System and method for speaker positioning and orientation

Abstract

A system and method are provided for detecting the positioning and orientation of a plurality of devices in a surround sound system, the plurality of devices including a guiding device and a plurality of follower devices. The method comprises a discovery phase in which the boot device discovers the plurality of follower devices. The method additionally includes a primary mapping phase in which an ultra wide band, UWB, connection is created between the guidance device and a first set of the plurality of follower devices within a field of view, FoV, of the guidance device. The method further comprises an orientation detection phase in which a position (XFa, YFa) and an orientation [phi] L of each of the follower devices of the first group are calculated.

Description

Technical Field

[0001] This disclosure relates to a system and method for speaker positioning and orientation in a surround sound system. Specifically, the surround sound system includes a guiding device such as a soundbar or television set, and multiple follower devices such as speakers. Background Technology

[0002] Surround sound systems require precise speaker, soundbar, or TV positioning for optimal audio experience. In real-world scenarios, placing speakers in the best possible location for the best audio experience isn't always straightforward. Methods exist for detecting speaker placement relative to a soundbar or TV. One example uses audio pitch to detect speaker positioning relative to a soundbar or TV. Other techniques rely on user input or audio-based detection. Various different methods using a wide range of techniques have been proposed for positioning and directional sound systems.

[0003] Existing methods have some drawbacks, including in terms of accuracy and efficiency, so there is a need for an improved method to accurately position loudspeakers in a surround sound system. Summary of the Invention

[0004] According to a first aspect of the present invention, a method is provided for detecting the positioning and orientation of a plurality of devices in a surround sound system, the plurality of devices including a guiding device and a plurality of follower devices, the method comprising:

[0005] During the discovery phase, the guiding device discovers the plurality of follower devices;

[0006] In the initial mapping phase, an ultra-wideband (UWB) connection is created between the guiding device and the first group of multiple follower devices within the field of view (FoV) of the guiding device; and

[0007] In the orientation detection phase, the position (X) of each of the follower devices in the first group is calculated. Fa ,Y Fa ) and directional Φ L .

[0008] In one or more embodiments, the primary mapping phase further includes:

[0009] The guiding device retrieves from each of the follower devices in the first group:

[0010] The distance d between the guiding device and the follower device;

[0011] The angle of arrival of the follower device as seen from the guiding device is AoAΔF.

[0012] In one or more embodiments, the method further includes:

[0013] For each of the follower devices in the first group, a guiding device is used for positioning (X). L ,Y L ), d, and ΔF to use equation X Fa =X L +(d cosΔ F ) and Y Fa =Y L +(d sinΔ F ) Calculate the positioning (X) of the follower device Fa Y Fa ).

[0014] In one or more embodiments, the primary mapping phase further includes, for each of the follower devices in the first group:

[0015] The guiding device retrieves the AoAΔL of the guiding device as seen from the follower device; and

[0016] Orientation based on guidance device Φ F ΔL and the positioning of the follower device (X) Fa Y Fa Determine the orientation Φ of the follower device. L .

[0017] In one or more embodiments, the orientation Φ of the follower device is calculated using the following equation. L :

[0018] In one or more embodiments, the discovery phase includes collecting the UWB Media Access Control (MAC) address of each of the plurality of follower devices.

[0019] In one or more embodiments, the discovery phase includes a UWB discovery procedure.

[0020] In one or more embodiments, the discovery phase includes an out-of-band discovery procedure via a data channel.

[0021] In one or more embodiments, the method further includes:

[0022] For the secondary mapping phase of the second set of follower devices outside the FoV of the guiding device; and

[0023] Used to determine the position (X) of each of the follower devices in the second group. Fb Y Fb) and directional Φ b The second targeted detection phase.

[0024] In one or more embodiments, the method further includes: the guiding device instructing one of the second group of devices to become a first initiating device, and instructing the remaining plurality of follower devices of the first and second groups to become responding devices.

[0025] In one or more embodiments, the method further includes the positioning (X) of the follower device in the first group of follower devices. Fa Y Fa Determine the positioning (X) of the first starting device. Fb ,Y Fb ).

[0026] In one or more embodiments, the method further includes receiving a distance d between each of the first initiating device and the responding device at the guiding device. ab and AoAΔ ba .

