Parameter correction method, earphone, audio playing method and system and storage medium

Abstract

The invention relates to the field of Bluetooth communication, in particular to a parameter correction method, an earphone, an audio playing method and system and a storage medium. The invention provides a parameter correction method, which is applied to wearable equipment and comprises the following steps: at a reference moment, respectively determining a first reference distance between first sound playing equipment and target equipment and a second reference distance between second sound playing equipment and the target equipment through a Bluetooth communication module; at the detection moment, a first detection distance between the first sound playing device and the target device and a second detection distance between the second sound playing device and the target device are determined through the Bluetooth communication module, and detection pose information of the wearable device is determined through the IMU; and correcting the null drift parameter of the IMU based on the first reference distance, the second reference distance, the first detection distance, the second detection distance and the detection pose information, so that the precision of determining the relative pose information by the IMU can be improved.

Description

Technical Field

[0001] The present invention relates to the field of Bluetooth communication, and in particular to a parameter correction method, earphones, an audio playing method, an audio playing system and a computer-readable storage medium. Background Art

[0002] In related technologies, wearable devices can determine their own posture information through built-in inertial sensors (Inertial Measurement Unit, IMU, also known as inertial measurement unit), and then adjust the audio playback effect based on the posture information determined by themselves during the interaction with the target device. However, in actual applications, the measurement value of the IMU may have zero drift (also known as zero-point drift) due to itself, the external environment or other factors, affecting the detection results of the posture information, thereby affecting the audio playback effect of the wearable device and affecting the user experience. Summary of the invention

[0003] In order to overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides a parameter correction method, which is applied to a wearable device, wherein the wearable device includes a first sound playback device and a second sound playback device respectively connected to a target device by Bluetooth, and at least one of the sound playback devices includes an inertial sensor. The parameter correction method includes: at a reference time, based on the Bluetooth connection between the target device, respectively determining a first reference distance between the first sound playback device and the target device, and a second reference distance between the second sound playback device and the target device through a Bluetooth communication module; at a detection time, based on the Bluetooth connection between the target device, respectively determining a first detection distance between the first sound playback device and the target device, and a second detection distance between the second sound playback device and the target device through a Bluetooth communication module; at the detection time, determining detection posture information of the wearable device through the inertial sensor; based on the first reference distance, the second reference distance, the first detection distance, the second detection distance and the detection posture information, correcting a zero drift parameter of the inertial sensor to obtain a target zero drift parameter, so that the inertial sensor determines the relative posture information between the wearable device and the target device based on the target zero drift parameter.

[0004] In some embodiments, based on the first reference distance, the second reference distance, the first detection distance, the second detection distance and the detection posture information, the zero drift parameters of the inertial sensor are corrected to obtain the target zero drift parameters, including: determining the actual posture information of the wearable device at the detection moment based on the first reference distance, the second reference distance, the first detection distance, and the second detection distance; based on the comparison result of the detection posture information and the actual posture information, correcting the zero drift parameters of the inertial sensor to obtain the target zero drift parameters.

[0005] In some embodiments, the target device is a movable device; the parameter correction method also includes: at a reference time, obtaining first terminal posture information of the target device; at a detection time, obtaining second terminal posture information of the target device; based on the first reference distance, the second reference distance, the first detection distance, and the second detection distance, determining the actual posture information of the wearable device at the detection time, including: based on the first terminal posture information and the second terminal posture information, determining the device posture change of the target device based on the terminal posture change, the first reference distance, the second reference distance, the first detection distance, and the second detection distance, determining the actual posture information of the wearable device at the detection time.

[0006] In some embodiments, the distance between the target sound playing device and the target device is determined by a Bluetooth communication module in the following manner, where the target sound playing devices are a first sound playing device and a second sound playing device, and the distance includes a first reference distance, a second reference distance, a first detection distance, and a second detection distance: through the Bluetooth communication module, determine the phase measurement value of the interaction between the target sound playing device and the target device through the Bluetooth signal and the round-trip time of the Bluetooth signal during the interaction process; based on the phase measurement value and the round-trip time, determine the distance between the target sound playing device and the target device.

[0007] In some embodiments, the parameter correction method further includes: determining the detection time based on the detection period; and / or determining the detection time in response to a received detection instruction.

[0008] In a second aspect, the present disclosure further provides a headset, comprising: a first sound playing device, provided with a Bluetooth communication module, used to establish a Bluetooth connection with a target device, and used to determine a first reference distance and a first detection distance between the first sound playing device and the target device; a second sound playing device, which is independent of the first sound playing device, provided with a Bluetooth communication module, used to establish a Bluetooth connection with the target device, and used to determine a second reference distance and a second detection distance between the second sound playing device and the target device; an inertial sensor, arranged in the first sound playing device and / or the second sound playing device, used to determine the detection posture information of the headset, so as to correct the zero drift parameter of the inertial sensor based on the first reference distance, the second reference distance, the first detection distance, the second detection distance and the detection posture information, obtain the target zero drift parameter, and enable the inertial sensor to determine the relative posture information between the inertial sensor and the target device based on the target zero drift parameter.

[0009] In a third aspect, the present disclosure also provides an audio playback method, which is applied to a wearable device, wherein the wearable device includes a first sound playback device and a second sound playback device, which are respectively connected to a target device via Bluetooth, and at least one of the sound playback devices includes an inertial sensor. The audio playback includes: based on a target zero drift parameter of the inertial sensor, determining relative posture information between the target device and the target device through the inertial sensor, wherein the target zero drift parameter is determined by the parameter correction method provided by any of the above aspects; receiving audio to be played sent by the target device; adjusting the audio to be played based on the relative posture information, and playing it through the first sound playback device and the second sound playback device according to the obtained adjustment result.

