CN117135568B - UWB wireless earphone pose sensing measurement method based on single base station - Google Patents

UWB wireless earphone pose sensing measurement method based on single base station Download PDF

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Publication number
CN117135568B
CN117135568B CN202311112318.4A CN202311112318A CN117135568B CN 117135568 B CN117135568 B CN 117135568B CN 202311112318 A CN202311112318 A CN 202311112318A CN 117135568 B CN117135568 B CN 117135568B
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earphone
uwb
charging bin
mobile phone
ear
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CN117135568A (en
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黄先日
戈芬·弗莱德
杨旭磊
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Qingdao Chrystar Electronic Technology Co ltd
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Qingdao Chrystar Electronic Technology Co ltd
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
    • H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
    • H04M1/724092—Interfacing with an external cover providing additional functionalities
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/10—Earpieces; Attachments therefor ; Earphones; Monophonic headphones
    • H04R1/1025—Accumulators or arrangements for charging
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/10—Earpieces; Attachments therefor ; Earphones; Monophonic headphones
    • H04R1/1091—Details not provided for in groups H04R1/1008 - H04R1/1083
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Human Computer Interaction (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a single base station-based UWB wireless earphone pose sensing measurement method, which relates to the technical field of ultra-wideband communication and comprises the following steps: the left earphone and the right earphone are worn on ears, and the charging bin is placed at a position similar to the height of the earphones; the mobile phone wakes up the UWB function of the charging bin and the earphone through BLE, and the left earphone and the right earphone and the charging bin perform communication measurement by using UWB; after the mobile phone enables measurement, the left earphone and the right earphone are mutually communicated through UWB, and the measurement result is returned to the mobile phone; the mobile phone calculates and obtains the ranging results of the two earphones by using the feedback measuring results, and detects the earphone state through the ranging results; after the earphone state check is passed, triggering the charging bin to communicate with the earphone through UWB, and transmitting the measurement result back to the mobile phone; the mobile phone calculates coordinate values of left and right earphones of the earphone under a coordinate system of the charging bin by using measurement results returned by the charging bin and the earphone; and calculating the position and posture measurement result of the head by using the coordinate values of the left and right earphones and the distance measurement result of the left and right earphones under the coordinate system of the charging bin.

Description

UWB wireless earphone pose sensing measurement method based on single base station
Technical Field
The invention relates to the technical field of ultra-wideband communication, in particular to a single-base-station-based UWB wireless earphone pose sensing measurement method.
Background
The wireless earphone is commonly in life of the masses and is touted and loved by people, and the main reason is that the use method is very convenient, the complicated connecting wire is not needed like a wired earphone, the wireless earphone does not need to be connected with a sounding main body, and a user can wear the wireless earphone by directly taking the earphone without redundant operation; and secondly, the charging box is matched with the charging box, the charging box is replaced when the user does not use the charging box, and the charging box can be replaced when the user does not use the charging box to charge the charging box so as to ensure normal cruising. As people go deep, the requirements for headphones are also increasing. For example, a binaural immersive experience is required as if it were in close proximity to the concert scene. The position and posture change of the wireless earphone are required to be known, and the tone color of the audio is correspondingly adjusted according to the position change, so that the binaural stereo immersive experience is achieved.
UWB is ultra-wideband technology, which is a carrier-free communication technology, and utilizes nanosecond non-sinusoidal narrow pulses to transmit data, so that the occupied frequency spectrum is wide. The traditional positioning technology judges the position of an object according to the strength of signals, and the strength of the signals is greatly influenced by the outside, so that the error between the positioned object position and the actual position is also larger, the positioning precision is not high, and the broadband pulse communication technology adopted by UWB positioning has extremely strong anti-interference capability, so that the positioning error is reduced. The UWB positioning technology fills the blank in the field of high-precision positioning, and has the advantages of insensitivity to channel weakness, low power spectrum density of a transmitted signal, low system complexity, capacity of providing centimeter-level positioning precision and the like.