[0027] In one or more embodiments, the positioning (X) of the first starting device is calculated using the following equation. Fb Y Fb ):X Fb =X Fa +(d ab sinΔ ba ) and Y Fb =Y Fa +(d ab sinΔ ba ).

[0028] In one or more embodiments, the method further includes using the following equation based on the orientation Φ of the follower device of the first group. L Determine the orientation Φ of the starting device b :

[0029]

[0030] According to a second aspect of the present invention, a surround sound system is provided, comprising:

[0031] Guiding device; and

[0032] One or more follower devices;

[0033] The surround sound system is configured to implement any of the methods disclosed herein.

[0034] These and other aspects of the invention will become apparent from the embodiments described below, and will be illustrated with reference to these embodiments. Attached Figure Description

[0035] A more complete understanding of the subject matter can be derived by referring to the following figures, with reference to the specific embodiments and claims. The same reference numerals throughout the figures refer to similar elements.

[0036] Figure 1A An example surround sound audio system including a guide device and a plurality of follower devices is shown according to an embodiment of the present disclosure;

[0037] Figure 1B A top view of the guide device L1, follower device F2, follower device F3 and FoV of the guide device according to an embodiment of the present disclosure is shown.

[0038] Figure 1C These are illustrative example embodiments of an audio system according to embodiments of the present disclosure;

[0039] Figure 2 A flowchart illustrating a method for determining the positioning and orientation of a follower device relative to a guiding device according to an embodiment of the present disclosure;

[0040] Figure 3 This illustrates information received at the guide device L from the follower device F during the initial mapping phase according to an embodiment of the present disclosure;

[0041] Figure 4 This illustrates the determination of the position (X) of the follower device F according to an embodiment of the present disclosure. Fa Y Fa The data used at that time;

[0042] Figure 5 A misplaced follower device is shown according to an embodiment of the present disclosure;

[0043] Figure 6 A follower device for incorrect orientation is shown according to an embodiment of the present disclosure;

[0044] Figure 7 A sequence diagram illustrating the stages during the secondary mapping stage according to embodiments of the present disclosure; and

[0045] Figure 8 This illustrates the process of using the starting device F during the secondary mapping phase according to an embodiment of the present disclosure. a With the responder device F b Data transferred between them. Detailed Implementation

[0046] The following detailed description is merely illustrative in nature and is not intended to limit the embodiments of the subject matter or the application and use of such embodiments. As used herein, the terms "exemplary" and "example" mean "serving as an example, illustration, or illustration." Any embodiment described herein as exemplary or illustrative is not to be construed as preferred or advantageous relative to other embodiments. Furthermore, one is not to be bound by any express or implied theory presented in prior art, background art, or the following detailed description.

[0047] This disclosure provides a method for accurately detecting the localization and orientation of multiple speakers (follower devices) relative to a guiding device (e.g., a TV or soundbar) using ultra-wideband (UWB) technology. Once the localization and orientation have been accurately detected, the audio can be tuned accordingly based on the user's optimal listening point. The optimal listening point is detected based on the listener's location. The guiding device uses this information to render and tune the sound to provide the user with the best listening experience based on the optimal point. Another advantage of this disclosure is that follower devices can be dynamically added or removed using background calibration of the device and audio rendering based on it.

[0048] The method consists of three main stages and two optional stages. The three main stages include a discovery stage, a primary mapping stage, and a targeted detection stage. The two optional stages include a secondary mapping stage and a second targeted detection stage.

[0049] The advantages offered by the methods and systems described herein include improved measurement accuracy using UWB-based ranging. In some examples, the detection of a follower device (speaker) using UWB can be performed. Compared to known techniques, the total time required to detect the positioning and orientation of the follower device relative to the guide device can be significantly reduced.

[0050] Figure 1A An example surround sound audio system 100 is shown, including a guide device 105 and multiple follower devices 110. A user 120 is located within the surround sound audio system.

[0051] Figure 1A The guide device 105 shown is a television set. In an alternative embodiment, the guide device is a soundbar. The guide device 105 is located at position (X) relative to the optimal point positioning (0,0). L ,Y L At point ), there is an orientation Φ relative to the optimal point. F .