[0010] In some embodiments, based on the relative posture information, adjusting the audio to be played, and playing it through the first sound playback device and the second sound playback device according to the obtained adjustment result, includes:

[0011] Based on the relative posture information, a first spatial sound effect direction between the first sound playback device and the target device, and a second spatial sound effect direction between the second sound playback device and the target device are determined respectively; based on the first spatial sound effect direction and the second spatial sound effect direction, the audio to be played is adjusted to obtain the target audio; and the target audio is played through the first sound playback device and the second sound playback device.

[0012] In a fourth aspect, the present disclosure also provides an audio playback system, including a target device and headphones: the target device is provided with a Bluetooth communication module, which is used to connect to the headphones via the Bluetooth communication module and send audio to be played to the headphones; the headphones include a first sound playback device and a second sound playback device, and at least one sound playback device includes an inertial sensor, the headphones are used to determine the relative posture information between the headphones and the target device based on the target zero drift parameter of the inertial sensor through the inertial sensor, and adjust the audio to be played based on the relative posture information, and play the audio through the first sound playback device and the second sound playback device according to the obtained adjustment result, wherein the target zero drift parameter is determined by the parameter correction method provided by any one aspect.

[0013] In a fifth aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the parameter correction method provided by any one of the above aspects or the audio playback method provided by any one of the above aspects.

[0014] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0015] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: According to the parameter correction method provided by the present disclosure, the distance between the two sound playback devices of the wearable device and the target device is determined respectively at the reference time and the detection time by means of Bluetooth ranging, and the purpose of targeted ranging can be achieved without adding other measuring devices, which has certain convenience and practicality. The zero drift parameter of the inertial sensor is corrected by using the distance at the reference time, the distance at the detection time, and the detection posture information, which can simplify the correction difficulty and improve the correction efficiency, so that the target zero drift parameter can improve the determination accuracy of the relative posture information, thereby helping to ensure the reliability of the inertial sensor and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0017] Figure 1 It is a flow chart of a parameter correction method according to an exemplary embodiment of the disclosure;

[0018] Figure 2 is a flow chart of another parameter correction method according to an exemplary embodiment of the disclosure;

[0019] Figure 3 is a flow chart of another parameter correction method according to an exemplary embodiment of the disclosure;

[0020] Figure 4 The figure is a schematic diagram of the structure of a headset according to an exemplary embodiment of the disclosure.

[0021] Figure 5 It is a flowchart of an audio playing method according to an exemplary embodiment of the disclosure;

[0022] Figure 6 is a flowchart of another audio playing method according to an exemplary embodiment of the disclosure;

[0023] Figure 7 It is a schematic diagram of a left-ear FIR filter and a right-ear FIR filter adapted to the audio source of each channel in a multi-channel according to an exemplary embodiment of the disclosure;

[0024] Figure 8 The present invention is a schematic diagram of an architecture of an audio playback system according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0025] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0026] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0027] Wearable devices determine their own position and posture information through built-in inertial sensors (Inertial Measurement Unit, IMU, also known as inertial measurement unit). Among them, IMU can be any one or more sensor elements such as gyroscopes and accelerometers, which are used to measure the motion parameters of the device, such as acceleration, angular velocity, and magnetic field strength. IMU can determine the device's position, spatial coordinates and other information by detecting changes in its own motion parameters such as acceleration, speed and angular velocity. For example, in devices such as smartphones, tablets and game controllers, IMU can be used to implement functions such as automatic screen rotation, game control and navigation.

[0028] In actual applications, when the IMU (inertial measurement unit) has zero drift (zero point drift), it will cause its own detection accuracy. Among them, the zero drift phenomenon refers to the error in the posture and / or position measured by the IMU when it does not receive any external measurement signal (that is, the IMU is in a stationary state). This error can be caused by the drift and noise brought by the inertial sensor itself, or by changes in the external environment or damage to the IMU such as external force collision.

[0029] Based on the connection between the wearable device and the target device, the user can play the audio provided by the target device through the wearable device sound player. When the user wears the wearable device, the audio playback effect will be adjusted based on the change in relative posture information with the target device. Since the determination of IMU posture information depends on historical detection data, when the IMU has zero drift, the determination of relative posture information will be affected as the usage time increases, thereby affecting the audio playback effect of the wearable device and the user experience.

[0030] To solve the above problems, the present disclosure provides a wearable device. Among them, the wearable device may include two relatively independent sound playback devices: a first sound playback device and a second sound playback device, so that the audio playback function can be realized. The wearable device is equipped with an IMU that can determine its own position, and the IMU can be deployed in at least one sound playback device. Among them, the first sound playback device and the second sound playback device can be two independent devices, and can communicate with each other through wireless transmission. The wearable device and the target device are connected via Bluetooth, and then the first sound playback device and the second sound playback device can be connected to the target device via Bluetooth to achieve interaction. The wearable device may include but is not limited to any of the following devices that can be connected via Bluetooth and include two sound playback devices: Bluetooth headsets, smart glasses, etc. Smart glasses may include but are not limited to: virtual reality (VR) glasses, augmented reality (AR) glasses, mixed reality (MR) glasses. The target device may be any device that can perform Bluetooth communication and can provide audio to be played.

[0031] According to the wearable device provided by the present disclosure, the present disclosure provides a parameter correction method, which can determine the distance between the first sound playing device and the second sound playing device at different times based on the Bluetooth connection between the wearable device and the target device by Bluetooth ranging, and then correct the zero drift of the IMU based on the distance, thereby achieving the purpose of calibrating the zero drift parameters of the IMU without adding other measuring devices.

[0032] like Figure 1 As shown, the present disclosure provides a parameter correction method, which is applied to a wearable device. The parameter correction method includes the following steps S110 to S140.

[0033] Step S110, at a reference time, based on the Bluetooth connection with the target device, a first reference distance between the first sound playing device and the target device and a second reference distance between the second sound playing device and the target device are determined by the Bluetooth communication module.