The positioning technology based on UWB high precision is just a perfect solution for wireless earphone pose perception. People wear wireless earphones, position the left earphone and the right earphone through UWB technology, and can detect the change of the head position and the posture of the human body in real time. Based on this, the audio timbre can be adjusted to achieve a binaural immersive experience.
Disclosure of Invention
The invention aims to provide a UWB wireless earphone pose sensing measurement method based on a single base station, which uses left and right wireless earphones as a measurement vector, uses a charging bin as the single base station to perform position measurement on the left and right wireless earphones to obtain two-dimensional coordinates of the left and right earphones, and combines a ranging result of the left and right earphones to obtain a horizontal pose and a pitching pose of a head.
In order to achieve the above purpose, the invention provides a single base station-based UWB wireless earphone pose sensing measurement method, which comprises the following steps:
s1, wearing left and right earphones on ears, and standing a charging bin at a position 20cm above and below the earphones;
s2, the mobile phone wakes up the UWB function of the charging bin and the earphone through BLE, and the left earphone and the right earphone and the charging bin use UWB to carry out communication measurement;
s3, after the mobile phone enables measurement, the left earphone and the right earphone communicate with each other through UWB, and the measurement result is returned to the mobile phone;
s4, the mobile phone returns a measurement result by using the earphone, a distance measurement result of the left earphone and the right earphone is obtained through calculation, and the state of the earphone is detected through the distance measurement result;
s5, triggering the charging bin to communicate with the earphone through UWB after the earphone state check is passed, and transmitting the measurement result back to the mobile phone;
s6, the mobile phone obtains coordinate values of the left earphone and the right earphone of the earphone under a coordinate system of the charging bin through calculation by using a measurement result returned by the charging bin and the earphone;
and S7, the mobile phone calculates a position and posture measurement result of the head by using the coordinate values of the left and right earphones and the distance measurement result of the left and right earphones under the coordinate system of the charging bin.
Preferably, in step S1, the left and right earphones each include a single-antenna UWB module, and the charging bin includes a dual-antenna UWB module and has an angle measurement function.
Preferably, in step S2, the communication measurement is divided into two phases: the first stage is to measure the distance between the left earphone and the right earphone, and the second stage is to measure the positioning of the left earphone and the right earphone by the charging bin.
Preferably, in step S3, the left and right earphones communicate with each other through UWB and transmit the measurement result back to the mobile phone, and the process is divided into N 1 The time slots are:
the first time slot: the mobile phone performs UWB configuration and time slot allocation of the left earphone and the right earphone through BLE;
the second time slot: the left ear earphone transmits UWB signals and records the transmitted time stamp t l00 The right ear phone receives the UWB signal and records the received time stamp t r00 ；
Third time slot: the right ear earphone transmits UWB signals and records the transmitted time stamp t r01 The left ear earpiece receives the UWB signal and records the received time stamp t l01 ；
Fourth timeGap: the left ear earphone transmits UWB signals and records the transmitted time stamp t l02 The right ear phone receives the UWB signal and records the received time stamp t r02 ；
Fifth time slot: the left ear earphone stamps the time t l00 、t l01 、t l02 Sending the message to a mobile phone in a BLE mode;
sixth time slot: the right ear earphone stamps the time t r00 、t r01 、t r02 Sending the message to a mobile phone in a BLE mode;
and reserving other time slots.
