cause a significant loss in sound pickup; the effect is even worse when multiple sound sources move at the same time.

[0006] Especially for applications requiring live recording, such as live recording of stage plays, the stage area is relatively large, the actors' positions change frequently, and there are situations where multiple actors move at the same time.

[0007] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0008] The main objective of this invention is to address the lack of a stereo sound pickup and synthesis method for mobile sound sources in the existing technology.

[0009] The first aspect of this invention provides a stereo synthesis method based on UWB positioning, the stereo synthesis method comprising:

[0010] Install UWB location tags on the mobile audio source;

[0011] A UWB wireless positioning system is deployed around the mobile sound source, and the UWB wireless positioning system includes at least 3 anchor points.

[0012] Establish a communication connection between the UWB positioning tag and the UWB wireless positioning system;

[0013] Establish communication connections between the UWB positioning tag and the host computer, and between the UWB wireless positioning system and the host computer;

[0014] A mono audio signal is acquired by the mobile sound source and uploaded to the host computer.

[0015] The distances between the mobile sound source and each of the anchor points are obtained through the UWB positioning tags, and the distances between the mobile sound source and each of the anchor points are uploaded to the host computer.

[0016] The first location of the mobile sound source in the UWB wireless positioning system is obtained in the host computer through a multi-sided positioning algorithm.

[0017] Determine the listener's second location outside the UWB wireless positioning system;

[0018] The directional data of the audio output is obtained based on the first positioning position and the second positioning position;

[0019] The mono audio signal is fused with the orientation data using the HRTF audio processing method to generate a stereo audio signal.

[0020] In an optional embodiment of the first aspect of the present invention, obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag includes:

[0021] The UWB positioning tag repeatedly sends a ranging signal twice to each of the anchor points;

[0022] Record the first and second time intervals taken for the ranging signals to reach each of the anchor points, respectively.

[0023] Receive two response signals from each of the anchor points in response to the two ranging signals;

[0024] Record the third and fourth time intervals taken for the response signals of each anchor point to reach the UWB positioning tag twice;

[0025] The distance between the UWB positioning tag and each anchor point is calculated based on the first duration, the second duration, the third duration, and the fourth duration using the DS-TWR ranging algorithm.

[0026] In an optional embodiment of the first aspect of the present invention, obtaining the first location of the mobile sound source in the UWB wireless positioning system via a multilateral positioning algorithm in the host computer includes:

[0027] For each anchor point, obtain the coordinates of the anchor point and the distance between the anchor point and the moving sound source;

[0028] For each anchor point, establish a circle equation corresponding to the anchor point with the coordinates of the anchor point as the center and the distance between the anchor point and the moving sound source as the radius;

[0029] Construct a set of circle equations corresponding to each anchor point;

[0030] An approximate solution to the set of circle equations is obtained using the least squares method, and this approximate solution is used as the first location of the mobile sound source in the UWB wireless positioning system.

[0031] In an optional embodiment of the first aspect of the invention, determining the listener's second location outside the UWB wireless positioning system includes:

[0032] Establish the perimeter connection lines between each of the aforementioned anchor points;

[0033] Find the target line that is closest to the listener from the outer perimeter lines;

[0034] The coordinates of the midpoint of the line connecting the targets are used as the listener's second location outside the UWB wireless positioning system.

[0035] In an optional embodiment of the first aspect of the present invention, obtaining the azimuth data of the audio output based on the first positioning position and the second positioning position includes:

[0036] Using the first positioning position as a reference point, an azimuth coordinate system is established, which includes a horizontal axis and a vertical axis that are perpendicular to each other, wherein the horizontal axis is parallel to the line connecting the second positioning position to the target.

[0037] Based on the azimuth coordinate system, the distance between the listener and the mobile sound source, as well as the relative position data between the listener and the mobile sound source, are calculated using the first positioning position and the second positioning position.

[0038] In an optional embodiment of the first aspect of the present invention, the host computer, the anchor point, and the tag all include a main control unit, a UWB module, an ADC analog-to-digital converter module, an RF radio frequency transceiver unit, and an antenna.