[0034] The reference time may be the initial time when the wearable device starts playing audio after being started, or may be a specified predetermined time. The predetermined time may be determined according to a user input method. The user input method includes but is not limited to a key, a gesture, or a voice, and may be determined according to actual needs.

[0035] Based on the Bluetooth connection with the target device, it can be ensured that both the first sound playback device and the second sound playback device can interact with the target device through Bluetooth. Therefore, through the Bluetooth communication module, the Bluetooth ranging method can be used to measure the first reference distance between the first sound playback device and the target device and the second reference distance between the second sound playback device and the target device at the reference time, so as to provide reliable benchmark data when performing targeted correction on the zero drift parameters of the inertial sensor later.

[0036] Step S120, at the detection time, based on the Bluetooth connection with the target device, the first detection distance between the first sound playing device and the target device and the second detection distance between the second sound playing device and the target device are determined by the Bluetooth communication module.

[0037] The detection time may be a time when the inertial sensor needs to be zero-drift corrected. At the detection time, based on the Bluetooth connection with the target device, the Bluetooth distance measurement method is used again to respectively determine the first detection distance between the first sound playback device and the target device, and the second detection distance between the second sound playback device and the target device, so as to determine the relative position relationship between the first sound playback device, the second sound playback device and the target device at the detection time.

[0038] Step S130: at the detection time, determining the detection posture information of the wearable device through the inertial sensor.

[0039] In order to determine whether the current detection result of the inertial sensor is reliable, the detection posture information of the wearable device is obtained through the inertial sensor at the detection moment.

[0040] In one example, in order to improve the efficiency of determining the detection posture information, at the reference time, the reference posture information of the wearable device at the reference time can be determined by an inertial sensor, and then combined with the changes in motion parameters of the wearable device from the reference time to the detection time, the posture information at the detection time can be predicted specifically to determine the detection posture information, thereby reducing the delay in data transmission and processing, so that the detection posture information can be determined more quickly.

[0041] Step S140, based on the first reference distance, the second reference distance, the first detection distance, the second detection distance and the detection posture information, correct the zero drift parameter of the inertial sensor to obtain the target zero drift parameter, so that the inertial sensor determines the relative posture information between the inertial sensor and the target device based on the target zero drift parameter.

[0042] Since the device distance between the first sound playback device and the second sound playback device is fixed during the use of the wearable device, the first relative posture information relationship between the two sound playback devices and the target device at the reference time can be determined according to the first reference distance, the second reference distance and the device distance. According to the first detection distance, the second detection distance and the device distance, the second relative posture information relationship between the two sound playback devices and the target device at the detection time is determined. Based on the comparison result of the first relative posture information relationship and the second relative posture information, the relative posture information change between the wearable device and the target device at the detection time can be determined, and then the zero drift parameter of the inertial sensor can be corrected in combination with the detection posture information, which can effectively improve the measurement precision and accuracy of the inertial sensor. The target zero drift parameter obtained in this way can improve the determination accuracy of the relative posture information, so that the inertial sensor can more accurately determine the relative posture information between the inertial sensor and the target device. Among them, the relative posture information includes relative position and relative deflection direction. The zero drift parameters may include the zero drift parameters of the accelerometer in the inertial sensor, such as the DC or low-frequency offset of the acceleration in each direction and / or the DC or low-frequency offset of its integral (velocity) and / or the DC or low-frequency offset of its quadratic integral (displacement or position); or may include the zero drift parameters of the gyroscope in the inertial sensor, such as the DC or low-frequency offset of the angular velocity in each rotation direction and / or the DC or low-frequency offset of its integral (azimuth or attitude angle or heading angle).

[0043] According to the parameter correction method provided by the present disclosure, the distance between the two sound playback devices of the wearable device and the target device is determined at the reference time and the detection time respectively by means of Bluetooth ranging, and the purpose of targeted ranging can be achieved without adding other measuring devices, which has certain convenience and practicality. The zero drift parameter of the inertial sensor is corrected by using the distance at the reference time, the distance at the detection time and the detection posture information, which can simplify the correction difficulty and improve the correction efficiency, so that the target zero drift parameter can improve the determination accuracy of the relative posture information, thereby helping to ensure the reliability of the inertial sensor and improving the user experience.

[0044] In some embodiments, Figure 2 As shown, the above step S140 includes:

[0045] Step S141, based on the first reference distance, the second reference distance, the first detection distance, and the second detection distance, determine the actual posture information of the wearable device at the detection moment.

[0046] When the device distance between the two sound playback devices is constant, the first reference distance and the second reference distance can be combined to determine the first relative position information of the two sound playback devices and the target device at the reference time by means of geometric calculation or triangulation. For example, based on the spatial coordinate system of the wearable device itself, the spatial position coordinates between the first sound playback device and the second sound playback device at the reference time can be clearly determined, and then based on the triangle formed by the two sound playback devices and the target device, the first spatial coordinates of the target device at the reference time can be determined, so that the first phase position between the target device and the two sound playback devices at the reference time can be determined.

[0047] To improve the determination efficiency, the same method is adopted. Based on the first detection distance and the second detection distance, the second spatial coordinates of the target device at the reference time can be determined, so that the second phase position between the target device and the two sound playing devices at the reference time can be determined.

[0048] Since the positions of the wearable device and the target device may change at the detection time, the actual spatial position of the target device at the detection time can be determined by means of coordinate system conversion, thereby obtaining the actual position information of the wearable device.

[0049] Step S142: based on the comparison result between the detected posture information and the actual posture information, calibrate the zero drift parameter of the inertial sensor to obtain the target zero drift parameter.