Preferably, in step S4, the mobile phone returns the measurement result by using the earphone, and the calculation method for calculating the ranging result of the left and right earphone is as follows:
wherein d is meas Omega is the calculated current left and right earphone ranging result meas To calculate the weight coefficient of the ranging result, 0<ω meas <1；
The method for detecting the state of the earphone through the ranging result is as follows:
when d meas >d th2 ||d meas <d th1 Abnormal earphone state, i.e. left and right earphones are not worn on ears at the same time;
when d th1 ≤d meas ≤d th2 The earphone is in a normal state, namely, the left earphone and the right earphone are worn on the ears at the same time;
wherein d th1 ～d th2 Range for normal earphone ranging result, and d th1 <d th2 The expression is logical OR operation;
when the earphone is in normal state, the distance measurement result d meas Filtering to obtain a filtered ranging result, wherein the method comprises the following steps:
wherein d iir D is the filtered ranging result last N is the ranging result after last filtering cnt The current earphone state is normal times;
when the earphone state is abnormal, repeating the process of detecting the earphone state through the ranging result, re-ranging the left earphone and the right earphone, and updating an abnormal counter;
s continuously occurs when the state of the earphone is abnormal th Secondly, reporting system abnormality and stopping measurement; wherein S is th Is a threshold for system anomalies.
Preferably, in step S5, after the earphone status check is passed, the charging bin is triggered to communicate with the earphone through UWB for measurement, and the measurement result is returned to the mobile phone, where the process is divided into N 2 The time slots are:
the first time slot: the mobile phone carries out UWB configuration and time slot allocation of the left earphone and the right earphone and the charging bin through BLE;
the second time slot, the charging bin broadcasts and transmits UWB signals, and the charging bin records the time stamp t of transmitting UWB signals c10 The left ear earphone and the right ear earphone respectively receive UWB signals and record arrival time stamps t l10 And t r10 ；
The third time slot, the left ear earphone sends UWB signal, the left ear earphone records the time stamp t of sending UWB signal l11 The charging bin receives the UWB signal and records the arrival time stamp t c11 And phase value of left ear earphone under charging bin coordinate system
The fourth time slot, the right ear earphone sends UWB signal, the right ear earphone records the time stamp t of sending UWB signal r12 The charging bin receives the UWB signal and records the arrival time stamp t c12 And phase value of right ear earphone under charging bin coordinate system
Fifth time slot, charging bin broadcast transmits UWB signal, charging bin record transmitsTime stamp t of UWB signal c13 The left ear earphone and the right ear earphone respectively receive UWB signals and record arrival time stamps t l13 And t r13 ；
The sixth time slot, the charging bin stamps the time t c10 、t c11 、t c12 、t c13 And phase informationSending the message to a mobile phone in a BLE mode;
seventh time slot, left ear earphone will timestamp t l10 、t l11 、t l13 Sending the message to a mobile phone in a BLE mode;
eighth time slot, right ear earphone will timestamp t r10 、t r12 、t r13 Sending the message to a mobile phone in a BLE mode;
and reserving other time slots.
Preferably, in step S6, the mobile phone calculates the coordinate values of the left and right earphones in the coordinate system of the charging bin by using the measurement results returned by the charging bin and the earphones, and the method is as follows:
the calculation method of the distance between the charging bin and the left ear earphone is as follows:
the calculation method of the distance between the charging bin and the right ear earphone is as follows:
wherein d cl D, the distance between the charging bin and the left ear earphone cr The distance between the charging bin and the right ear earphone is set;
based on d cl Andcalculating the position coordinates (x l ，y l ) The method comprises the following steps:
based on d cr Andto calculate the position coordinates (x r ,y r ) The method comprises the following steps:
where cos () is a cosine calculation and sin () is a sine calculation.
Preferably, in step S7, the mobile phone calculates a measurement result of the position and posture of the head by using the coordinate values of the left and right earphones and the ranging result of the left and right earphones in the charging bin coordinate system, and the method is as follows:
first, the position coordinates (x l ,y l ) And the position coordinates (x) r ，y r ) Obtaining the distance d between the left earphone and the right earphone under the coordinate system of the charging bin lr The method comprises the following steps:
then, the left and right earphones are calculated as a vector, and the included angle between the left and right earphones and the x axis is as follows:
the left earphone and the right earphone are used as a vector, and the included angle between the left earphone and the z-axis is as follows:
wherein cos -1 () For the inverse cosine calculation, sin -1 () Is an arcsine calculation.