[0039] In one optional embodiment of the first aspect of the present invention, the UWB wireless positioning system is provided with three anchor points, which are arranged in a triangular pattern.

[0040] A second aspect of the present invention provides a stereo synthesis system based on UWB positioning, the stereo synthesis system comprising:

[0041] UWB positioning tag, the UWB positioning tag being installed on a mobile audio source;

[0042] The UWB wireless positioning system is deployed around the mobile sound source. The UWB wireless positioning system includes at least three anchor points, and the UWB positioning tag is communicatively connected to the UWB wireless positioning system.

[0043] A host computer, which is communicatively connected to the UWB positioning tag and the UWB wireless positioning system;

[0044] The mobile audio source is used to collect mono audio signals and upload the mono audio signals to the host computer.

[0045] The UWB positioning tag is used to obtain the distance between the mobile sound source and each of the anchor points, and to upload the distance between the mobile sound source and each of the anchor points to the host computer;

[0046] The host computer is used to obtain the first positioning position of the mobile audio source in the UWB wireless positioning system through a multi-directional positioning algorithm; determine the second positioning position of the listener outside the UWB wireless positioning system; obtain the directional data of the audio output based on the first positioning position and the second positioning position; and fuse the mono audio signal with the directional data through the HRTF audio processing method to generate a stereo audio signal.

[0047] A third aspect of the present invention provides a stereo synthesis device based on UWB positioning, the stereo synthesis device based on UWB positioning comprising: a memory and at least one processor, the memory storing instructions, and the memory and the at least one processor being interconnected via a line;

[0048] The at least one processor invokes the instructions in the memory to cause the UWB-based stereo synthesis device to perform the UWB-based stereo synthesis method as described in any of the preceding claims.

[0049] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the stereo synthesis method based on UWB positioning as described in any of the preceding claims.

[0050] Beneficial Effects: This invention provides a stereo synthesis method, system, device, and storage medium based on UWB positioning. The stereo synthesis method of this invention involves installing UWB positioning tags on a mobile sound source and setting up a UWB wireless positioning system around the mobile sound source. The system includes three or more anchor points, and the anchor points communicate with the tags, calculating the distance between the tags and each anchor point in real time and uploading the data to a host computer. Simultaneously, the mono audio signal collected by a microphone moving with the sound source is uploaded to the host computer. The host computer uses sound image reproduction technology to fuse the mono sound collected by the microphone and the tag's position information using HRTF to generate a stereo audio signal. This stereo synthesis method of the present invention enables stereo pickup and synthesis even when only mono audio is acquired from a mobile sound source. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of an embodiment of a stereo synthesis method based on UWB positioning according to the present invention;

[0052] Figure 2 This is a schematic diagram of an embodiment of a stereo synthesis system based on UWB positioning according to the present invention;

[0053] Figure 3 This is a schematic diagram of an embodiment of a host computer according to the present invention;

[0054] Figure 4 This is a schematic diagram of an embodiment of a stereo synthesis device based on UWB positioning according to the present invention. Detailed Implementation

[0055] This invention provides a stereo synthesis method, system, device, and storage medium based on UWB positioning.

[0056] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0057] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1The first aspect of this invention provides a stereo synthesis method based on UWB positioning, the stereo synthesis method comprising:

[0058] S001. Install the UWB positioning tag on the mobile sound source; One applicable scenario of this invention is a stage play performance, where the mobile sound source is a microphone device carried by the actor. In this step, installing the UWB positioning tag on the mobile sound source means installing the UWB positioning tag on the microphone device carried by the actor. Of course, the UWB positioning tag can also be integrated with the microphone device.

[0059] S002. Deploy a UWB wireless positioning system around the mobile sound source. The UWB wireless positioning system includes at least three anchor points. Taking a stage play as an example, the mobile sound source's movement range is generally within the stage. Deploying a UWB wireless positioning system around the mobile sound source means setting up anchor points surrounding the stage. The number of anchor points needs to be determined based on the actual stage size and the sound source's positioning accuracy. For ease of understanding... Figure 2 A schematic diagram of a stereo synthesis system based on UWB positioning according to the present invention is shown;

[0060] S003. Establish a communication connection between the UWB positioning tag and the UWB wireless positioning system. In this invention, the UWB positioning tag needs to obtain positioning information through various anchor points in the UWB wireless positioning system, so it is necessary to establish a communication connection between the UWB positioning tag and various anchor points in the UWB wireless positioning system.

