I am going to have to try this as it is infuriating. It seems to have only begun with iOS 10 for me. I have my iPhone connected via Bluetooth to my Apple Watch, my car and my AirPods. My Apple Watch always remains connected as far as I can tell, while my AirPods and car regularly (perhaps every 10-30 minutes) drop connection and then find it difficult to reconnect.
I do really like the AirPods but the software at the moment is fairly poor. The only reason I am keeping them is because when they work they're great. I get hissing far too often, I get the robotic phone calls, I get the unresponsive double tap, I deal with the clunky switching between devices. They're ok, but definitely a "gen 1" product.