CN110602632A - Speaker device and device positioning system - Google Patents
Speaker device and device positioning system Download PDFInfo
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- CN110602632A CN110602632A CN201910703319.3A CN201910703319A CN110602632A CN 110602632 A CN110602632 A CN 110602632A CN 201910703319 A CN201910703319 A CN 201910703319A CN 110602632 A CN110602632 A CN 110602632A
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- 238000004891 communication Methods 0.000 claims description 9
- 230000000295 complement effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R3/00—Circuits for transducers, loudspeakers or microphones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Acoustics & Sound (AREA)
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Abstract
The invention relates to the technical field of loudspeakers and discloses loudspeaker equipment and an equipment positioning system. The loudspeaker device comprises a control circuit and an antenna array. The antenna array comprises at least two antennas which are arranged in an array and connected to the control circuit. Each antenna in the antenna array is used for receiving a Bluetooth positioning signal from the base station equipment, so that the control circuit determines the relative orientation of the loudspeaker equipment relative to the base station equipment through the arrival angle of the Bluetooth positioning signal received by each antenna and the distance between the antennas. Through the mode, the loudspeaker equipment has the positioning function and higher positioning precision.
Description
Technical Field
The present invention relates to the field of speaker technology, and in particular, to a speaker device and a device positioning system.
Background
Nowadays, a speaker device such as an earphone is widely used in daily life because it can convert an electric signal and an acoustic signal. The speaker device is usually equipped with an antenna for wireless communication, such as bluetooth communication, and especially a wireless headset, which requires the antenna to perform functions such as signal transceiving.
With the development of the bluetooth technology, the research and popularization of the bluetooth positioning technology are promoted. The antenna equipped for the loudspeaker device can realize the positioning of the loudspeaker device based on the Bluetooth positioning technology. The existing indoor positioning method based on Bluetooth has the problems of low precision, more positioning limiting conditions, expensive equipment required for positioning, difficulty in popularization and the like.
Disclosure of Invention
In view of the above, the present invention provides a speaker device and a device positioning system, which can make the speaker device have a positioning function and have high positioning accuracy.
In order to solve the technical problems, the invention adopts a technical scheme that: a loudspeaker device is provided comprising a control circuit and an antenna array. The antenna array comprises at least two antennas which are arranged in an array and connected to the control circuit. Each antenna in the antenna array is used for receiving a Bluetooth positioning signal from the base station equipment, so that the control circuit determines the relative orientation of the loudspeaker equipment relative to the base station equipment through the arrival angle of the Bluetooth positioning signal received by each antenna and the distance between the antennas.
In an embodiment of the present invention, the speaker device further includes an antenna switch, the antenna switch is connected to the control circuit and further connected to each antenna in the antenna array, and the control circuit is configured to control each antenna in the antenna array to alternately operate through the antenna switch, so that each antenna in the antenna array alternately receives the bluetooth positioning signal from the base station device and respectively transmits the bluetooth positioning signal to the control circuit.
In an embodiment of the present invention, the antenna array includes a first antenna and a second antenna, and the first antenna and the second antenna are respectively connected to the same antenna switch; the fixed end and the control end of the antenna change-over switch are connected with the control circuit, the first selection end of the antenna change-over switch is connected with the first antenna, the second selection end of the antenna change-over switch is connected with the second antenna, and the control circuit is used for controlling the fixed end to be respectively and alternately conducted with the first selection end and the second selection end through the control end.
In an embodiment of the present invention, the number of the antennas in the antenna array is greater than or equal to two, each antenna in the antenna array is connected to an antenna switch, a fixed end and a control end of each antenna switch are connected to the control circuit, and a selection end of each antenna switch is connected to the corresponding antenna, and the control circuit is configured to control the fixed end and the selection end of each antenna switch to be alternately turned on through the control end of each antenna switch.
In an embodiment of the present invention, the number of antennas in the antenna array is n (n ≧ 2), and the distances between adjacent antennas in the antenna array are equal and less than 1/(n-1) of the wavelength of the bluetooth positioning signal.