[0061] S004. Establish communication connections between the UWB positioning tag and the host computer, and between the UWB wireless positioning system and the host computer. In this invention, due to the limited data processing capabilities of the mobile audio source and the UWB positioning tag itself, after the mobile audio source collects the audio signal and the UWB positioning tag collects the location information, the audio signal is synthesized by the host computer.

[0062] S005. A mono audio signal is acquired by the mobile sound source and uploaded to the host computer. In this invention, a mobile sound source generally carries only one microphone, and the audio signal obtained by the mobile sound source is a mono audio signal. The inventive point of this invention is to synthesize a stereo audio signal based on the mono audio signal obtained by the mobile sound source and its position information.

[0063] S006. Obtain the distances between the mobile sound source and each of the anchor points using the UWB positioning tag, and upload the distances between the mobile sound source and each of the anchor points to the host computer. In this invention, the location of the UWB positioning tag is determined mainly by calculating the distances between the UWB positioning tag and each anchor point in the UWB wireless positioning system. In this invention, the distances between the UWB positioning tag and each anchor point are processed within the UWB positioning tag itself, while the location of the UWB positioning tag is obtained based on the distances between the UWB positioning tag and each anchor point, which is then processed in the host computer. In this invention, the coordinates of each anchor point are known in the UWB wireless positioning system.

[0064] S007. The first positioning position of the mobile sound source in the UWB wireless positioning system is obtained in the host computer through a polygonal positioning algorithm. In this invention, the polygonal positioning algorithm calculates the coordinates of the UWB positioning tag based on the distance between the UWB positioning tag and each anchor point and the exact coordinates of each anchor point. The first positioning position is the coordinates of the UWB positioning tag that have been solved.

[0065] S008. Determine the second positioning position of the listener outside the UWB wireless positioning system; In this invention, the purpose of determining the second positioning position of the listener outside the UWB wireless positioning system is to determine the relative position between the mobile sound source and the listener, whether the sound source is to the left or right of the listener, and what the angle is. After obtaining this relative position information, it is convenient to calculate the output time of the left and right channel audio signals and the delay of the left and right channel audio signals when synthesizing stereo audio.

[0066] S009. Obtain the orientation data of the audio output based on the first positioning position and the second positioning position; In this invention, the orientation data is the relative position between the first positioning position and the second positioning position. In this step, the moving sound source is usually used as a reference, and the position of the listener relative to the moving sound source is obtained.

[0067] S010. The mono audio signal and the location data are fused using the HRTF audio processing method to generate a stereo audio signal. In this invention, HRTF is a general audio processing technology. Through HRTF processing, mono sound is converted into stereo sound, and the intensity delay and other information of the left and right channels of the stereo sound are adjusted. The listener can then distinguish whether the sound is coming from the left or the right. This is equivalent to incorporating the spatial location information of the moving sound source into the played sound.

[0068] In summary, this invention provides a spatial stereo sound pickup method based on UWB wireless positioning. Using this method, stereo sound pickup from a single sound source can be achieved using only one microphone. The main idea of ​​this invention is as follows: Figure 1 As shown: A UWB wireless positioning system is set up around the sound source. The system includes at least three fixed anchor points providing positioning coordinates and a tag that moves with the sound source. The anchor points and the tag communicate with each other, and the tag's coordinates are calculated in real time and uploaded to a host computer. Simultaneously, the mono audio signal collected by the microphone moving with the sound source is uploaded to the host computer. The host computer uses sound image reproduction technology to fuse the mono sound collected by the microphone and the tag's position information through HRTF (Head-Response Transfer Function) to generate a spatial stereo audio signal. Furthermore, because UWB wireless positioning accuracy can reach 2-5cm, it is also well-suited for scenarios where multiple sound sources move simultaneously.

