A system for realizing multi-person synchronous positioning

Abstract

The present invention discloses a system for realizing synchronous positioning of multiple people. The system includes a signal sending device, multiple first positioning devices, and at least one second positioning device group corresponding to each first positioning device. The system realizes synchronous positioning of multiple users by setting multiple first positioning devices within the signal range of the signal sending device and at least one second positioning device group corresponding to each first positioning device, so that the system can support multiple users to use six-degree-of-freedom human-computer interaction with their heads and hands at the same time, thereby improving the user experience. In addition, the system also pre-assigns the wireless communication frequency points corresponding to each first positioning device and its corresponding second positioning device, thereby ensuring that the spatial position data sent by the corresponding second positioning device received by each first positioning device in the system do not interfere with each other, thereby improving the use effect.

Description

Technical Field

[0001] The invention relates to a system for realizing multi-person synchronous positioning, and belongs to the technical field of space positioning. Background Art

[0002] Virtual Reality (VR) is a computer simulation system that can create and experience a virtual world. It uses a computer to generate a simulated environment. It is a system simulation of multi-source information fusion, interactive three-dimensional dynamic vision and entity behavior, allowing users to immerse themselves in the environment.

[0003] Existing virtual reality systems can usually only watch videos, but cannot interact with the content of the videos. With the development of virtual reality, virtual reality devices that can perform human-computer interaction have gradually emerged, but these devices are only suitable for single-person use. In the case of group interaction, due to factors such as large data volume and signal interference, it is impossible to achieve multi-person synchronous positioning, and thus it is impossible to respond to interaction commands from different users separately; therefore, the virtual reality system can only be applied to one user and cannot support simultaneous use by multiple users, thereby reducing the user experience. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a system for realizing multi-person synchronous positioning.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A system for realizing multi-person synchronous positioning, comprising a signal sending device, a plurality of first positioning devices, and a second positioning device group corresponding to each of the first positioning devices;

[0007] Each of the first positioning device and the second positioning device group is used to calculate the spatial position data of each of the first positioning device and the second positioning device group according to the positioning signal sent by the detected signal sending device;

[0008] Each of the first positioning devices receives the spatial position data sent by the corresponding group of the second positioning devices, and sends the spatial position data of each of the first positioning devices and the corresponding group of the second positioning devices to the corresponding terminal.

[0009] Preferably, the second positioning device group includes at least one second positioning device for positioning a prop or a part of a user's body.

[0010] Preferably, each of the first positioning devices is installed on a corresponding head-mounted display device, and the head-mounted display device is an integrated head-mounted display device or a mobile head-mounted display device.

[0011] Preferably, each of the first positioning device and the second positioning device includes a signal receiving unit, a data processing unit and a wireless communication unit, the signal receiving unit is connected to the data processing unit, and the data processing unit is connected to the wireless communication unit.

[0012] Preferably, each of the first positioning devices receives the spatial position data sent by the corresponding second positioning device based on a plurality of wireless communication frequencies spaced apart from each other, and the wireless communication frequencies are pre-set.

[0013] Preferably, the wireless communication units in each of the first positioning devices and the corresponding second positioning devices use the same wireless chip and transmission rate, so that the wireless communication frequency points have the same intervals.

[0014] Preferably, the wireless communication frequency is pre-set using a computing device, and the computing device is a computer, a single chip microcomputer or a memory storing wireless communication frequency allocation rules.

[0015] Preferably, when each second positioning device group includes N second positioning devices, the wireless communication frequency point used by the Nth second positioning device in each second positioning device group is calculated according to the following formula:

[0016] x N =x0+(C-1)*Δx*N+(N-1)Δx

[0017] Among them, x N represents the wireless communication frequency point used by the Nth second positioning device in each second positioning device group; x0 represents the initial frequency point; C represents the number of the second positioning device group; Δx represents the interval between each wireless communication frequency point.

[0018] Preferably, when each of the second positioning device groups includes two second positioning devices, the two second positioning devices respectively obtain the corresponding wireless communication frequency points according to the following formula:

[0019] x1=x0+(C-1)*Δx*2

[0020] x2=x0+(C-1)*Δx*2+Δx

[0021] Among them, x1 represents a wireless communication frequency point used by one of the second positioning devices; x2 represents a wireless communication frequency point used by another second positioning device; x0 represents an initial frequency point; C represents the number of the second positioning device group; Δx represents the interval between each wireless communication frequency point.

[0022] Preferably, the number of the second positioning device group is smaller than the number of available frequency points of the system for realizing multi-person synchronous positioning, and the number of available frequency points is the total number of frequency points of the data transmission channel divided by the product of the interval of the wireless communication frequency points and the number of second positioning devices in each second positioning device group.