In an embodiment of the present invention, the speaker device further includes an acceleration sensor, where the acceleration sensor is connected to the control circuit, and is used to measure an inclination angle of an antenna in the antenna array, and the inclination angle is used to compensate an arrival angle of the bluetooth positioning signal received by the antenna. The inclination angle of the antenna in the antenna array is defined as the vector difference between the angle between the antenna in the current state and the normal of the horizontal plane and the angle between the antenna in the target state and the normal of the horizontal plane.
In an embodiment of the present invention, the phases of the bluetooth positioning signals received by the antennas in the antenna array areAnd the distance between the antennas is di,j(i, j ═ 1,2,3 … n), the tilt angle of the antenna in the antenna array is Δ θ, and the wavelength of the bluetooth positioning signal is λ;
the phase difference when the bluetooth positioning signal is received between each antenna in the antenna array is as follows:
then, the incident angle of the bluetooth positioning signal received by each antenna in the antenna array is:
further obtain the complementary angle theta of the incident angle of the Bluetooth positioning signal received by each antenna in the antenna arrayi(i＝1,2,3…n)；
Then, the distance from each antenna in the antenna array to the base station device is:
Di＝di,i+1*tanθi+1/cosθi*(tanθi-tanθi+1)；
and the arrival angle of the Bluetooth positioning signal received by each antenna in the antenna array is psii,jDetermining the relative orientation of the loudspeaker device with respect to the base station device;
the arrival angle of the bluetooth positioning signal received by each antenna in the antenna array is defined as an included angle between the propagation direction of the bluetooth positioning signal received by each antenna in the antenna array and the normal of a horizontal plane.
In an embodiment of the present invention, the relative orientation of the speaker device with respect to the base station device includes the relative angle and relative distance of the speaker device with respect to the base station device. The relative angle of the speaker device with respect to the base station device is an average value of arrival angles of bluetooth positioning signals received by the antennas in the antenna array, and the relative distance of the speaker device with respect to the base station device is an average value of distances from the antennas in the antenna array to the base station device.
In an embodiment of the present invention, the acceleration sensor is at least one of a gravitational acceleration sensor, a three-axis acceleration sensor, and a gyroscope.
In order to solve the technical problem, the invention adopts another technical scheme that: a device positioning system is provided, which comprises a loudspeaker device and a base station device, wherein a Bluetooth communication connection is established between the loudspeaker device and the base station device. The loudspeaker device comprises a control circuit and an antenna array. The antenna array comprises at least two antennas which are arranged in an array and connected to the control circuit. Each antenna in the antenna array is used for receiving a Bluetooth positioning signal from the base station equipment, so that the control circuit determines the relative orientation of the loudspeaker equipment relative to the base station equipment through the arrival angle of the Bluetooth positioning signal received by each antenna and the distance between the antennas.
The invention has the beneficial effects that: different from the prior art, the invention provides a loudspeaker device and a device positioning system. The loudspeaker device receives the Bluetooth positioning signal from the base station device through at least two antennas in the antenna array, so that the control circuit determines the relative orientation of the loudspeaker device relative to the base station device through the arrival angle of the Bluetooth positioning signal received by each antenna and the distance between the antennas, namely, the loudspeaker device is positioned. By the method, the loudspeaker equipment has a positioning function; and the antenna array is combined with a positioning algorithm of the arrival angle of the Bluetooth positioning signal, so that the positioning accuracy is higher, and the loudspeaker equipment can have higher positioning accuracy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
fig. 1 is a schematic structural diagram of an embodiment of the speaker apparatus of the present invention;
fig. 2 is a schematic structural diagram of another embodiment of the speaker apparatus of the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of the operating principle of the acceleration sensor according to the present invention;
FIG. 4 is a schematic diagram of an embodiment of the localization algorithm of the loudspeaker device of the present invention;
FIG. 5 is a schematic diagram illustrating an embodiment of a method for calculating an incident angle of a Bluetooth positioning signal of a speaker device according to the present invention;
FIG. 6 is a schematic structural diagram of an embodiment of an apparatus positioning system according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first", "second", and the like in the present invention are used for distinguishing different objects, not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments. And features in the embodiments and examples described below may be combined with each other without conflict.