[0050] The detected posture information can be understood as being obtained by measuring the inertial sensor without clarifying whether the inertial sensor has a zero drift phenomenon. The actual posture information is the real posture information based on distance measurement. By comparing the difference between the detected posture information and the actual posture information, it can be clarified whether the inertial sensor has a zero drift phenomenon. For example, if the detected posture information is the same as the actual posture information, it indicates that the inertial sensor has no zero drift phenomenon, and no correction is required at this time. If the detected posture information is different from the actual posture information, it indicates that the inertial sensor has a zero drift phenomenon, and correction is required at this time. When it is determined that the zero drift phenomenon occurs, the zero drift parameters of the inertial sensor are corrected according to the difference between the detected posture information and the actual posture information to obtain the target zero drift parameters, thereby reducing the posture estimation error caused by the sensor's own error, helping to improve the accuracy of the posture information, and helping to enhance the reliability and stability of the inertial sensor.

[0051] In one example, the zero drift parameter of the inertial sensor can be corrected by kalman filtering. That is, based on the first reference distance and the second reference distance, the zero drift parameter of the inertial sensor is estimated by kalman filtering, and then the reference position of the target device and the reference direction of the wearable device relative to the target device are determined. This is because under static conditions, the output of the inertial sensor should remain unchanged, and any changes can be attributed to zero drift. When the wearable device moves or rotates, the distance and direction of the first sound playback device and the second sound playback device relative to the target device will change. Using the first detection distance and the second detection distance as measurement values, when the detection posture information at the detection moment is determined, the posture and position of at least one inertial sensor in the wearable device can be calibrated by using kalman filtering, especially the zero drift parameter, which can greatly improve the accuracy and precision of the posture and position of the inertial sensor relative to the initial posture and position.

[0052] By performing zero drift parameter correction in the above manner, the performance of the device can be significantly improved, the user experience can be enhanced, the maintenance cost can be reduced, and the device can work reliably in a wider and more complex environment.

[0053] In some embodiments, in order to improve the flexibility and intelligence of parameter correction, the execution process of parameter correction can be determined based on the device type of the target device. Among them, the device type may include: removable device or non-removable device. Removable device refers to a device that can be moved from one location to another during use. For example, removable devices may include but are not limited to: mobile phones, tablets, notebooks, smart watches, etc. Non-removable device refers to a device that is not easy to move or cannot be moved during use. For example, non-removable device may include but are not limited to: desktop computers, industrial robots, etc.

[0054] After the wearable device establishes a connection with the target device via Bluetooth, it can obtain the device information of the target device based on the interaction with the target device, and then determine the device type corresponding to the target device based on the device information, so as to perform targeted correction on the zero drift parameter of the inertial sensor based on the correspondence between the device type and the parameter correction strategy, which helps to improve the reliability and accuracy of the correction result. If the device type is a removable device, the corresponding first parameter correction strategy includes: based on the distance between the two sound playing devices and the target device at the reference time and the detection time, the actual posture information of the wearable device at the detection time, and the device posture change of the target device at the reference time and the detection time, the inertial sensor is corrected. If the device type is a non-removable device, the corresponding second parameter correction strategy includes: based on the distance between the two sound playing devices and the target device at the reference time and the detection time, the actual posture information of the wearable device at the detection time, and the device posture change of the target device at the reference time and the detection time, the zero drift parameter of the inertial sensor is corrected.

[0055] In some examples, if the device posture does not change during the calibration process of the movable device, the second parameter correction strategy can also be used to correct the zero drift parameters of the inertial sensor, thereby helping to simplify the correction process and improve detection efficiency. Among them, for the target device whose device type is a movable device, it can be determined based on the user's choice whether to use the first parameter correction strategy or the second parameter correction strategy to correct the zero drift parameters of the inertial sensor, thereby helping to enhance the interactivity with the user.

[0056] In some examples, taking the target device as a removable device as an example, the process of performing parameter correction can be as follows: Figure 3 As shown, the parameter correction method includes the following steps:

[0057] Step S210: obtaining first terminal posture information of the target device at a reference time.

[0058] The first terminal posture information may include, but is not limited to, location information and direction information of the target device at a reference time.

[0059] In one example, the first terminal posture information of the target device can be detected by a wearable device, thereby reducing the amount of data to be transmitted and saving Bluetooth bandwidth.

[0060] In another example, the first terminal posture information of the target device can also be detected by the target device itself, and then sent by the target device to the wearable device via Bluetooth transmission, thereby ensuring that the wearable device obtains the first terminal posture information in a timely manner and reducing the computing burden of the wearable device.

[0061] Step S220, at a reference time, based on the Bluetooth connection with the target device, a first reference distance between the first sound playing device and the target device and a second reference distance between the second sound playing device and the target device are determined by the Bluetooth communication module.

[0062] Step S230: At the detection time, obtain the second terminal posture information of the target device.

[0063] The method for acquiring the second terminal's posture information is the same as the method for acquiring the first terminal's posture information, and will not be repeated here.

[0064] Step S240, at the detection time, based on the Bluetooth connection with the target device, the first detection distance between the first sound playing device and the target device and the second detection distance between the second sound playing device and the target device are determined by the Bluetooth communication module.

[0065] Step S250: At the detection time, the detection posture information of the wearable device is determined by the inertial sensor.

[0066] Step S260, based on the first reference distance, the second reference distance, the first detection distance, and the second detection distance, determine the actual posture information of the wearable device at the detection time.

[0067] The above step S260 includes:

[0068] Step S261, determining a terminal posture change of the movable terminal based on the first terminal posture information and the second terminal posture information.

[0069] By comparing the first terminal posture information and the second terminal posture information, the position movement and direction rotation of the target device between the reference time and the detection time can be determined, so that the terminal posture change of the target device from the reference time to the detection time can be determined. In some examples, the terminal posture change may include a translation vector (indicating a position change) and a rotation matrix (indicating a direction change).

[0070] Step S262, based on the terminal posture change, the first reference distance, the second reference distance, the first detection distance, and the second detection distance, determine the actual posture information of the target device at the detection time.