[0069] In an optional embodiment of the first aspect of the present invention, obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag includes:

[0070] The UWB positioning tag repeatedly sends a ranging signal twice to each of the anchor points. In this invention, when acquiring the distance between each anchor point of the UWB positioning tag, two ranging signals are sent at intervals of 10-30ms. The UWB positioning tag records the transmission time of each ranging signal. Each time the anchor point receives a ranging signal, it records the time of receipt and sends a response signal back to the UWB positioning tag. In addition to sending the response signal to the UWB positioning tag, the anchor point also sends the time of receiving the ranging signal and the time of sending the response signal.

[0071] The first and second time taken for the ranging signals to reach each of the anchor points are recorded. In this invention, after receiving the receiving time of the ranging signal fed back by the anchor point, the UWB positioning tag will perform a difference calculation with the corresponding sending time of the ranging signal to obtain the time taken for the ranging signal. In this invention, since the ranging signal is sent twice, there will also be two corresponding times.

[0072] The UWB positioning tag receives two response signals from each of the anchor points in response to the two ranging signals. In this invention, the UWB positioning tag records the time between receiving the response signal and the time of transmission of the response signal after each reception. Then, it performs a difference calculation with the time of transmission of the response signal to obtain the propagation time of the response signal.

[0073] The third and fourth time intervals taken for the response signals of each anchor point to reach the UWB positioning tag are recorded. In this invention, since the ranging signal is sent twice, there will also be two corresponding response signals, and the propagation time of the response signals will also be two.

[0074] Based on the first duration, the second duration, the third duration, and the fourth duration, the distance between the UWB positioning tag and each of the anchor points is calculated using the DS-TWR ranging algorithm. In this invention, the specific calculation method is to first obtain the average duration, which is calculated using the formula (first duration * second duration - third duration * fourth duration) / (first duration + second duration + third duration + fourth duration). After obtaining the average duration, the distance between the UWB positioning tag and each anchor point is obtained by multiplying the average duration by the speed of electromagnetic wave propagation in air.

[0075] In an optional embodiment of the first aspect of the present invention, obtaining the first location of the mobile sound source in the UWB wireless positioning system via a multilateral positioning algorithm in the host computer includes:

[0076] For each anchor point, the coordinates of the anchor point and the distance between the anchor point and the moving sound source are obtained; in this invention, taking 3 anchor points as an example, the coordinates of the 3 anchor points are (a, b), (c, d) and (e, f), and the corresponding distances are p, q and r, respectively;

[0077] For each anchor point, a circle equation is established with the coordinates of the anchor point as the center and the distance between the anchor point and the moving sound source as the radius; in this invention, the circle equations corresponding to the three anchor points are (xa). 2 +(xb) 2 =p 2 (xc) 2 +(xd) 2 =q 2 and (xe) 2 +(xf) 2 =r 2 ;

[0078] Construct a set of circle equations corresponding to each anchor point;

[0079] An approximate solution to the set of circle equations is obtained using the least squares method, and this approximate solution is used as the first positioning position of the mobile sound source in the UWB wireless positioning system. In this invention, during actual calculation, since p, q, and r actually have errors, the circles corresponding to the three anchor points will not intersect at a single point. Therefore, the three intersection points of the overlapping area of ​​the three circles are calculated first, and the average value of the three intersection points can be taken as the coordinates of the first positioning position.

[0080] In an optional embodiment of the first aspect of the invention, determining the listener's second location outside the UWB wireless positioning system includes:

[0081] Establish the outer perimeter connecting lines between each of the anchor points; in this invention, taking 3 anchor points as an example, it is the connecting lines that connect the 3 anchor points. Specifically, the outer perimeter connecting lines of 3 anchor points form a triangle, the outer perimeter connecting lines of 4 anchor points form a quadrilateral, and so on, the outer perimeter connecting lines of N anchor points form an N-sided polygon.

[0082] Find the target line closest to the listener from the outer line; taking three anchor points as an example, the listener usually tends to be set on one side of one of the outer lines. In this invention, since the listener is not actually just one person, a point can be used to represent a group of listeners. In this invention, the coordinates of the midpoint of the target line are selected as the second positioning position of the listener on the periphery of the UWB wireless positioning system.