In order to solve the technical problem of low positioning accuracy of the bluetooth positioning technology in the prior art, an embodiment of the present invention provides a speaker device, which includes a control circuit and an antenna array. The antenna array comprises at least two antennas which are arranged in an array and connected to the control circuit. Each antenna in the antenna array is used for receiving a Bluetooth positioning signal from the base station equipment, so that the control circuit determines the relative orientation of the loudspeaker equipment relative to the base station equipment through the arrival angle of the Bluetooth positioning signal received by each antenna and the distance between the antennas. As described in detail below.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a speaker device according to an embodiment of the present invention.
In one embodiment, the speaker device 1 may be a speaker device such as an earphone, including an in-ear earphone, a headphone, a neck-worn earphone, and the like. The user wears the speaker device 1, and the position where the user is located is not fixed but is changed at any time, which means that the position of the speaker device 1 is not fixed. To realize the positioning of the loudspeaker device 1, a fixed-position device, such as a base station device, is used to determine the real-time position of the loudspeaker device 1. Therefore, the positioning of the speaker apparatus 1, that is, the relative orientation of the speaker apparatus 1 with respect to the base station apparatus is determined, thereby determining the real-time position of the speaker apparatus 1.
Specifically, the speaker device 1 includes a control circuit 11 and an antenna array 12. The antenna array 12 comprises at least two antennas arranged in an array and connected to the control circuit 11. Each antenna in the antenna array 12 is used to receive bluetooth positioning signals from a base station device. Since the distances from the antennas to the base station device in the antenna array 12 are different, the bluetooth positioning signals received by the antennas have time difference of arrival and further have phase difference, and therefore, the Angle of arrival (AOA) of the bluetooth positioning signals received by the antennas are different. In view of this, the control circuit 11 of the present embodiment determines the relative orientation of the speaker device 1 with respect to the base station device, that is, realizes the positioning of the speaker device 1, by the arrival angle of the bluetooth positioning signal received by each antenna and the distance between the antennas. And the antenna array 12 combines with the positioning algorithm of the arrival angle of the bluetooth positioning signal, so that the positioning accuracy is high, and the speaker device 1 can have high positioning accuracy.
Preferably, the control circuit 11 may be a chip integrated with a logic operation circuit, and is used as a main control part of the loudspeaker device 1, for controlling the components of the loudspeaker device 1 to work in coordination, and simultaneously for executing the above-mentioned positioning algorithm of the loudspeaker device 1. The control circuit 11 also integrates a bluetooth communication circuit, so that the antennas in the antenna array 12 can communicate with the base station device via bluetooth, and determine the relative orientation of the speaker device 1 with respect to the base station device based on the arrival angle of the bluetooth positioning signal. Of course, in other embodiments of the present invention, the bluetooth communication circuit may also be independent of the control circuit 11, the antenna in the antenna array 12 is connected to the bluetooth communication circuit, and the bluetooth communication circuit is further connected to the control circuit 11 to implement transmission of bluetooth signals, which is not limited herein.
Alternatively, the antennas in the antenna array 12 may be onboard antennas, or ceramic antennas, or dome antennas, or LDS antennas, and the like, which is not limited herein.
As can be seen from the above, the speaker device provided by the present invention receives the bluetooth positioning signal from the base station device through at least two antennas in the antenna array, so that the control circuit determines the relative orientation of the speaker device with respect to the base station device through the arrival angle of the bluetooth positioning signal received by each antenna and the distance between each antenna, that is, the speaker device is positioned. By the method, the loudspeaker equipment has a positioning function; and the antenna array is combined with a positioning algorithm of the arrival angle of the Bluetooth positioning signal, so that the positioning accuracy is higher, and the loudspeaker equipment can have higher positioning accuracy.