[0023] The system for realizing multi-person synchronous positioning provided by the present invention realizes synchronous positioning of multiple users by setting multiple first positioning devices within the signal range of the signal sending device, and corresponding to the second positioning device group of each first positioning device, so that the system can support multiple users to perform six-degree-of-freedom human-computer interaction of the head and hands at the same time, thereby improving the user experience. In addition, the system also ensures that the spatial position data sent by the corresponding second positioning device received by each first positioning device in the system do not interfere with each other by pre-allocating the wireless communication frequency point between each first positioning device and its corresponding second positioning device, thereby improving the use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the structure of a system for realizing multi-person synchronous positioning provided by the present invention;

[0025] Figure 2 A schematic diagram of the structure of a system for realizing multi-person synchronous positioning provided by an embodiment of the present invention;

[0026] Figure 3 to Figure 5 This is a schematic diagram of user usage status in the system for realizing multi-person synchronous positioning provided by the present invention. DETAILED DESCRIPTION

[0027] The technical content of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] like Figure 1 As shown, the system for realizing multi-person synchronous positioning provided by the present invention includes a signal sending device 1, multiple first positioning devices 2, and a second positioning device group 3 corresponding to each first positioning device 2, each first positioning device 2 and second positioning device group 3 is used to calculate the spatial position data of each first positioning device 2 and second positioning device group 3 according to the positioning signal sent by the detected signal sending device 1; each first positioning device 2 receives the spatial position data sent by the corresponding second positioning device group 3, and sends the spatial position data of each first positioning device 2 and the corresponding second positioning device group 3 to the corresponding terminal.

[0029] The terminal can be an integrated head-mounted display device, that is, the processing unit and the display screen are integrated together. At this time, the spatial position data corresponding to the first positioning device 2 and the second positioning device group 3 sent by the corresponding first positioning device 2 received by the head-mounted display device is directly processed by its built-in processing unit and displayed through the display screen.

[0030] The terminal may also be a smart phone. The smart phone receives the spatial position data corresponding to the first positioning device 2 and the second positioning device group 3 sent by the corresponding first positioning device 2, renders the corresponding image after data processing, and sends it to the display device for display. The display device may be a mobile head-mounted display device.

[0031] The terminal may also be a PC (personal computer). The PC receives the spatial position data corresponding to the first positioning device 2 and the second positioning device group 3 sent by the corresponding first positioning device 2, renders the corresponding image after data processing, and sends it to the display device for display. The display device may be a mobile head-mounted display device or an integrated head-mounted display device.

[0032] The head-mounted display device may be a virtual reality (VR) head-mounted display, an augmented reality (AR) head-mounted display, a mixed reality (MR) head-mounted display, etc. Each first positioning device 2 may be installed internally or externally on a head-mounted display device, which is worn on the user's head and may be the above-mentioned integrated head-mounted display device or a mobile head-mounted display device. The first positioning device 2 is used to locate the position of the user's head; that is, multiple first positioning devices 2 are respectively installed on multiple head-mounted display devices, thereby completing the simultaneous positioning of the positions of multiple users' heads.

[0033] like Figure 2 As shown, each second positioning device group 3 includes at least one second positioning device 31, for example, it may include two second positioning devices 31, one of which can be used to position the handle held by the user's left hand (such as Figure 2 The second positioning device can also be used to locate the position of a certain part of the user's body (such as the left hand, left leg, left foot, left shoulder, etc.); another second positioning device 31 can be used to locate the handle held by the user's right hand (such as Figure 3 The second positioning device 31 can also be used to locate the position of a part on the other side of the user's body (such as the right hand, right leg, right foot, right shoulder, etc.).

[0034] Specifically, each first positioning device 2 and second positioning device 31 includes a signal receiving unit, a data processing unit and a wireless communication unit. The signal receiving unit is connected to the data processing unit. The data processing unit may include a signal amplifying unit and an analog-to-digital conversion unit. The data processing unit is connected to the wireless communication unit. The signal receiving unit is used to detect the positioning signal sent by the signal sending device. If the positioning signal obtained by the signal receiving unit is a weak analog signal, it needs to be amplified by the signal amplifying unit of the data processing unit, and the amplified analog signal is converted into a digital signal by the analog-to-digital conversion unit of the data processing unit, and then the spatial position data of the corresponding first positioning device 2 or second positioning device 31 is calculated. Each second positioning device 31 controls the wireless communication unit through the data processing unit to realize wireless data transmission with the corresponding first positioning device 2, that is, to realize the transmission of the spatial position data of each second positioning device 31 to the corresponding first positioning device 2 by wireless, so as to realize the transmission of its own spatial position data and the spatial position data of the corresponding second positioning device 31 to the terminal through each first positioning device 2.

[0035] It should be emphasized that the number of wireless communication units in each first positioning device 2 can be one or more. When the number of wireless communication units is one, the wireless communication unit is used to perform data transmission with the corresponding second positioning device 31. When the number of wireless communication units is multiple, each wireless communication unit is used to perform data transmission with the corresponding second positioning device 31.

[0036] The signal sending device 1 can be a base station, but is not limited to this. The signal amplification unit can use a chip with a signal amplification function, such as a signal amplification chip of model LM324 or LM393; the analog-to-digital conversion unit can use a chip with an analog-to-digital conversion function, such as an analog-to-digital conversion chip of model ADC0832 or ADS7822; the data processing unit can use a central processing unit, but is not limited to this. The wireless communication unit can use a chip with a wireless communication function, such as a wireless chip of model NRF24L01 or A7130.