[0071] If the terminal posture change characterizes that the posture of the target device at the reference time is different from that at the detection time, it can be determined that the posture of the target device has changed, and then the terminal posture change is used to calculate the translation and rotation of the target device from the reference time to the detection time. In combination with the first reference distance and the second reference distance, the relative position of the target device at the reference time can be determined. By comparing the first detection distance and the second detection distance, it can be verified whether the position of the target device at the detection time is consistent with the expectation, so that the actual posture information of the target device at the detection time can be determined by triangulation or similar geometric algorithms. The actual posture information includes but is not limited to its position and direction.

[0072] If the terminal posture change characterizes that the posture of the target device at the reference time is the same as that at the detection time, it can be determined that the posture of the target device has not changed, so the first detection distance and the first reference distance, as well as the second detection distance and the second reference distance are compared. If these distances are very close or completely consistent, it can be considered that the posture of the device has not changed, so the posture information determined at the reference time can be directly used as the actual posture information at the detection time, which helps to simplify the posture determination process and reduce computing resources.

[0073] Step S270, based on the comparison result between the detected posture information and the actual posture information, calibrate the zero drift parameter of the inertial sensor to obtain the target zero drift parameter.

[0074] According to the parameter correction method provided in the present invention, correcting the zero drift parameters of the inertial sensor helps to improve the accuracy of posture estimation and the robustness of the system, simplify the calculation process, and reduce power consumption, thereby helping to provide strong support for real-time feedback and precise navigation in complex scenarios.

[0075] In other embodiments, when the target device is a non-movable terminal, the process of parameter correction can be as follows: Euler angle method, quaternion method, equivalent rotation vector method, Rodriguez parameter method, and direction cosine matrix method can be used to calculate the posture, and the distance between the two sound playing devices and the target device can be used to correct the zero drift parameters of the inertial sensor to obtain a more accurate posture or orientation.

[0076] In some examples, machine learning and deep learning network models can also be used to achieve data fusion of inertial sensor data and the distance between the two sound playback devices and the target device, calibrate the zero drift parameters, and thus obtain a more accurate posture or orientation. The deep learning network model can include an inertial sensor feature extraction network, a distance constraint network, and a posture regression network. The zero drift parameters of the inertial sensor are obtained according to the network model, thereby obtaining a more accurate posture or orientation.

[0077] In some embodiments, the distance measurement is performed by the Bluetooth communication module using the Bluetooth channel sounding (CS) technology. When the distances between the two sound playback devices and the target device are measured at the reference time and the detection time, the measurement means used are the same, and the distance between the first sound playback device and the target device is measured by the same means as the distance between the second sound playback device and the target device. Therefore, the following will use the target sound playback device to represent the first sound playback device and the second sound playback device to explain the process of determining the distance between the target sound playback device and the target device at the reference time or the measurement time through the Bluetooth communication module:

[0078] Step a1, determining, through the Bluetooth communication module, a phase measurement value of the interaction between the target sound playback device and the target device through the Bluetooth signal and a round trip time of the Bluetooth signal during the interaction process;

[0079] Step a2: determining the distance between the target sound playback device and the target device based on the phase measurement value and the round-trip time.

[0080] Specifically, the characteristic of Bluetooth channel detection is that channel detection uses phase measurement and RTT (round-trip time) measurement to estimate the distance and correct each other at the same time. It has higher accuracy and a safety protection mechanism, and can achieve a ranging accuracy of 10cm.

[0081] The above process involves using a Bluetooth communication module to measure the distance between the target sound playback device and the target device. The specific implementation process is as follows:

[0082] During the process of connecting the target sound playback device to the target device via Bluetooth, the target sound playback device sends a synchronization signal to the target device. This signal can be a simple data packet or a more complex synchronization pulse. After receiving the synchronization signal, the target device immediately sends it back to the target sound playback device. The target sound playback device records the time interval from sending the synchronization signal to receiving the return signal from the target device. This time interval is the round trip time (RTT) of the signal. While sending the synchronization signal, the target sound playback device can measure the phase change of the signal through the built-in hardware or algorithm of the Bluetooth communication module. Since Bluetooth communication may be interfered, the measured distance may need to be corrected. Therefore, the distance between the target sound playback device and the target device can be obtained by taking an average value through multiple measurements, or optimizing by considering environmental factors (such as obstacles, signal attenuation, etc.).

[0083] In some embodiments, in order to ensure the reliability and accuracy of parameter correction and avoid or reduce the occurrence of miscorrection, in the parameter correction method provided in the present disclosure, the detection time can be determined based on the detection cycle; and / or the detection time is determined in response to the received detection instruction. When determining the detection time based on the detection cycle, a fixed detection cycle can be set in advance. For example, a parameter detection can be performed once in seconds or minutes, thereby ensuring the regularity and stability of the correction and reducing the possibility of random errors. When determining the detection time in response to the received detection instruction, the detection instruction can be triggered when a specific event or condition is met, thereby dynamically determining the specific time of the parameter detection, which helps to quickly respond to the changing environment or system state to meet the needs. Determining the detection time by the above two methods can effectively avoid or reduce the miscorrection caused by inappropriate detection timing, thereby helping to improve the overall quality and effect of parameter correction.

[0084] Based on the same inventive concept, the present disclosure also provides a headset. Figure 4 As shown, the headset 300 includes: a first sound playing device 310 , a second sound playing device 320 and an inertial sensor 330 .

[0085] The first sound playing device 310 is provided with a Bluetooth communication module for establishing a Bluetooth connection with the target device 400 and for determining a first reference distance and a first detection distance between the first sound playing device and the target device 400;

[0086] The second sound playing device 320 is independent of the first sound playing device 310 and is provided with a Bluetooth communication module for establishing a Bluetooth connection with the target device 400 and for determining a second reference distance and a second detection distance between the second sound playing device 320 and the target device 400;

[0087] The inertial sensor 330 is arranged in the first sound playing device 310 and / or the second sound playing device 320, and is used to determine the detection posture information of the headset 300, so as to correct the zero drift parameter of the inertial sensor based on the first reference distance, the second reference distance, the first detection distance, the second detection distance and the detection posture information, obtain the target zero drift parameter, and enable the inertial sensor to determine the relative posture information between the inertial sensor and the target device 400 based on the target zero drift parameter.