Therefore, the UWB wireless earphone pose sensing measurement method based on the single base station has the following technical effects:
(1) The mobile phone is energized through a charging bin with a UWB function and a wireless earphone, so that the mobile phone has a pose sensing function;
(2) Only a single base station is used for measuring the two-dimensional coordinates of the left and right earphones, and the horizontal posture and the pitching posture of the head can be obtained by combining the ranging results of the left and right earphones, so that the complexity and the cost of the system are greatly reduced, and the universality of the application of the method is improved.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
Fig. 1 is a system schematic diagram of a single base station-based UWB wireless headset pose sensing measurement method of the present invention.
Fig. 2 is a process flow diagram of a single base station based UWB wireless headset pose sensing measurement method of the present invention.
Fig. 3 is a schematic diagram of a left and right earphone ranging process of a single base station-based UWB wireless earphone pose sensing measurement method.
Fig. 4 is a schematic diagram of a positioning process of a single base station-based UWB wireless headset pose sensing measurement method of the present invention.
Reference numerals:
101. a mobile phone; 102. a charging bin; 103. a left ear earphone; 104. a right ear earphone.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
Example 1
As shown in fig. 1, in this embodiment, a mobile phone 101 is used as a service end, a charging bin 102 is used as a base station, a left ear earphone 103 and a right ear earphone 104 are used as measurement vectors, the left ear earphone 103 and the right ear earphone 104 are positioned and measured by the charging bin 102, and measurement data is uploaded to the mobile phone 101, so as to obtain the pose and pose change of the left ear earphone 103 and the right ear earphone 104.
The mobile phone 101 does not contain UWB function, the charging bin 102 contains a dual-antenna UWB module, and has an angle measurement function, and the left ear earphone 103 and the right ear earphone 104 each contain a single-antenna UWB module.
Fig. 2 is a process flow chart of a single base station-based UWB wireless earphone pose sensing measurement method, where the process flow includes 7 steps: 1) The left earphone and the right earphone are worn on ears, and the charging bin is statically placed at a position 20cm above and below the earphones; 2) The mobile phone wakes up the UWB function of the charging bin and the earphone through BLE, and the left earphone and the right earphone and the charging bin perform communication measurement by using UWB; 3) After the mobile phone enables measurement, the left earphone and the right earphone are mutually communicated through UWB, and the measurement result is returned to the mobile phone; 4) The mobile phone returns a measurement result by using the earphone, a distance measurement result of the two earphones is obtained through calculation, and the state of the earphone is detected through the distance measurement result; 5) After the earphone state check is passed, triggering a charging bin to communicate with the earphone through UWB, and transmitting the measurement result back to the mobile phone; 6) The mobile phone obtains coordinate values of the left earphone and the right earphone of the earphone under a coordinate system of the charging bin through calculation by using a measurement result returned by the charging bin and the earphone; 7) And the mobile phone calculates the position and posture measurement result of the head by using the coordinate values of the left and right earphones and the ranging result of the left and right earphones under the coordinate system of the charging bin.
The process of each step is described in detail below in conjunction with FIG. 2:
s201: the left earphone and the right earphone are worn on the ears, and the charging bin is placed at a position approximate to the height of the earphone.
This step is the preparation before measurement: at the beginning of the measurement, it is necessary to ensure that the charging bin 102 remains stationary and that the charging bin 102 cannot be moved during the measurement.
S202: the mobile phone wakes up the UWB function of the charging bin and the earphone through BLE, and the left earphone, the right earphone and the charging bin utilize UWB to carry out communication measurement.
In the measurement process, communication measurement is performed among the charging bin 102, the left ear earphone 103 and the right ear earphone 104 through UWB.
Communication measurements are divided into two phases: the first stage is to measure the distance between the left ear earphone 103 and the right ear earphone 104, and the second stage is to measure the positioning of the left ear earphone 103 and the right ear earphone 104 by the charging bin 102.