Please continue to refer to fig. 1. In one embodiment, because the bluetooth positioning signals received by the antennas in the antenna array 12 have phase differences, the bluetooth positioning signals received by the antennas interfere with each other. In order to avoid mutual interference between the bluetooth positioning signals received by the antennas, in the embodiment, the antennas of the antenna array 12 operate alternately in time division, that is, alternately in time division for receiving the bluetooth positioning signals from the base station device.
In view of this, the speaker device 1 in the present embodiment may further include an antenna changeover switch 13. The antenna switch 13 is connected to the control circuit 11 and is further connected to each antenna in the antenna array 12, and the control circuit 11 is configured to control each antenna in the antenna array 12 to alternately operate through the antenna switch 13, so that each antenna in the antenna array 12 alternately receives the bluetooth positioning signal from the base station device and respectively transmits the bluetooth positioning signal to the control circuit 11, so that the control circuit 11 performs positioning operation.
Of course, in other embodiments of the present invention, the manner of implementing the time-division alternate operation of the antennas of the antenna array 12 is not limited to the manner of the antenna changeover switch 13 described above. For example, the antennas in the antenna array 12 are directly connected to the control circuit 11, the control circuit 11 alternately selects bluetooth positioning signals received by different antennas for positioning operation, and the antennas other than the antenna selected by the control circuit 11 are set by the control circuit 11 to be inoperative, and the like, which is not limited herein.
Of course, in other embodiments of the present invention, if the control circuit can identify the antenna corresponding to each bluetooth positioning signal when each antenna in the antenna array receives the bluetooth positioning signal at the same time, each antenna in the antenna array does not need to operate alternately in a time-sharing manner, and can be used for receiving the bluetooth positioning signal from the base station device at the same time, so that the use of the antenna switch can be at least reduced, which is beneficial to simplifying the circuit structure of the speaker device.
Please continue to refer to fig. 1. In an embodiment, the antenna array 12 includes a first antenna 122 and a second antenna 123. Positioning algorithms based on the angle of arrival of the antenna array 12 in combination with bluetooth positioning signals require that the antenna array 12 include at least two antennas. In the present embodiment, the antenna array 12 includes two antennas, namely, the first antenna 122 and the second antenna 123, so that the antennas used by the antenna array 12 are minimized, the structure of the speaker device 1 can be simplified, the cost of the speaker device 1 can be reduced, and the positioning algorithm can be simplified.
Specifically, the first antenna 122 and the second antenna 123 are respectively connected to the same antenna changeover switch 13. The fixed terminal 131 and the control terminal 132 of the antenna switch 13 are connected to the control circuit 11, the first selection terminal 133 of the antenna switch 13 is connected to the first antenna 122, and the second selection terminal 134 is connected to the second antenna 123. The control circuit 11 is configured to control the fixed end 131 to be alternately conducted with the first selection end 133 and the second selection end 134 through the control end 132, that is, the fixed end 131 and the first selection end 133, and the fixed end 131 and the second selection end 134 are alternately conducted in a time-sharing manner, so that the control circuit 11 is alternately conducted with the first antenna 122 and the second antenna 123, that is, the first antenna 122 and the second antenna 123 alternately receive bluetooth positioning signals from the base station device, so as to avoid mutual interference between the bluetooth positioning signals received by the first antenna 122 and the second antenna 123.
Please refer to fig. 2. In alternative embodiments, the number of antennas 121 in the antenna array 12 is greater than or equal to two, e.g., 3, 4, 5, 6, etc. Each antenna 121 in the antenna array 12 is connected to an antenna switch 13, the fixed end 131 and the control end 132 of each antenna switch 13 are connected to the control circuit 11, and the selection end 135 of each antenna switch 13 is connected to the corresponding antenna 121, the control circuit 11 is configured to control the fixed end 131 and the selection end 135 of each antenna switch 13 to be alternately turned on through the control end 132 of each antenna switch 13, that is, control each antenna switch 13 to be alternately turned on, so that the antennas 121 connected to each antenna switch 13 are alternately turned on with the control circuit 11, that is, each antenna 121 in the antenna array 12 alternately receives bluetooth positioning signals from the base station device, so as to avoid mutual interference between the bluetooth positioning signals received by different antennas 121.