[0088] Regarding the data management device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0089] Based on the same inventive concept, the present disclosure also provides an audio playback method, which is applied to the wearable device provided by the present disclosure, such as Figure 5 As shown, the audio playing method includes:

[0090] Step S510: Based on the target zero drift parameter of the inertial sensor, determine the relative position information between the target device and the inertial sensor.

[0091] The target zero drift parameter is determined by using any parameter correction method provided in the present disclosure.

[0092] Step S520: receiving the audio to be played sent by the target device.

[0093] In one example, the audio to be played sent by the target device may be transmitted to each sound playing device respectively, or may be transmitted to one of the sound playing devices and then forwarded by the sound playing device to another sound playing device. This is not limited here.

[0094] In another example, the audio to be played may be a PCM audio signal or a compressed audio signal, such as AAC audio, MP3 audio, SBC audio, MPEG audio, FLAC audio, etc. For the compressed audio signal, it needs to be decompressed and then converted into left and right channel audio by a multi-channel conversion module.

[0095] In another example, the audio to be played may be sent by the target device according to the wireless communication connection between the wearable devices. Alternatively, both the target device and the wearable device are equipped with a WIFI communication unit, and the audio to be played sent by the target device may be received by the wearable device through WIFI transmission, thereby helping to improve transmission efficiency and reduce transmission delay.

[0096] Step S530: adjust the audio to be played based on the relative posture information, and play it through the first sound playing device and the second sound playing device according to the obtained adjustment result.

[0097] The wearable device adjusts the audio accordingly based on the relative posture information obtained, so that the audio playback effect produced by the adjusted audio when played through two sound playback devices can meet the user's expectations, thereby helping to improve the user experience. These adjustments include spatial processing, dynamic volume adjustment, and timestamp synchronization.

[0098] In some examples, the audio to be played can be adjusted through the wearable device body, and the adjusted audio signal can be sent to the first sound playback device and the second sound playback device, thereby helping to ensure the audio playback effect while reducing the amount of calculation of the first sound playback device and the second sound playback device, thereby helping to improve the performance of the two sound playback devices.

[0099] In other examples, the audio to be played may be independently adjusted by the first sound playback device and the second sound playback device. Among them, the two sound playback devices may be two relatively independent wireless devices, and the target device may send the audio to be played to the two sound playback devices respectively by wireless transmission. The wireless transmission method may include but is not limited to WIFI transmission, Bluetooth transmission or other wireless transmission methods, which may be determined according to actual needs and are not limited here. The first sound playback device may determine the first relative posture information between it and the target device through the relative posture information, and then adjust the audio to be played in a targeted manner according to the first relative posture information, so that when the adjusted audio is played through the first sound playback device, it can meet the user's expectation of determining the location of the sound source through the first sound playback device. The second sound playback device may determine the second relative posture information between it and the target device through the relative posture information, and then adjust the audio to be played in a targeted manner according to the second relative posture information, so that when the adjusted audio is played through the second sound playback device, it can meet the user's expectation of determining the location of the sound source through the second sound playback device. By adjusting the audio to be played in this way, the adjustment of the audio playback direction can be more targeted, so that the audio playback effect produced during the playback of the adjusted audio can meet the user's expectations, thereby helping to improve the user experience.

[0100] According to the audio playback method provided by the present invention, the inertial sensor determines the relative posture information between the inertial sensor and the target device through the corrected target zero drift parameters, which can ensure the reliability and accuracy of the phase posture determination, and then use the determined phase posture to adjust the audio to be played, so that the adjusted audio can simulate the stereo changes caused by the movement of the headphones relative to the sound source position, so that the audio effect after playback can meet the user's expectations and help improve the user experience.

[0101] In some embodiments, Figure 6 As shown, the above step S530 includes:

[0102] Step S531, based on the relative posture information, respectively determine the first spatial sound effect direction between the first sound playback device and the target device, and the second spatial sound effect direction between the second sound playback device and the target device.

[0103] Through the analysis of the relative posture information, the wearable device can determine the position and orientation of the first sound playback device and the second sound playback device relative to the target device, and then determine the first spatial sound effect direction between the first sound playback device and the target device and the second spatial sound effect direction between the second sound playback device and the target device. The spatial sound effect direction refers to the virtual position of the audio in three-dimensional space. Through calculation, the wearable device can specify an optimal direction for each sound playback device to play the audio to simulate the source of the real sound.

[0104] Step S532: adjusting the audio to be played based on the first spatial sound effect direction and the second spatial sound effect direction to obtain the target audio.

[0105] Since the playback effect of the audio to be played may not meet the currently required audio playback effect, the audio to be played is adjusted in a targeted manner according to the determined first spatial sound effect direction and second spatial sound effect direction, so that when the adjusted target audio is played, the playback effect of each sound playback device can meet the corresponding spatial sound effect direction.

[0106] Step S533: play the target audio through the first sound playing device and the second sound playing device.

[0107] By playing audio in the above manner, different spatial sound effect directions can be specified for the first sound playback device and the second sound playback device, so that the target audio sounds deeper and wider, which can enhance the user's spatial perception and improve the immersive experience. In addition, the target audio is the audio to be played adjusted based on the spatial sound effect directions corresponding to the two sound playback devices, which can adapt to the different postures of the user, reduce the distortion and interference caused by the mismatch of the sound playback device position or improper audio adjustment, and can enhance the clarity and details of the target audio, making the sound quality richer and more realistic.