S203: after the mobile phone enables measurement, the left earphone and the right earphone are mutually communicated through UWB, and the measurement result is transmitted back to the mobile phone.
As shown in FIG. 3, the process is divided into N 1 Carried out in a single time slot, embodiment N 1 ＝8。
The first time slot: the handset 101 performs UWB configuration of the left ear phone 103 and the right ear phone 104 by BLE and allocation of time slots.
The second time slot: the left ear earpiece 103 transmits UWB signals and records the transmitted time stamp t l00 The right ear phone 104 receives the UWB signal and records the received time stamp t r00 ；
Third time slot: the right ear phone 104 transmits UWB signals and records the transmitted time stamp t r01 The left ear phone 103 receives the UWB signal and records the received time stamp t l01 ；
Fourth time slot: the left ear earpiece 103 transmits UWB signals and records the transmitted time stamp t l02 The right ear phone 104 receives the UWB signal and records the received time stamp t r02 ；
Fifth time slot: the left ear phone 103 stamps the time t l00 、t l01 、t l02 Transmitting to the mobile phone 101 in a BLE mode;
sixth time slot: the right ear earphone will 104 timestamp t r00 、t r01 、t r02 Transmitting to the mobile phone 101 in a BLE mode;
seventh eighth time slot: and (5) reserving.
S204: the mobile phone uses the earphone to return the measurement result, obtains the distance measurement result of the two earphones through calculation, and detects the earphone state through the distance measurement result.
The mobile phone 101 utilizes a left ear phone 103 and a right ear phoneThe time stamp t returned by the ear phone 104 l00 、t l01 、t l02 、t r00 、t r01 、t r02 The distance between the left ear phone 103 and the right ear phone 104 is calculated.
The calculation method of the ranging results of the two earphones is as follows:
wherein d is meas Omega for the calculated current two earphone ranging results meas Calculating the weight coefficient of the ranging result, ω in this embodiment meas ＝0.5。
The state of the current earphone is checked according to the distance measurement results of the two earphones, and the method is as follows:
when d meas >d th2 ||d meas <d th1 The earphone state is abnormal (left and right earphones are not worn on both ears at the same time).
When d th1 ≤d meas ≤d th2 The earphone is in normal state (left and right earphones are worn on both ears).
Wherein d is th1 ～d th2 In this embodiment, d is the range of normal earphone ranging result th1 ＝10cm，d th2 ＝30cm。
When the earphone state is normal, the earphone state abnormality counter C is cleared state Of (C) state ＝0)。
At the same time, the distance measurement result d meas Filtering to obtain a filtered ranging result, wherein the method comprises the following steps:
wherein d iir D is the filtered ranging result last N is the ranging result after last filtering cnt The number of times the current earphone is in a normal state.
Filtered result d iir Can be used for later-stage gestureAnd (5) calculating states.
When the state of the earphone is abnormal, the steps are repeated, the distance measurement is carried out on the left earphone and the right earphone again, and the value C of the abnormal counter is updated state ＝C state +1。
When C state ≥S th And when the system is abnormal, reporting the system to stop measurement. Wherein S is th In this embodiment, S is a threshold value of system abnormality th ＝5。
S205: and after the earphone state check is passed, triggering the charging bin to communicate with the earphone through UWB, and transmitting the measurement result back to the mobile phone.
As shown in FIG. 4, the process is divided into N 2 Carried out in a single time slot, N in this embodiment 2 ＝5。
The first time slot: the handset 101 performs UWB configuration of the left and right ear headphones 103 and 104 and the charging bin 102 by BLE and allocation of time slots.