[0052] A follower device 110, including wired or wireless speakers, is positioned within a room (X). F ,Y F At point ), there is an orientation Φ relative to the optimal point. LFor the purposes of this disclosure, the height of the follower device (in the z-direction) relative to the guide device or optimal point is considered to be limited in terms of variation and falls outside the scope of this disclosure.

[0053] Ultra-wideband (UWB) ranging technology is used to calculate distance and angular measurements, such as the angle of arrival (AoA) of the guide device 105 and the follower device 110. UWB is a wireless technology that uses broadband radio waves, which operate in a higher frequency band and use frequencies higher than, for example, Wi-Fi or... It offers higher bandwidth than other short-range technologies. It employs a wide channel bandwidth typically limited to frequencies exceeding 500MHz and has a frequency range of 3.1 to 10.6GHz. It supports bit rates greater than 100Mbps within a 10-meter radius for wireless personal area communication. It uses pulse-mode-based radio technology, which emits short pulses with widths of several nanoseconds. Due to the wide spectrum available to this technology, pulse data can be transmitted very quickly. The wide bandwidth also allows for low power spectral density, minimizing interference with other technologies operating in the same frequency band. Another important aspect of UWB is its ability to use low carrier frequencies, where the signal can penetrate obstacles more effectively; it also experiences no interference due to its unique spectrum. Because of all these characteristics, UWB technology is a suitable choice for indoor positioning. The UWB chip located at each of the guide device 105 and follower device 110 supports the figure of merit (FoM) for AoA measurements.

[0054] UWB has a limited field of view (FoV), so in some embodiments, not all follower devices 110 will be located within the FoV of the guiding device 105. The distances to one or more of the follower devices 110 within the FoV and the relative measurements of AoA are used to calculate the positioning and orientation of these follower devices 110.

[0055] Figure 1B A top view of the FoV 125 of the guide device (L1) 105, the follower device (F2) 110, the follower device (F3) 115, and the guide device 105 is shown. F2 is within the FoV of L1, and F3 is outside the FoV of L1.

[0056] The AoA measurement for F2 is available for L1 because it is within the FoV 125 of L1. The FoM accuracy of this AoA measurement is typically ≥95% (the exact number depends on calibration and antenna design).

[0057] F3 is outside the FoV of L1, so the AoA measurement of L1 for F3 is unavailable because the FoM accuracy of this AoA measurement is typically <5% (the exact number depends on calibration and antenna design).

[0058] This disclosure provides a method for determining the positioning and orientation of a plurality of follower devices 110 within the FoV of a guide device 105 and one or more follower devices 115 that are optionally not in the FoV of the guide device 105 (if any follower device falls into this category).

[0059] The follower device 110 within the FoV of the guiding device is referred to as a "known device" in the following specific embodiments. The known devices form a first group of follower devices. The minimum number of devices in the first group is one. In some embodiments, all follower devices of the surround sound system are in the first group.

[0060] Follower device 115 not in the FoV of the guide device is referred to as a “misplaced,” “misoriented,” or “misaligned” device in the following specific embodiments, and forms a second group of follower devices outside the FoV of the guide device, distinct from the first group of follower devices. In some embodiments, no devices in the surround sound system fall into the second group.

[0061] Figure 1C This is an illustrative example embodiment of the audio system 150 disclosed herein, which will be used to explain the subject matter of the disclosure in more detail below. The audio system 150 includes a guide device L, follower devices F1, F2, F3, F4, and an optimal point 120, for example, located at a position on a sofa where a user is sitting and watching a television, in which case the television is the guide device L. Follower devices F1 and F2 are outside the FoV of the guide device L, and follower devices F3 and F4 are within the FoV of the guide device L. F3 and F4 comprise a first set of follower devices, while F1 and F2 comprise a second set of follower devices.

[0062] Figure 2 A flowchart illustrates a method for determining the location and orientation of follower devices relative to a guide device. The method for locating and orienting speakers, including a guide device and multiple follower devices, in a UWB-based surround sound system includes a detection phase 210, a primary mapping phase 220, and orientation detection 230. If one or more follower devices are not in the FoV of the guide device (e.g., ...), Figure 1C If F1 and F2 are involved, the method further includes a secondary mapping phase 240 and a second orientation detection 250. Steps 240 and 250 are performed for follower devices that fall outside the FoV of the guiding device; if all follower devices are within the FoV of the guiding device, steps 240 and 250 are not required.