[0083] In an optional embodiment of the first aspect of the present invention, obtaining the azimuth data of the audio output based on the first positioning position and the second positioning position includes:

[0084] Using the first positioning position as a reference point, an azimuth coordinate system is established. The azimuth coordinate system includes a horizontal axis and a vertical axis that are perpendicular to each other. The horizontal axis is parallel to the line connecting the target where the second positioning position is located. In this invention, when determining the location of the listener, the moving sound source is used as a reference point, and the line connecting the target on the listener's side is used as the X-axis or Y-axis direction of the azimuth coordinate system.

[0085] Based on the azimuth coordinate system, the distance between the listener and the moving sound source, as well as their relative positions, are calculated using the first and second positioning positions. In this invention, the relative position data between the listener and the moving sound source is the angle between the line connecting the listener and the moving sound source and the horizontal and vertical axes of the azimuth coordinate system. The primary function of the distance and the angle between the listener and the moving sound source is to determine the delay of the subsequent synthesized stereo left and right channel audio signals.

[0086] In an optional embodiment 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 converter module, an RF transceiver unit, and an antenna. See also Figure 3 The present invention discloses a specific structure of a host computer. The host computer used in the present invention also includes an audio power amplifier module and a microphone module. In specific use, the main control unit is also connected to a data processing terminal via a serial port.

[0087] In one optional embodiment of the first aspect of the present invention, the UWB wireless positioning system is provided with three anchor points, which are arranged in a triangular pattern. In this invention, using three anchor points can reduce the amount of data computation and improve data processing efficiency while meeting certain positioning accuracy requirements. Of course, if three anchor points are insufficient to surround the stage, a specific number of anchor points needs to be set according to the actual situation.

[0088] See Figure 2 A second aspect of the present invention provides a stereo synthesis system based on UWB positioning, the stereo synthesis system comprising:

[0089] UWB positioning tag 10, the UWB positioning tag being installed on a mobile audio source;

[0090] UWB wireless positioning system 20, the UWB wireless positioning system is deployed around the mobile sound source, the UWB wireless positioning system includes at least 3 anchor points, and the UWB positioning tag is communicatively connected to the UWB wireless positioning system;

[0091] Host computer 30, which is communicatively connected to the UWB positioning tag and the UWB wireless positioning system;

[0092] The mobile audio source is used to collect mono audio signals and upload the mono audio signals to the host computer.

[0093] The UWB positioning tag is used to obtain the distance between the mobile sound source and each of the anchor points, and to upload the distance between the mobile sound source and each of the anchor points to the host computer;

[0094] The host computer is used to obtain the first positioning position of the mobile audio source in the UWB wireless positioning system through a multi-directional positioning algorithm; determine the second positioning position of the listener outside the UWB wireless positioning system; obtain the directional data of the audio output based on the first positioning position and the second positioning position; and fuse the mono audio signal with the directional data through the HRTF audio processing method to generate a stereo audio signal.

[0095] In an optional embodiment of the second aspect of the present invention, obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag includes:

[0096] The UWB positioning tag repeatedly sends a ranging signal twice to each of the anchor points;

[0097] Record the first and second time intervals taken for the ranging signals to reach each of the anchor points, respectively.

[0098] Receive two response signals from each of the anchor points in response to the two ranging signals;

[0099] Record the third and fourth time intervals taken for the response signals of each anchor point to reach the UWB positioning tag twice;

[0100] The distance between the UWB positioning tag and each anchor point is calculated based on the first duration, the second duration, the third duration, and the fourth duration using the DS-TWR ranging algorithm.

[0101] In an optional embodiment of the second aspect of the present invention, obtaining the first location of the mobile sound source in the UWB wireless positioning system via a multilateral positioning algorithm in the host computer includes:

[0102] For each anchor point, obtain the coordinates of the anchor point and the distance between the anchor point and the moving sound source;

[0103] For each anchor point, establish a circle equation corresponding to the anchor point with the coordinates of the anchor point as the center and the distance between the anchor point and the moving sound source as the radius;

[0104] Construct a set of circle equations corresponding to each anchor point;

[0105] An approximate solution to the set of circle equations is obtained using the least squares method, and this approximate solution is used as the first location of the mobile sound source in the UWB wireless positioning system.