Please continue to refer to fig. 1. In one embodiment, after the user wears the speaker device 1, the speaker device 1 is in different states, that is, has different degrees of inclination; or different users wear the same loudspeaker device 1 due to the difference of individual physiological structures of the different users, and the loudspeaker device 1 is in different states and has different inclination degrees; or the user wears the speaker device 1 and is in a moving state, so that the speaker device 1 is in different states and has different inclination degrees. The tilt of the speaker device 1 may cause the antenna in the antenna array 12 to tilt, which further affects the angle of arrival of the bluetooth positioning signal received by the antenna, and affects the positioning accuracy.
In view of this, the speaker device 1 of the present embodiment further includes an acceleration sensor 14. The acceleration sensor 14 is connected to the control circuit 11, and is configured to measure an inclination angle of an antenna in the antenna array 12, where the measured inclination angle is used to compensate an arrival angle of a bluetooth positioning signal received by the antenna, so as to improve positioning accuracy.
Since the tilt of the antenna in the antenna array 12 is a spatial tilt, the tilt angle of the antenna in the antenna array 12 is defined as a vector difference between an angle between the antenna in the current state and a normal of a horizontal plane and an angle between the antenna in the target state and the normal of the horizontal plane. The acceleration sensor 14 measures an angle between the antenna in the current state and the normal of the horizontal plane, and compares the angle with a pre-stored angle (theoretical value) between the antenna in the target state and the normal of the horizontal plane, so as to obtain a vector difference between the angle between the antenna in the current state and the normal of the horizontal plane and the angle between the antenna in the target state and the normal of the horizontal plane, that is, the acceleration sensor 14 measures the tilt of the antenna in space, so as to compensate the arrival angle of the bluetooth positioning signal received by the antenna.
For example, the position a in fig. 3 indicates that the antenna 121 is in the target state, and the angle between the antenna 121 and the normal α of the horizontal plane in the target state is 0 ° as an example, that is, the antenna 121 and the normal α of the horizontal plane in the target state coincide with each other. The position B in fig. 3 indicates that the antenna 121 is in the current state, and the angle between the antenna 121 and the horizontal plane normal α in the current state is Δ θ, that is, the vector difference between the angle between the antenna 121 and the horizontal plane normal α in the current state and the angle between the antenna 121 and the horizontal plane normal α in the target state is Δ θ. Since Δ θ is a vector difference relationship, Δ θ may be a positive value or a negative value depending on the tilt direction of the antenna 121.
Alternatively, the acceleration sensor 14 may be at least one of a gravitational acceleration sensor, a three-axis acceleration sensor, and a gyroscope, which is not limited herein.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a positioning algorithm of a speaker device according to an embodiment of the present invention. The positioning algorithm for the antenna array in combination with the angle of arrival of the bluetooth positioning signals is generally described below.
The antenna array combines the location algorithm of the arrival angle of the bluetooth positioning signal, its basic principle is: based on the characteristics of the arrival angle of the Bluetooth positioning signal, accurate positioning is realized. The working process is as follows: the single antenna of the base station device transmits a special data packet (i.e., a bluetooth positioning signal) through bluetooth, and the speaker device receives the bluetooth positioning signal through a plurality of antennas arranged in an array. Because the distance between each antenna in the antenna array is different, the bluetooth positioning signals received by each antenna have phase difference. When switching among the antennas in the antenna array, an I & Q sample is obtained from the received Bluetooth positioning signals, the relative phase of each Bluetooth positioning signal is calculated, the angle of each antenna relative to the base station equipment is obtained, and then the relative direction of the loudspeaker equipment relative to the base station equipment can be obtained through a trilateration method.