The second time slot, charging bin 102 broadcasts the transmitted UWB signal, charging bin 102 records the time stamp t of the transmitted UWB signal c10 The left ear earphone 103 and the right ear earphone 104 respectively receive UWB signals and record arrival time stamps t l10 And t r10 ；
The third time slot, the left ear earpiece 103 transmits the UWB signal, the left ear earpiece 103 records the time stamp t of transmitting the UWB signal l11 Charging bin 102 receives the UWB signal and records a time of arrival timestamp t c11 And the phase value of the left ear earphone 103 in the charging bin coordinate system
The fourth time slot, the right ear phone 104 transmits the UWB signal, and the right ear phone 104 records the time stamp t of transmitting the UWB signal r12 Charging bin 102 receives the UWB signal and records a time of arrival timestamp t c12 And phase values of the right ear phone 104 in the charging bin coordinate system
Fifth time slot, charging bin 102 broadcast transmitting UWB signal, charging bin 102 recordTime stamp t of transmitting UWB signal c13 The left ear earphone 103 and the right ear earphone 104 respectively receive UWB signals and record arrival time stamps t l13 And t r13 ；
Sixth time slot, charging bin 102 stamps time t c10 、t c11 、t c12 、t c13 And phase informationTransmitting to the mobile phone 101 in a BLE mode;
seventh time slot, left ear earpiece 103 will timestamp t l10 、t l11 、t l13 Transmitting to the mobile phone 101 in a BLE mode;
eighth time slot, right ear phone 104 will timestamp t r10 、t r12 、t r13 Transmitting to the mobile phone 101 in a BLE mode;
s206: and the mobile phone obtains coordinate values of the left and right earphones under the coordinate system of the charging bin through calculation by using the measurement results returned by the charging bin and the earphones.
The mobile phone 101 uses the returned timestamp information to calculate the distances between the charging bin 102 and the left and right ear headphones 103, 104, respectively.
The distance between the charging bin 102 and the left ear earphone 103 is calculated as follows:
the distance between the charging bin 102 and the right ear phone 104 is calculated as follows:
wherein d cl D is the distance between the charging bin 102 and the left ear earphone 103 cr Is the distance between the charging bin 102 and the right ear phone 104.
Based on the distance value d between the charging bin 102 and the left ear earphone 103 cl And in the charging bin 102 coordinate system,phase value of left ear earphone 103Can calculate the position coordinates (x l ,y l ) Is that
Also, based on the distance value d between the charging bin 102 and the right ear phone 104 cr And the phase value of the right ear phone 104 in the charging bin 102 coordinate systemThe position coordinates (x r ,y r ) Is that
Where cos () is a cosine calculation and sin () is a sine calculation.
S207: and the mobile phone calculates the position and posture measurement result of the head by using the coordinate values of the left and right earphones and the ranging result of the left and right earphones under the coordinate system of the charging bin.
First, the position coordinates (x l ,y l ) And the position coordinates (x r ,y r ) Obtaining the distance d between the left earphone and the right earphone under the coordinate system of the charging bin 102 lr Is that
Then, the left and right earphones can be calculated as a vector, and the included angle with the x-axis is:
the left earphone and the right earphone are used as a vector, and the included angle between the left earphone and the z-axis is as follows:
wherein cos -1 () For the inverse cosine calculation, sin -1 () Is an arcsine calculation.
According to the position coordinates (x l ,y l ) And the position coordinates (x r ,y r ) The position of the head can be calculated as follows:
according to the included angle theta between the left and right earphones and the x axis h And an angle theta with the z-axis v The posture (θ) of the head can be obtained h ,θ v )。
Therefore, the single-base-station-based UWB wireless earphone pose sensing measurement method is adopted, and the mobile phone is energized through the charging bin with the UWB function and the wireless earphone, so that the mobile phone has the pose sensing function; the method and the processing flow for measuring the pose of the wireless earphone by using a single base station are provided; only a single base station is used for measuring the two-dimensional coordinates of the left and right earphones, and the horizontal posture and the pitching posture of the head can be obtained by combining the ranging results of the left and right earphones, so that the complexity and the cost of the system are greatly reduced, and the universality of the application of the method is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.