[0063] The method 200 disclosed herein uses different ranging and AoA methods for UWB. It does not describe details of known aspects of the invention, including ranging, AoA calculation methods, UWB MAC layer, scheduling aspects of the MAC layer, optimal point positioning, or positioning and orientation of the guiding device relative to an optimal point.

[0064] UWB ranging methods that can be used in this disclosure, but are not limited to, include: bilateral two-way ranging (DS-TWR), single-sided two-way ranging (SS-TWR), and contention-based ranging (CBR).

[0065] In the first embodiment, all follower devices 110 are within the FoV of the guide device 105. For example, consider Figure 1C Only follower devices F3 and F4 are included.

[0066] The first step includes discovery phase 210. Discovery phase involves the bootloader L discovering all follower devices (those within the bootloader's FoV and those outside the FoV). During discovery phase 210, the bootloader collects the UWB MAC address of each follower device. It is assumed that each follower device and the bootloader have a unique UWB MAC address.

[0067] There are several ways for a guide device to discover a follower device. These methods include two approaches using a UWB discovery procedure and one approach using an out-of-band (OOB) discovery procedure.

[0068] The first UWB discovery procedure involves initiating a UWB ranging session with all follower devices in the surround sound system, such as a contention-based ranging (CBR) session, and collecting UWB MAC addresses from each follower device during the session. A CBR session can address more than ten follower devices in a single session.

[0069] The second UWB discovery procedure includes exchanging UWB session parameters between the bootstrap device and each of the plurality of follower devices. If the bootstrap device and follower devices each support Bluetooth Low Energy (BLE), WiFi, or other OOB mechanisms, the OOB mechanism can be used. Alternatively, if no OOB method is available or not used, the parameters can be hardcoded during device manufacturing.

[0070] Alternative discovery procedures include OOB discovery via data channels. BLE, WiFi, or other OOB data channels are used to embed information about the device's UWB MAC address. The device is guided to decode the data channel to detect information about available follower devices.

[0071] The second step 220 includes a preliminary mapping phase. A UWB connection is created between the guiding device and each of the plurality of follower devices in the first group within the guiding device's FoV. The UWB connection between the guiding device and each of the plurality of follower devices in the first group allows for the sharing of information, such as information about the follower devices. In some embodiments, the UWB connection includes a UWB ranging session. The UWB connection also acts as a data link for exchanging commands, responses, notifications, etc., between the guiding device and the follower devices.

[0072] The guiding device initiates a UWB ranging session with the first group of follower devices, such as a multicast bilateral two-way ranging (DS-TWR) session or other TWR sessions. In some embodiments, the maximum number of follower devices in a single DS-TWR session includes eight. More than eight additional follower devices require a second DS-TWR session. DS-TWR parameters can be shared via an OOB method.

[0073] During a UWB ranging session, data about the follower devices is collected, such as the distance (d) and angle of arrival (AoA) of the follower devices relative to the guide device. The data is retrieved by the guide device. Using the collected distance and AoA, the guide device calculates the position (X) of each of the follower devices by mapping the positions of the follower devices in the first group relative to themselves and the optimal point. Fa ,Y Fa ) and directional Φ L .

[0074] Figure 3 The diagram illustrates the information received at the guiding device L from the follower device F during the initial mapping phase 220, where F is a follower device in the first group of follower devices. The data recovered in the initial mapping phase 220 is used to receive information capable of mapping each of the follower devices in the first group relative to the guiding device in the x,y plane. All distances and angles of each follower device F in the first group of follower devices are measured in the x,y plane.

[0075] The data received during the initial mapping phase 220 includes:

[0076] (a) The distance d between the guiding device and the follower device.

[0077] (b) The follower device's AoAΔF as seen from the guiding device, and

[0078] (c) The AoAΔL (AoA destination) of the guiding device as seen from the follower device.

[0079] like Figure 3As shown, the AOA ΔF of the follower device as seen from the guide device is measured from a 0-degree angle from the guide device L toward the follower device F, where 0 degrees is defined in the direction “facing” the guide device. The AOA ΔL of the guide device as seen from the follower device is measured from a 0-degree angle from the follower device F toward the guide device L, where 0 degrees is defined in the direction “facing” the follower device.