Specifically, the number of antennas in the antenna array is n (n is greater than or equal to 2), and the phase of each antenna in the antenna array when receiving the bluetooth positioning signal is nAnd the distance between the antennas is di,j(i, j ═ 1,2,3 … n), the tilt angle of the antennas in the antenna array is Δ θ, and the wavelength of the bluetooth positioning signal is λ.
Then, the phase difference when the bluetooth positioning signal is received between the antennas in the antenna array is:
as shown in fig. 5, fig. 5 illustrates how to obtain the incident angle of the bluetooth positioning signal received by each antenna in the antenna array by using the two antennas in the above-mentioned embodiment as an example, through the phase difference when the bluetooth positioning signal is received between each antenna in the antenna array. The arrival angle (i.e., the incident angle) of the bluetooth positioning signal received by each antenna in the antenna array is defined as an included angle between the propagation direction of the bluetooth positioning signal received by each antenna in the antenna array and the normal of the horizontal plane.
The difference between the distances from the bluetooth positioning signal to the first antenna 122 and the second antenna 123 is: p is d sin ψ, d is the distance between the first antenna 122 and the second antenna 123, wherein the propagation direction of the bluetooth positioning signal is shown by the arrow S in fig. 5.
The wavelength of the bluetooth positioning signal is: λ is c/f, c is the speed of light, and f is the carrier frequency.
Is the phase difference between the bluetooth positioning signals received by the first antenna 122 and the second antenna 123, then
Namely, it isTherefore, it is not only easy to use
That is, the incident angle of the Bluetooth positioning signal received by the antenna is
Therefore, the general formula for calculating the incident angle of the bluetooth positioning signal received by each antenna in the antenna array is:where Δ θ is the tilt angle of the antenna in the antenna array measured by the acceleration sensor 14, and the expression delta theta is used for compensating the incidence angle of the Bluetooth positioning signals received by each antenna in the antenna array, and the arrival angle of the Bluetooth positioning signals received by the antennas is also compensated.
Please continue to refer to fig. 4. Based on the above calculation process, the relative orientation of the speaker device with respect to the base station device can be obtained by trilateration, which specifically includes:
according to the formulaCalculating to obtain a complementary angle theta of the incident angle of the Bluetooth positioning signal received by each antenna in the antenna arrayi(i ═ 1,2,3 … n). Then, the distance from each antenna in the antenna array to the base station device is: di＝di,i+1*tanθi+1/cosθi*(tanθi-tanθi+1) And further determining the relative orientation of the loudspeaker device relative to the base station device through the arrival angle of the Bluetooth positioning signals received by the antennas and the distance between the antennas.
It should be noted that the distances between adjacent antennas in the antenna array may be equal, so that d is the same as abovei,jThe method is a fixed value, thereby reducing the computation amount of the positioning algorithm of the embodiment. Moreover, the distance between adjacent antennas in the antenna array is less than 1/(n-1) of the wavelength of the bluetooth positioning signal, so that the phase of the bluetooth positioning signal received by each antenna in the antenna array is within one wavelength of the bluetooth positioning signal, and the situation that the phases of the bluetooth positioning signals received by different antennas are the same can be avoided, and the execution of a positioning algorithm is influenced.
The relative orientation of the loudspeaker device with respect to the base station device includes the relative angle and relative distance of the loudspeaker device with respect to the base station device.
Further, the relative angle of the speaker device with respect to the base station device is an average value of the arrival angles of the bluetooth positioning signals received by the antennas in the antenna array. The relative distance between the loudspeaker device and the base station device is the average value of the distances from the antennas in the antenna array to the base station device. That is to say, according to the calculation results of the arrival angle corresponding to each antenna and the distance from each antenna to the base station device, the average value is used to describe the relative angle and the relative distance of the speaker device with respect to the base station device, so as to describe the relative orientation of the speaker device with respect to the base station device more accurately, which is beneficial to improving the positioning accuracy of the speaker device.