Claims (8)

1. The UWB wireless earphone pose sensing measurement method based on the single base station is characterized by comprising the following steps of:
s1, wearing left and right earphones on ears, and standing a charging bin at a position 20cm above and below the earphones;
s2, the mobile phone wakes up the UWB function of the charging bin and the earphone through BLE, and the left earphone and the right earphone and the charging bin use UWB to carry out communication measurement;
s3, after the mobile phone enables measurement, the left earphone and the right earphone communicate with each other through UWB, and the measurement result is returned to the mobile phone;
s4, the mobile phone returns a measurement result by using the earphone, a distance measurement result of the left earphone and the right earphone is obtained through calculation, and the state of the earphone is detected through the distance measurement result;
s5, triggering the charging bin to communicate with the earphone through UWB after the earphone state check is passed, and transmitting the measurement result back to the mobile phone;
s6, the mobile phone obtains coordinate values of the left earphone and the right earphone of the earphone under a coordinate system of the charging bin through calculation by using a measurement result returned by the charging bin and the earphone;
and S7, the mobile phone calculates a position and posture measurement result of the head by using the coordinate values of the left and right earphones and the distance measurement result of the left and right earphones under the coordinate system of the charging bin.
2. The method for sensing and measuring the pose of a UWB wireless earphone based on a single base station according to claim 1, wherein in the step S1, the left earphone and the right earphone respectively comprise a UWB module with a single antenna, and the charging bin comprises a UWB module with double antennas and has an angle measuring function.
3. The method for sensing and measuring the pose of a UWB wireless earphone based on a single base station according to claim 1, wherein in step S2, the communication measurement is divided into two phases: the first stage is to measure the distance between the left earphone and the right earphone, and the second stage is to measure the positioning of the left earphone and the right earphone by the charging bin.
4. According to the weightsThe method for sensing and measuring the pose of a UWB wireless earphone based on a single base station as claimed in claim 1, wherein in step S3, the left earphone and the right earphone communicate with each other through UWB and transmit the measurement result back to the mobile phone, and the process is divided into N 1 The time slots are:
the first time slot: the mobile phone performs UWB configuration and time slot allocation of the left earphone and the right earphone through BLE;
the second time slot: the left ear earphone transmits UWB signals and records the transmitted time stamp t l00 The right ear phone receives the UWB signal and records the received time stamp t r00 ；
Third time slot: the right ear earphone transmits UWB signals and records the transmitted time stamp t r01 The left ear earpiece receives the UWB signal and records the received time stamp t l01 ；
Fourth time slot: the left ear earphone transmits UWB signals and records the transmitted time stamp t l02 The right ear phone receives the UWB signal and records the received time stamp t r02 ；
Fifth time slot: the left ear earphone stamps the time t l00 、t l01 、t l02 Sending the message to a mobile phone in a BLE mode;
sixth time slot: the right ear earphone stamps the time t r00 、t r01 、t r02 Sending the message to a mobile phone in a BLE mode;
and reserving other time slots.
5. The method for sensing and measuring the pose of a UWB wireless earphone based on a single base station according to claim 4, wherein in step S4, the mobile phone returns a measurement result by using the earphone, and the calculation method for calculating the ranging result of the left earphone and the right earphone is as follows:
wherein d is meas Omega is the calculated current left and right earphone ranging result meas To calculate the weight coefficient of the ranging result, 0<ω meas <1；
The method for detecting the state of the earphone through the ranging result is as follows:
when d mmeas ＞d th2 ||d meas <d th1 Abnormal earphone state, i.e. left and right earphones are not worn on ears at the same time;
when d th1 ≤d mmeas ≤d th2 The earphone is in a normal state, namely, the left earphone and the right earphone are worn on the ears at the same time;
wherein d th1 ～d th2 Range for normal earphone ranging result, and d th1 <d th2 The expression is logical OR operation;
when the earphone is in normal state, the distance measurement result d meas Filtering to obtain a filtered ranging result, wherein the method comprises the following steps:
wherein d iir D is the filtered ranging result last N is the ranging result after last filtering cnt The current earphone state is normal times;
when the earphone state is abnormal, repeating the process of detecting the earphone state through the ranging result, re-ranging the left earphone and the right earphone, and updating an abnormal counter;
s continuously occurs when the state of the earphone is abnormal th Secondly, reporting system abnormality and stopping measurement; wherein S is th Is a threshold for system anomalies.