[0080] During the initial mapping phase 220, data received at the guiding device L from each of the follower devices F in the first group is used in the next step of the method, orientation detection 230, to calculate the localization (X) of each of the follower devices in the first group. Fa ,Y Fa The orientation Φ of each of the follower devices in the first group of follower devices. L The orientation angle Φ L It is measured relative to the optimal point.

[0081] The data collected during the initial mapping phase 220 between the guiding device L and the multiple follower devices F1, F2, F3, ..., Fn includes the following:

[0082] F1 F2 F3 … Fn L <![CDATA[d L1 ,D F1 ,D L1 ]]> <![CDATA[d L2 ,D F2 ,D L2 ]]> <![CDATA[d L3 ,D F3 ,D L3 ]]> <![CDATA[d Ln ,D Fn ,D Ln ]]>

[0083] Figure 4 This shows the positioning of the follower device F (X) in determining the position of the follower device F. Fa ,Y Fa The data used in this process. Note that in Figure 4 In the middle, (X) Fa ,Y Fa The notation for ) is shown as (X F ,Y F This notation is interchangeable in this disclosure, wherein the subscript “Fa” indicates the coordinates of the follower device in the first group of follower devices. Positioning is determined using data including d and ΔF retrieved by the guiding device L in the primary mapping phase 220, and includes the relative position of the follower device F to the guiding device L.

[0084] The optimal point location is defined as having an origin at (0,0). The location of the optimal point is calculated using known methods not described in this paper. Guided location (X) L ,Y L ) and orientation Φ toward the optimal point F This is also known and will not be described in detail here. Some examples of determining the optimal point include: using a device user interface to manually locate the optimal point in a room, or using a user-operated telephone (or wearable device) to position themselves at the optimal point and guide the device to retrieve the telephone location (e.g., by means of acoustic methods or via UWB ranging).

[0085] Guiding device positioning (X) L ,X L ) used to calculate the position of the follower device (X) F ,Y F And it can be determined using the following equation: X F =X L +(d cosΔ F ) and Y F =Y L +(d sinΔ F ).

[0086] Orientation Φ of the follower device toward the optimal point L The measured angle is the 0-degree displacement from the follower device toward the optimal point (e.g., Figure 4 As shown), and by positioning the follower device (X) F ,Y F The calculation is performed by combining ΔL and ΔP. The orientation Φ of the guide device relative to the optimal point is... F It is known and can be used to calculate the orientation Φ of the follower device using the following equation. L : Orientation of the guiding device Φ F It is measured from 0 degrees in the direction of the guide device L toward the optimal point.

[0087] The third optional step includes a secondary mapping phase 230, and can be used in the second embodiment of this disclosure when a complete mapping of the follower device is not achieved during the primary mapping phase 220 according to the second step described above. Figure 5 and 6 A third step may be required in the two different scenarios shown. The first scenario is when a "misplaced follower" occurs, and the second scenario is when the follower device is a "misorientated follower".

[0088] Figure 5 This illustrates a misplaced follower device. This occurs if the angle ΔF (AoA) of the follower device F1 as seen from the guide device L is not obtained or is obtained with a poor figure of merit (FoM) during the primary mapping stage 220. This happens, for example, when the follower device F1 is located outside the guide device FoV.

[0089] Figure 6This illustrates a follower device with incorrect orientation. This occurs when the angle ΔA (angle ΔL) of the guide device L as seen from the follower device F1 is not acquired or is acquired with a poor FoM during the primary mapping phase 220 (e.g., when the guide device L is located outside the FoV of the follower device (also known as non-line-of-sight nLOS)).

[0090] A misorienting follower can inform the guiding device L of its misorientation via a data channel, for example, by entering the site via a UWB or OOB channel established between the guiding device L and the misorienting follower device.

[0091] When one or more misplaced or misoriented follower devices occur, a third step is used to locate them. All follower devices that are not misplaced or misoriented are referred to as "known followers".

[0092] In the third step, a secondary mapping stage 240 is used where one or more misplaced or misoriented follower devices exist in the surround sound system. Any follower device not in the first group of known follower devices forms part of the second group of follower devices. Secondary mapping stage 240 allows the guiding device to identify misplaced and misaligned follower devices in the second group of follower devices.