Of course, since the distance between the antennas in the antenna array is far smaller than the distance between the speaker device and the base station device relative to the distance between the speaker device and the base station device, the arrival angle corresponding to each antenna in the antenna array and the distance between each antenna and the base station device are very small. In other embodiments of the present invention, the angle of arrival corresponding to any antenna in the antenna array and the distance from the antenna to the base station device may be used to describe the relative angle and the relative distance of the speaker device with respect to the base station device, which is not limited herein.
Please continue to refer to fig. 1. In an embodiment, the speaker device 1 further includes a microphone 151 and a speaker 152. The microphone 151 and the speaker 152 are respectively connected to the control circuit 11, and are used for the user to normally use the speaker device 1, including listening to a call, listening to music, and the like. The speaker device 1 of the present embodiment can be used for daily use while having a positioning function, and meets the user's demand. The speaker device 1 further includes a battery 161 and an interface 162, the battery 161 and the interface 162 are respectively connected to the control circuit 11, the battery 161 is used for supplying power to the speaker device 1, and the interface 162 may be a Type-C interface or the like, and is used for charging the battery of the speaker device 1. The speaker device 1 further includes a key assembly 17 and an LED lamp set 18, and the key assembly 17 and the LED lamp set 18 are respectively connected to the control circuit 11. The key assembly 17 may include a power key, a volume up key, a volume down key, etc., and the LED lamp set 18 may be used to display information such as the remaining power of the speaker device 1.
In summary, in the speaker device provided by the present invention, the bluetooth positioning signal from the base station device is received by at least two antennas in the antenna array, so that the control circuit determines the relative orientation of the speaker device with respect to the base station device according to the arrival angle of the bluetooth positioning signal received by each antenna and the distance between each antenna, that is, the speaker device is positioned. By the method, the loudspeaker equipment has a positioning function; and the antenna array is combined with a positioning algorithm of the arrival angle of the Bluetooth positioning signal, so that the positioning accuracy is higher, and the loudspeaker equipment can have higher positioning accuracy.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of an apparatus positioning system according to the present invention.
In one embodiment, the device positioning system includes a speaker device 1 and a base station device 2, and a bluetooth communication connection 3 is established between the speaker device 1 and the base station device 2.
The loudspeaker device 1 comprises a control circuit 11 and an antenna array 12. The antenna array 12 includes at least two antennas 121 arranged in an array and connected to the control circuit 11. Wherein, each antenna 121 in the antenna array 12 is used for receiving the bluetooth positioning signal from the base station device 2, so that the control circuit 11 determines the relative orientation of the loudspeaker device 1 with respect to the base station device 2 through the arrival angle of the bluetooth positioning signal received by each antenna 121 and the distance between each antenna 121.
It should be noted that the speaker device 1 has been described in detail in the above embodiments, and thus, the details are not described herein.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An acoustic speaker apparatus characterized by comprising:
a control circuit;
an antenna array comprising at least two antennas arranged in an array and connected to the control circuit;
each antenna in the antenna array is used for receiving a bluetooth positioning signal from a base station device, so that the control circuit determines the relative orientation of the loudspeaker device relative to the base station device according to the arrival angle of the bluetooth positioning signal received by each antenna and the distance between the antennas.
2. The acoustic speaker apparatus of claim 1, further comprising:
the antenna selector switch is connected with the control circuit and is also connected with each antenna in the antenna array, and the control circuit is used for controlling each antenna in the antenna array to work alternately through the antenna selector switch, so that each antenna in the antenna array receives the Bluetooth positioning signal from the base station device alternately and transmits the Bluetooth positioning signal to the control circuit respectively.
3. The acoustic speaker apparatus of claim 2, wherein said antenna array comprises a first antenna and a second antenna, said first antenna and said second antenna being respectively connected to the same said antenna switch; the antenna change over switch's stiff end and control end are connected control circuit, antenna change over switch's first selection end is connected first antenna, and the second selection end is connected the second antenna, control circuit is used for passing through control end control the stiff end respectively in turn with first selection end the second selection end switches on.