[0106] In an optional embodiment of the second aspect of the invention, determining the listener's second location outside the UWB wireless positioning system includes:

[0107] Establish the perimeter connection lines between each of the aforementioned anchor points;

[0108] Find the target line that is closest to the listener from the outer perimeter lines;

[0109] The coordinates of the midpoint of the line connecting the targets are used as the listener's second location outside the UWB wireless positioning system.

[0110] In an optional embodiment of the second aspect of the present invention, obtaining the azimuth data of the audio output based on the first positioning position and the second positioning position includes:

[0111] Using the first positioning position as a reference point, an azimuth coordinate system is established, which includes a horizontal axis and a vertical axis that are perpendicular to each other, wherein the horizontal axis is parallel to the line connecting the second positioning position to the target.

[0112] Based on the azimuth coordinate system, the distance between the listener and the mobile sound source, as well as the relative position data between the listener and the mobile sound source, are calculated using the first positioning position and the second positioning position.

[0113] In an optional embodiment of the second aspect of the present invention, the host computer, the anchor point, and the tag all include a main control unit, a UWB module, an ADC analog-to-digital converter module, an RF radio frequency transceiver unit, and an antenna.

[0114] Figure 4 This is a schematic diagram of a stereo synthesis device based on UWB positioning provided in an embodiment of the present invention. This UWB-based stereo synthesis device can vary significantly due to differences in configuration or performance. It may include one or more processors 50 (central processing units, CPUs) (e.g., one or more processors) and a memory 60, and one or more storage media 70 (e.g., one or more mass storage devices) for storing application programs or data. The memory and storage media can be temporary or persistent storage. The program stored in the storage media may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the UWB-based stereo synthesis device. Furthermore, the processor may be configured to communicate with the storage media and execute the series of instruction operations in the storage media on the UWB-based stereo synthesis device.

[0115] UWB-based stereo synthesis devices 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 Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 4 The illustrated stereo synthesis device structure based on UWB positioning does not constitute a limitation on stereo synthesis devices based on UWB positioning. It may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0116] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the stereo synthesis method based on UWB positioning.

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system or system / unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0118] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0119] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A stereo synthesis method based on UWB positioning, characterized in that, The stereo synthesis method includes: Install UWB location tags on the mobile audio source; A UWB wireless positioning system is deployed around the mobile sound source, and the UWB wireless positioning system includes at least 3 anchor points. Establish a communication connection between the UWB positioning tag and the UWB wireless positioning system; Establish communication connections between the UWB positioning tag and the host computer, and between the UWB wireless positioning system and the host computer; A mono audio signal is acquired by the mobile sound source and uploaded to the host computer. The distances between the mobile sound source and each of the anchor points are obtained through the UWB positioning tags, and the distances between the mobile sound source and each of the anchor points are uploaded to the host computer. The first location of the mobile sound source in the UWB wireless positioning system is obtained in the host computer through a multi-sided positioning algorithm. Determine the listener's second location outside the UWB wireless positioning system; The directional data of the audio output is obtained based on the first positioning position and the second positioning position; The mono audio signal is fused with the azimuth data using the HRTF audio processing method to generate a stereo audio signal. The step of obtaining the distances between the mobile sound source and each of the anchor points through the UWB positioning tag includes: The UWB positioning tag repeatedly sends a ranging signal twice to each of the anchor points; Record the first and second time intervals taken for the ranging signals to reach each of the anchor points, respectively. Receive two response signals from each of the anchor points in response to the two ranging signals; Record the third and fourth time intervals taken for the response signals of each anchor point to reach the UWB positioning tag, respectively; Based on the first duration, the second duration, the third duration, and the fourth duration, the distance between the UWB positioning tag and each of the anchor points is calculated using the DS-TWR ranging algorithm; Wherein, obtaining the first location of the mobile sound source in the UWB wireless positioning system through a multilateral positioning algorithm in the host computer includes: For each anchor point, obtain the coordinates of the anchor point and the distance between the anchor point and the moving sound source; For each anchor point, establish a circle equation corresponding to the anchor point with the coordinates of the anchor point as the center and the distance between the anchor point and the moving sound source as the radius; Construct a set of circle equations corresponding to each anchor point; An approximate solution to the set of circle equations is obtained using the least squares method, and this approximate solution is used as the first location of the mobile sound source in the UWB wireless positioning system.