[0093] The initiating device instructs each misplaced and misoriented follower to initiate a UWB session, such as a DS-TWR session or other type of UWB session, via a data channel between itself and each of the known follower devices in the first group. The misaligned and misoriented follower acts as the initiating device, while the known follower acts as the responding device.

[0094] Figure 7 A sequence diagram of the stages during secondary mapping stage 240 is shown. The example shown is based on... Figure 1C The scenario shown includes two misplaced followers F1 and F2 and two known followers F3 and F4.

[0095] exist Figure 7 In the first stage 705 of the sequence diagram, the guiding device establishes a first-level DS-TWR multicast session between the first initiating device F1 and the responding devices F2, F3, and F4. Note that when the first initiating device is F1, another misplaced follower device F2 is included as a responding device.

[0096] In the second phase 710, a first-level DS-TWR session is established by the first initiating device F1. This is established between the first initiating device F1 and the responding devices F2, F3, and F4. Data is transferred from each of the responding devices to the initiating device.

[0097] Figure 8 As shown in Figure 7 During the secondary mapping phase 240 shown, in the starting device F b With the responder device F a Data transmitted between (known follower devices). The collected data includes:

[0098] (a) Responder device F a With the starting device F b The distance d between ab ,

[0099] (b) AoAΔ of the responding device as seen from the initiating device ba ,as well as

[0100] (c) AoAΔ of the initiating device as seen from the responding device ab (AoA destination)

[0101] In the third phase 715, the guiding device creates a second-level DS-TWR multicast session between the second initiating device F2 and the responding devices F3 and F4.

[0102] In phase 720, a second-level DS-TWR session is established by the second initiating device F2. This is established between the second initiating device F2 and the responding devices F3 and F4. Note that the first initiating device F1 is not included in phases 715 or 720. Figure 8 As shown and as described above regarding phase 710, data is transferred from each of the responder devices F3 and F4 to the second initiator device F2.

[0103] In the fifth stage 725, the distance and AoA between the first initiating device F1 and the responding devices F2, F3, F4, as collected by F1 at stage 710, are sent to the guiding device.

[0104] In the sixth stage 730, the distance and AoA between the second initiating device F2 and the responding devices F3 and F4, collected at stage 720, are sent to the initiating device.

[0105] Alternative implementations are also possible in surround sound systems that include fewer or more than two misaligned or incorrectly placed follower units. In cases where a single follower unit is incorrectly placed or misoriented, it will not be necessary to... Figure 7 Phases 715, 720, and 730. Conversely, if an additional follower device is present, additional phases will be required to establish a session between the device that initiated the misplacement or misdirection and the responder, as well as to transfer data to the guiding device.

[0106] The data collected during the secondary mapping phase 240 of the method, which includes multiple follower devices Fn, includes:

[0107] F1 F2 F3 … Fn F1 - <![CDATA[d 12 ,D 12 ]]> <![CDATA[d 13 ,D 13 ]]> <![CDATA[d 1n ,D 1n ]]> F2 <![CDATA[d 21 ,D 21 ]]> - <![CDATA[d 23 ,D 23 ]]> <![CDATA[d 2n ,D 2n ]]> F3 <![CDATA[d 31 ,D 31 ]]> <![CDATA[d 32 ,D 32 ]]> - <![CDATA[d 3n ,D 3n ]]> … - Fn <![CDATA[d n1 ,D n1 ]]> <![CDATA[d n2 ,D n2 ]]> <![CDATA[d n3 ,D n3 ]]> -

[0108] The fifth step includes orientation detection 250 for misplaced and misoriented follower devices. Based on the known follower device F... a Having the location (X) calculated during the previous steps during the first orientation detection phase 230 Fa ,Y Fa ) and directional Φ a (directional Φ) a With the above Φ L (Interchangeable), the following equation can be used to calculate the position (X) Fb ,Y Fb ()( Figure 8 The middle is shown as (X) b ,Y b Follower device F b The estimated value of X: Fb =X Fa +(d ab sinΔ ba ) and Y Fb =Y Fa +(d ab sinΔ ba ).

[0109] The orientation Φ of the follower device relative to the optimal point can be estimated based on the following equation. b :

[0110]

[0111] Therefore, in scenarios where the follower device is located within the FoV of the guide device and also in scenarios where the follower device is located outside the FoV of the guide device, each of the plurality of follower devices in the surround sound system has a defined position (X) calculated using the method described above. F ,Y F ) and orientation Φ.