4. The audio equipment according to claim 2, wherein the number of the antennas in the antenna array is greater than or equal to two, each antenna in the antenna array is connected to one of the antenna switches, a fixed end and a control end of each antenna switch are connected to the control circuit, and a selection end of each antenna switch is connected to the corresponding antenna, and the control circuit is configured to control the fixed end and the selection end of each antenna switch to be alternately turned on through the control end of each antenna switch.
5. The acoustic speaker apparatus of any of claims 1-4 wherein the number of antennas in said antenna array is n (n ≧ 2), and the distance between adjacent antennas in said antenna array is equal and less than 1/(n-1) the wavelength of the Bluetooth positioning signal.
6. The acoustic speaker apparatus of claim 1, further comprising:
the acceleration sensor is connected with the control circuit and used for measuring the inclination angle of the antenna in the antenna array, and the inclination angle is used for compensating the arrival angle of the Bluetooth positioning signal received by the antenna;
the inclination angle of the antenna in the antenna array is defined as the vector difference between the included angle between the antenna in the current state and the normal of the horizontal plane and the included angle between the antenna in the target state and the normal of the horizontal plane.
7. The acoustic speaker apparatus of claim 6 wherein each antenna in said antenna array receives a bluetooth positioning signal at a phase ofAnd the distance between the antennas is di,j(i, j ═ 1,2,3 … n), the tilt angle of the antennas in the antenna array is Δ θ, and the wavelength of the bluetooth positioning signal is λ;
the phase difference when the Bluetooth positioning signals are received among the antennas in the antenna array is as follows:
then, the incident angle of the bluetooth positioning signal received by each antenna in the antenna array is:
further obtaining a complementary angle theta of an incident angle of the Bluetooth positioning signal received by each antenna in the antenna arrayi(i＝1,2,3…n)；
Then, the distance from each antenna in the antenna array to the base station device is:
Di＝di,i+1*tanθi+1/cosθi*(tanθi-tanθi+1)；
and the arrival angle of the Bluetooth positioning signal received by each antenna in the antenna array is psii,jDetermining the relative orientation of the loudspeaker device with respect to the base station device;
the arrival angle of the bluetooth positioning signal received by each antenna in the antenna array is defined as an included angle between the propagation direction of the bluetooth positioning signal received by each antenna in the antenna array and a normal of a horizontal plane.
8. The acoustic speaker apparatus of claim 7 wherein the relative orientation of said acoustic speaker apparatus with respect to said base station apparatus comprises the relative angle and relative distance of said acoustic speaker apparatus with respect to said base station apparatus;
the relative angle of the speaker device with respect to the base station device is an average value of arrival angles of bluetooth positioning signals received by the antennas in the antenna array, and the relative distance of the speaker device with respect to the base station device is an average value of distances from the antennas in the antenna array to the base station device.
9. The acoustic speaker apparatus of claim 6 wherein said acceleration sensor is at least one of a gravitational acceleration sensor, a three-axis acceleration sensor, and a gyroscope.
10. The equipment positioning system is characterized by comprising a loudspeaker device and a base station device, wherein a Bluetooth communication connection is established between the loudspeaker device and the base station device;
the speaker apparatus includes:
a control circuit;
an antenna array comprising at least two antennas arranged in an array and connected to the control circuit;
wherein each antenna in the antenna array is used for receiving the Bluetooth positioning signal from the base station device, so that the control circuit determines the relative orientation of the loudspeaker device relative to the base station device through the arrival angle of the Bluetooth positioning signal received by each antenna and the distance between each antenna.
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| CN201910703319.3A CN110602632A (en) | 2019-07-31 | 2019-07-31 | Speaker device and device positioning system |
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| CN201910703319.3A CN110602632A (en) | 2019-07-31 | 2019-07-31 | Speaker device and device positioning system |
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