6. The method for detecting and measuring the pose of a UWB wireless earphone based on a single base station according to claim 5, wherein in step S5, the earphone state check is passed to trigger the charging bin to perform communication measurement with the earphone through UWB, and the measurement result is returned to the mobile phone, and the process is divided into N 2 The time slots are:
the first time slot: the mobile phone carries out UWB configuration and time slot allocation of the left earphone and the right earphone and the charging bin through BLE;
the second time slot, the charging bin broadcasts and transmits UWB signals, and the charging bin records the time stamp T of the transmitted UWB signals c10 The left ear earphone and the right ear earphone respectively receive UWB signals and record arrival time stamps T l10 And T r10 ；
The third time slot, the left ear earphone sends UWB signal, the left ear earphone records the time stamp T of the sent UWB signal l11 The charging bin receives the UWB signal and records the arrival time stamp t c11 And phase value of left ear earphone under charging bin coordinate system
The fourth time slot, the right ear earphone sends UWB signal, the right ear earphone records the time stamp t of sending UWB signal r12 The charging bin receives the UWB signal and records the arrival time stamp t c12 And phase value of right ear earphone under charging bin coordinate system
The fifth time slot, the charging bin broadcasts and transmits the UWB signal, and the charging bin records the time stamp t of transmitting the UWB signal c13 The left ear earphone and the right ear earphone respectively receive UWB signals and record arrival time stamps t l13 And t r13 ；
The sixth time slot, the charging bin stamps the time t c10 、t c11 、t c12 、t c13 And phase informationSending the message to a mobile phone in a BLE mode;
seventh time slot, left ear earphone will timestamp t l10 、t l11 、t l13 Sending the message to a mobile phone in a BLE mode;
eighth time slot, right ear earphone will timestamp t r10 、t r12 、t r13 Sending the message to a mobile phone in a BLE mode;
and reserving other time slots.
7. The method for sensing and measuring the pose of a UWB wireless earphone based on a single base station according to claim 6, wherein in step S6, the mobile phone obtains the coordinate values of the left and right earphones of the earphone under the coordinate system of the charging bin by calculating by using the measurement results returned by the charging bin and the earphone, and the method is as follows:
the calculation method of the distance between the charging bin and the left ear earphone is as follows:
the calculation method of the distance between the charging bin and the right ear earphone is as follows:
wherein d cl D, the distance between the charging bin and the left ear earphone cr The distance between the charging bin and the right ear earphone is set;
based on d cl Andcalculating the position coordinates (x l ，y l ) The method comprises the following steps:
based on d cr Andto calculate the position coordinates (x r ，y r ) The method comprises the following steps:
where cos () is a cosine calculation and sin () is a sine calculation.
8. The method for sensing and measuring the pose of a UWB wireless earphone based on a single base station according to claim 7, wherein in step S7, the mobile phone calculates the position and pose measurement result of the head by using the coordinate values of the left and right earphones in the charging bin coordinate system and the ranging result of the left and right earphones, and the method comprises the following steps:
first, the position coordinates (x l ，y l ) And the position coordinates (x) r ，y r ) Obtaining the distance d between the left earphone and the right earphone under the coordinate system of the charging bin lr The method comprises the following steps:
then, the left and right earphones are calculated as a vector, and the included angle between the left and right earphones and the x axis is as follows:
the left earphone and the right earphone are used as a vector, and the included angle between the left earphone and the z-axis is as follows:
wherein cos -1 () For the inverse cosine calculation, sin -1 () Is an arcsine calculation.
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