[0112] This disclosure solves the problem of accurate distance measurement between a guide device and a follower device, as well as the orientation of the follower device. The orientation of the follower device can be detected regardless of the FoV of either the guide or the follower device. A complete method is provided to collect data that the guide device can use to render and optimize sound based on the available positions of various numbers of follower devices.

[0113] It will be readily understood that the components as generally described herein and illustrated in the accompanying drawings can be arranged and designed in a wide variety of different configurations. Therefore, the following more detailed description of various embodiments as illustrated in the figures is not intended to limit the scope of this disclosure, but merely to illustrate various embodiments. While various aspects of the embodiments are presented in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0114] The invention may be embodied in other specific forms without departing from its essential characteristics. The described embodiments should be considered in all respects as illustrative rather than restrictive. Therefore, the scope of the invention is indicated by the appended claims rather than by the specific embodiments described therein. All modifications falling within the equivalent meaning and scope of the claims should be covered within their scope.

[0115] References to features, advantages, or similar language throughout this specification do not imply that all features and advantages achievable using the invention should be included in or in any single embodiment of the invention. In fact, language relating to features and advantages should be understood to mean that a particular feature, advantage, or characteristic described in connection with an embodiment is included in at least one embodiment of the invention. Therefore, the discussion of features and advantages and similar language throughout this specification may (but need not) refer to the same embodiment.

[0116] Furthermore, the features, advantages, and characteristics described herein can be combined in one or more embodiments in any suitable manner. Based on the description herein, those skilled in the art will recognize that the invention can be practiced without one or more specific features or advantages of a particular embodiment. In other instances, additional features and advantages that may not be present in all embodiments of the invention may be identified in certain embodiments.

Claims

1. A method for detecting the positioning and orientation of multiple devices in a surround sound system, said multiple devices including a guiding device and multiple follower devices, characterized in that, The method includes: During the discovery phase, the guiding device discovers the plurality of follower devices; In the initial mapping phase, an ultra-wideband (UWB) connection is created between the guiding device and the first group of multiple follower devices within the field of view (FoV) of the guiding device; and In the orientation detection phase, the position (X) of each of the follower devices in the first group is calculated. Fa ,Y Fa ) and directional Φ L .

2. The method according to claim 1, characterized in that, The initial mapping phase further includes: The guiding device retrieves from each of the follower devices in the first group: The distance d between the guiding device and the follower device; The angle of arrival of the follower device as seen from the guiding device is AoAΔF.

3. The method according to claim 2, characterized in that, In addition, including: For each of the follower devices in the first group, a guiding device is used for positioning (X). L ,Y L ), d, and ΔF to use equation X Fa =X L +(d cosΔ F ) and Y Fa =Y L +(d sinΔ F ) Calculate the positioning (X) of the follower device Fa Y Fa ).

4. The method according to claim 3, characterized in that, The initial mapping phase further includes, for each of the follower devices in the first group: The guiding device retrieves the AoAΔL of the guiding device as seen from the follower device; as well as Orientation based on guidance device Φ F ΔL and the positioning of the follower device (X) Fa ,Y Fa Determine the orientation Φ of the follower device. L .

5. The method according to claim 4, characterized in that, The orientation Φ of the follower device is calculated using the following equation. L :

6. The method according to any one of the preceding claims, characterized in that, The discovery phase includes collecting the UWB Media Access Control (MAC) address of each of the plurality of follower devices.

7. The method according to any one of the preceding claims, characterized in that, The discovery phase includes the UWB discovery procedure.

8. The method according to any one of claims 1 to 6, characterized in that, The discovery phase includes an out-of-band discovery procedure via a data channel.

9. The method according to any one of the preceding claims, characterized in that, In addition, including: For the secondary mapping phase of the second group of follower devices outside the FoV of the guiding device; as well as Used to determine the position (X) of each of the follower devices in the second group. Fb ,Y Fb ) and directional Φ b The second targeted detection phase.

10. A surround sound system, characterized in that, include: Guiding device; as well as One or more follower devices; The surround sound system is arranged to perform the method according to any one of claims 1 to 9.

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