[0108] In some implementation scenarios, taking the wearable device as an earphone as an example, the first sound playback device is a left earphone for playing audio for the left ear, and the second sound playback device is a right earphone for playing audio for the right ear. Using the calibrated inertial sensor, the process of audio playback can be as follows:

[0109] Pre-measure the head-related transfer function of different positions and / or orientations relative to the sound source. The head-related transfer function (HRTF) is a sound localization algorithm that can transform the audio effect so that the user feels that the sound source comes from different positions and directions.

[0110] The audio to be played received from the target device may be PCM audio information, and therefore does not require audio decoding, but can be directly converted into left and right channel audio, thereby reducing the time required to process audio information, reducing latency, and helping to improve user experience.

[0111] Based on the reference posture information of the wearable device at the reference time and the current posture information at the current time, the PCM audio signal of N (N>=2) channels can be converted into a two-channel audio signal by the multi-channel conversion module according to the HRTF model. Based on the reference posture information and current posture information of the wearable device, as well as the characteristics of the N-channel audio itself, the azimuth or azimuth and elevation of the N-channel audio source relative to the HRTF of both ears can be determined, and the FIR filter group of the corresponding HRTF module can be determined by the azimuth or azimuth and elevation of the HRTF.

[0112] Specifically, based on the multi-channel PCM audio information, the group of left ear FIR filters and right ear FIR filters of each channel is used to convert it into two-channel PCM audio information. For example, the common 5.1-channel audio includes 2 front channels, 1 center channel, 2 surround channels, and 1 bass channel. Relative to the reference posture information of the wearable device, the two front channels can be one on the left front side and the other on the right front side; the one center channel can be in the front, the two surround channels can be slightly behind the left and right sides, and the position of the bass channel can be more flexible, such as being placed at the back. Another example is the common 7.1 channel, which has two more surround channels, respectively at the left rear and right rear positions, relative to the 5.1 channel. Therefore, based on the multi-channel PCM audio information, the orientation or position of each channel relative to the reference posture information of the wearable device, and the current posture information, the group of left ear FIR filters and right ear FIR filters of the audio source of each channel can be determined. The left ear FIR filter represents the current sound space perception attribute from the audio source of each channel to the left ear, and is used to determine the first spatial sound effect direction. The right ear FIR filter represents the current sound space perception attribute from the audio source of each channel to the right ear, and is used to determine the second spatial sound effect direction. The audio information of each channel is filtered by the left ear FIR filter group and the right ear FIR filter group, and the filtered audio information is mixed and output to the DAC module, and finally output to the left and right headphones to realize the conversion of multi-channel PCM audio information to two-channel audio information.

[0113] For example, Figure 7As shown, the left ear FIR filter is represented by FIR1, and the group of left ear FIR filters includes FIR11, FIR12...FIR1N. The right ear FIR filter is represented by FIR2, and the group of right ear FIR filters includes FIR21, FIR22...FIR2N, wherein the ellipsis indicates that the part is not shown. The user's action of turning the head will cause the current posture information of the headset to change compared with the reference posture information. At this time, the headset adapts the left ear FIR filter coefficient of audio channel 1 to perform the filtering process of FIR11, and adapts the left ear FIR filter coefficient of audio channel 2 to perform the filtering process of FIR12. And so on, the left ear FIR filter coefficient of audio channel N is adapted to perform the filtering process of FIR1N. The sound sources from different audio channels adapt the corresponding FIR filter coefficients according to their respective directions and changes in posture. The audio information of each audio channel is input to the first mixer for mixing after filtering by the left ear FIR filter group, and then the mixed audio information is output to the first digital-to-analog converter (DAC) and converted into left ear PCM audio information for playback through the left earphone. Similarly, the earphone adapts the right ear FIR filter coefficient of audio channel 1 to perform FIR21 filtering, adapts the right ear FIR filter coefficient of audio channel 2 to perform FIR22 filtering, and so on, adapts the right ear FIR filter coefficient of audio channel N to perform FIR1N filtering, and the audio information of each audio channel is input to the second mixer for mixing after filtering by the right ear FIR filter group, and then the mixed audio information is output to the second digital-to-analog converter (DAC) and converted into right ear PCM audio information for playback through the right earphone.

[0114] This is merely an illustrative description and does not constitute a specific limitation on the technical solution for which protection is sought in this application.

[0115] In the related technology, taking the wearable device as a headset as an example, the position of the headset is detected, and the position information is transmitted to a target device such as a mobile phone. The target device such as the mobile phone adjusts the 3D audio based on the change of the headset position, and sends the adjusted audio to the headset for playback. However, when the user's position changes, such as when the user moves or turns significantly, it takes a long time for smart devices such as mobile phones to first obtain the user's position information and then send the adjusted audio to the headset accordingly. In addition, it will take more time for the headset to transmit the position information to smart devices such as mobile phones. This will cause a large delay in the adjustment of the 3D audio, poor real-time performance, and cause auditory discomfort to the user, resulting in a poor user experience.

[0116] Through the audio playback method provided by the present invention, when the user turns his head, body, etc., the direction of the spatial sound effect audio can still be kept unchanged, that is, the direction is the same as the audio heard by the user when the user is still, thereby allowing the user to have a more immersive spatial audio experience.

[0117] Based on the same inventive concept, the present disclosure also provides an audio playback system. Figure 8 As shown, the audio system 600 includes a target device 610 and a headset 620 .

[0118] The target device 610 is provided with a Bluetooth communication module, and is used to connect to the headset 620 via the Bluetooth communication module and send the audio to be played to the headset;

[0119] The earphone 620 includes a first sound playing device 621 and a second sound playing device 622, and at least one of the sound playing devices includes an inertial sensor. The earphone 620 is used to determine the relative posture information between the earphone and the target device based on the target zero drift parameter of the inertial sensor, and adjust the audio to be played based on the relative posture information, and play the audio through the first sound playing device 621 and the second sound playing device 622 according to the obtained adjustment result, wherein the target zero drift parameter is determined by using any one of the parameter correction methods provided in the present disclosure.

