Multi-device localization and ranging

Abstract

A system configured to create a flexible home theater group using a variety of different devices. To enable synchronized audio output, the system performs device localization to generate map data representing locations of the devices. The system determines distance values between devices using timing information generated during calibration even when the devices themselves may not have synchronized clocks. During calibration, each device will generate a calibration tone in a particular order, enabling listening devices to detect the calibration tone and determine a relative direction of the output device. The listening devices also generate timing information indicating when each calibration tone was detected which can be used to determine a propagation delay that corresponds to a distance between the output device and the listening device. Using the relative directions and the distance values, the primary device can generate a device map that enables the home theater to render output audio correctly.