2. The stereo synthesis method based on UWB positioning according to claim 1, characterized in that, Determining the listener's second location outside the UWB wireless positioning system includes: Establish the perimeter connection lines between each of the aforementioned anchor points; Find the target line that is closest to the listener from the outer perimeter lines; The coordinates of the midpoint of the line connecting the targets are used as the listener's second location outside the UWB wireless positioning system.

3. The stereo synthesis method based on UWB positioning according to claim 2, characterized in that, The directional data for obtaining the audio output based on the first and second positioning positions includes: Using the first positioning position as a reference point, an azimuth coordinate system is established, which includes a horizontal axis and a vertical axis that are perpendicular to each other, wherein the horizontal axis is parallel to the line connecting the second positioning position to the target. Based on the azimuth coordinate system, the distance between the listener and the mobile sound source, as well as the relative position data between the listener and the mobile sound source, are calculated using the first positioning position and the second positioning position.

4. The stereo synthesis method based on UWB positioning according to claim 1, characterized in that, The host computer, the anchor point, and the tag all include a main control unit, a UWB module, an ADC analog-to-digital converter module, an RF radio frequency transceiver unit, and an antenna.

5. The stereo synthesis method based on UWB positioning according to claim 1, characterized in that, The UWB wireless positioning system has three anchor points, which are arranged in a triangle.

6. A stereo synthesis system based on UWB positioning, characterized in that, The stereo synthesis system includes: UWB positioning tag, the UWB positioning tag being installed on a mobile audio source; The UWB wireless positioning system is deployed around the mobile sound source. The UWB wireless positioning system includes at least three anchor points, and the UWB positioning tag is communicatively connected to the UWB wireless positioning system. A host computer, which is communicatively connected to the UWB positioning tag and the UWB wireless positioning system; The mobile audio source is used to collect mono audio signals and upload the mono audio signals to the host computer. The UWB positioning tag is used to obtain the distances between the mobile sound source and each of the anchor points, and upload the distances between the mobile sound source and each of the anchor points to the host computer. Obtaining the distances between the mobile sound source and each of the anchor points includes: repeatedly sending ranging signals twice to each of the anchor points using the UWB positioning tag; recording the first and second time intervals taken for the two ranging signals to reach each anchor point; receiving two response signals from each anchor point in response to the two ranging signals; recording the third and fourth time intervals taken for the two response signals from each anchor point to reach the UWB positioning tag; and calculating the distance between the UWB positioning tag and each of the anchor points based on the first, second, third, and fourth time intervals using the DS-TWR ranging algorithm. The host computer is used to obtain the first positioning position of the mobile audio source in the UWB wireless positioning system through a multilateral positioning algorithm; determine the second positioning position of the listener outside the UWB wireless positioning system; obtain the directional data of the audio output based on the first positioning position and the second positioning position; and fuse the mono audio signal with the directional data using the HRTF audio processing method to generate a stereo audio signal. The step of obtaining the first positioning position of the mobile audio source in the UWB wireless positioning system through the multilateral positioning algorithm includes: for each anchor point, obtaining the coordinates of the anchor point and the distance between the anchor point and the mobile audio source; for each anchor point, establishing a circle equation corresponding to the anchor point with the coordinates of the anchor point as the center and the distance between the anchor point and the mobile audio source as the radius; constructing a set of circle equations corresponding to each anchor point; using the least squares method to obtain an approximate solution to the set of circle equations, and using the approximate solution as the first positioning position of the mobile audio source in the UWB wireless positioning system.

7. A stereo synthesis device based on UWB positioning, characterized in that, The UWB-based stereo synthesis device includes: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor invokes the instructions in the memory to cause the UWB-based stereo synthesis device to perform the UWB-based stereo synthesis method as described in any one of claims 1-5.

8. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements the stereo synthesis method based on UWB positioning as described in any one of claims 1-5.

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