[0120] Regarding the data management device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0121] Based on the same inventive concept, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the image segmentation method of any of the aforementioned embodiments.

[0122] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0123] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0124] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0125] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. A parameter correction method is applied to a wearable device, wherein the wearable device includes a first sound playing device and a second sound playing device respectively connected to a target device by Bluetooth, and at least one of the sound playing devices includes an inertial sensor, and the parameter correction method includes: At a reference time, based on the Bluetooth connection with the target device, respectively determine a first reference distance between the first sound playing device and the target device, and a second reference distance between the second sound playing device and the target device through a Bluetooth communication module; At the detection moment, based on the Bluetooth connection with the target device, respectively determining a first detection distance between the first sound playing device and the target device, and a second detection distance between the second sound playing device and the target device through the Bluetooth communication module; At the detection moment, determining the detection posture information of the wearable device by using the inertial sensor; Based on the first reference distance, the second reference distance, the first detection distance, the second detection distance and the detection posture information, the zero drift parameter of the inertial sensor is corrected to obtain a target zero drift parameter, so that the inertial sensor determines the relative posture information between the inertial sensor and the target device based on the target zero drift parameter.

2. The parameter correction method according to claim 1, wherein: The method of correcting the zero drift parameter of the inertial sensor based on the first reference distance, the second reference distance, the first detection distance, the second detection distance, and the detection posture information to obtain the target zero drift parameter includes: Determine actual position information of the wearable device at the detection moment based on the first reference distance, the second reference distance, the first detection distance, and the second detection distance; Based on the comparison result between the detected posture information and the actual posture information, the zero drift parameter of the inertial sensor is corrected to obtain the target zero drift parameter.

3. The parameter correction method according to claim 2, wherein: The target device is a movable device; the parameter correction method further includes: At the reference time, obtaining first terminal position information of the target device; At the detection moment, obtaining the second terminal position information of the target device; The determining, based on the first reference distance, the second reference distance, the first detection distance, and the second detection distance, actual position information of the wearable device at the detection time includes: Determining a device posture change of the target device based on the first terminal posture information and the second terminal posture information; Based on the terminal posture change, the first reference distance, the second reference distance, the first detection distance, and the second detection distance, the actual posture information of the wearable device at the detection moment is determined.

4. The parameter correction method according to claim 1, wherein: The distance between the target sound playing device and the target device is determined by the Bluetooth communication module in the following manner, wherein the target sound playing device is the first sound playing device and the second sound playing device, and the distance includes the first reference distance, the second reference distance, the first detection distance, and the second detection distance: Determine, by means of the Bluetooth communication module, a phase measurement value of the interaction between the target sound playback device and the target device via a Bluetooth signal and a round trip duration of the Bluetooth signal during the interaction process; Based on the phase measurement value and the round trip time, a distance between the target sound playback device and the target device is determined.

5. The parameter correction method according to claim 1, wherein: The parameter correction method also includes: Determining the detection time based on the detection period; and / or, In response to the received detection instruction, the detection time is determined.

6. A headset, comprising: A first sound playing device is provided with a Bluetooth communication module for establishing a Bluetooth connection with a target device, and for determining a first reference distance and a first detection distance between the first sound playing device and the target device; a second sound playing device, which is independent of the first sound playing device and is provided with a Bluetooth communication module, for establishing a Bluetooth connection with the target device, and for determining a second reference distance and a second detection distance between the second sound playing device and the target device; an inertial sensor, arranged in the first sound playing device and / or the second sound playing device, for determining the detection posture information of the earphone, so as to correct the zero drift parameter of the inertial sensor based on the first reference distance, the second reference distance, the first detection distance, the second detection distance and the detection posture information, obtain the target zero drift parameter, and enable the inertial sensor to determine the relative posture information between the inertial sensor and the target device based on the target zero drift parameter.

7. An audio playback method, applied to a wearable device, the wearable device comprising a first sound playback device and a second sound playback device respectively connected to a target device via Bluetooth, and at least one of the sound playback devices comprising an inertial sensor, the audio playback comprising: Based on a target zero drift parameter of the inertial sensor, determining relative posture information between the inertial sensor and the target device through the inertial sensor, wherein the target zero drift parameter is determined by using the parameter correction method described in any one of claims 1 to 5; Receiving the audio to be played sent by the target device; Based on the relative posture information, the audio to be played is adjusted, and according to the obtained adjustment result, it is played through the first sound playing device and the second sound playing device.

8. The audio playback method according to claim 7, wherein: The step of adjusting the audio to be played based on the relative posture information, and playing the audio through the first sound playing device and the second sound playing device according to the obtained adjustment result, includes: Based on the relative position information, respectively determine a first spatial sound effect direction between the first sound playback device and the target device, and a second spatial sound effect direction between the second sound playback device and the target device; Based on the first spatial sound effect direction and the second spatial sound effect direction, adjusting the audio to be played to obtain target audio; The target audio is played through the first sound playing device and the second sound playing device.

9. An audio playback system, comprising a target device and headphones: The target device is provided with a Bluetooth communication module, which is used to connect with the headset through the Bluetooth communication module and send the audio to be played to the headset; The headset comprises a first sound playing device and a second sound playing device, and at least one of the sound playing devices comprises an inertial sensor, the headset is used to determine relative position information between the headset and the target device through the inertial sensor based on a target zero drift parameter of the inertial sensor, and to adjust the audio to be played based on the relative position information, and to play the audio through the first sound playing device and the second sound playing device according to the obtained adjustment result, wherein, The target zero drift parameter is determined by using the parameter correction method described in any one of claims 1-5.

10. A computer-readable storage medium storing the following program, wherein the program is used to execute the parameter correction method according to any one of claims 1 to 5 or the audio playback method according to any one of claims 7 to 8.

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