[0037] The following describes in detail how each first positioning device 2 and second positioning device 31 calculates its spatial position data.

[0038] The signal sending device sends a positioning signal, which can be a synchronization signal + four laser plane signals, and the spatial position data of the first positioning device 2 and the second positioning device 31 are calculated by using the principle of spatial intersection; the positioning signal can be a synchronization signal + laser plane signal + ultrasonic signal, and the spatial position data of the first positioning device 2 and the second positioning device 31 are calculated by using the principle of polar coordinates; the positioning signal can be a synchronization signal + two laser plane signals, and the spatial position data of the first positioning device 2 and the second positioning device 31 are calculated by using the PNP principle. The following takes the positioning signal as a synchronization signal + laser plane signal + ultrasonic signal as an example to describe the positioning calculation in detail.

[0039] Specifically, the signal sending device will send a synchronization signal, an ultrasonic signal and a laser plane signal to the signal receiving unit of each first positioning device 2 and the second positioning device 31 at the same time. The synchronization signal, the ultrasonic signal and the laser plane signal can be sent at the same time, or at a fixed time interval. The synchronization signal can be an optical signal or a radio signal, and each signal receiving unit first receives the synchronization signal and then receives the ultrasonic signal and the laser plane signal; wherein the signal receiving unit receives the synchronization signal sent by the signal sending device for synchronizing the reference time; specifically, the synchronization signal, the ultrasonic signal and the laser plane signal sent by the signal sending device can be detected by the signal receiving unit, and the signal receiving unit can calculate the emission time of the ultrasonic signal and the reference time of the laser plane signal according to the time of the synchronization signal sent by the detected signal sending device.

[0040] The signal receiving unit obtains the emission time and reception time of the ultrasonic signal, amplifies the signal through the signal amplification unit, and converts the amplified analog signal into a digital signal through the analog-to-digital conversion unit, and transmits it to the data processing unit. The data processing unit calculates the distance from the corresponding first positioning device 2 or second positioning device 31 to the signal sending device according to the emission time and reception time of the ultrasonic signal. In addition, the data processing unit can calculate the distance from the corresponding first positioning device 2 or second positioning device 31 to the signal sending device according to the following formula.

[0041] L1=(I1-H1)×V d (1)

[0042] Wherein, L1 represents the distance from the corresponding first positioning device 2 or second positioning device 31 to the signal sending device, H1 represents the sending time of the ultrasonic signal, I1 represents the receiving time of the ultrasonic signal, V d The speed at which ultrasound waves propagate in air (for example, in air at 15°C, the speed is 340 m / s).

[0043] The reference time and receiving time of the laser plane signal acquired by the signal receiving unit are amplified by the signal amplifying unit, and the amplified analog signal is converted into a digital signal by the analog-to-digital conversion unit, and then transmitted to the data processing unit. The data processing unit calculates the rotation angle of the laser plane signal according to the reference time and receiving time of the laser plane signal;

[0044] Similarly, the laser plane signal acquired by the signal receiving unit includes a first laser plane signal and a second laser plane signal. In an optional embodiment, the first laser plane signal is a laser plane signal that is sent by the signal sending device rotating around the first rotation axis, and the second laser plane signal is a laser plane signal that is sent by the signal sending device rotating around the second rotation axis; for example, a first laser motor can be used to drive the signal sending device to rotate around the first rotation axis to send the first laser plane signal, and a second laser motor can be used to drive the signal sending device to rotate around the second rotation axis to send the second laser plane signal; preferably, the first rotation axis and the second rotation axis are perpendicular to each other. The signal receiving unit obtains the reference time and the receiving time of the first laser plane signal and the second laser plane signal respectively according to the time of the received synchronization signal and the laser plane signal. The reference time and the receiving time of the first laser plane signal and the second laser plane signal are successively amplified and processed by analog-to-digital conversion, and then transmitted to the data processing unit. The data processing unit calculates the first rotation angle of the first laser plane signal and the second rotation angle of the second laser plane signal according to the following formula.

[0045] a1=(K1-J1)×W a (2)

[0046] b1=(T1-S1)×W b (3)

[0047] Wherein, a1 represents the first rotation angle of the first laser plane signal, K1 represents the receiving time of the first laser plane signal, J1 represents the reference time of the first laser plane signal, Wa represents the angular velocity of the first laser motor; b1 represents the second rotation angle of the second laser plane signal in the initial period, T1 represents the receiving time of the second laser plane signal, S1 represents the reference time of the second laser plane signal; W b Indicates the angular velocity of the second laser motor. The angular velocity of each laser motor depends on the scanning frequency of the laser plane signal. For example, if the scanning frequency of the laser plane signal is 60 Hz and each cycle is about 16.666 s, then the angular velocity of each laser motor is 21600° / s.

[0048] Specifically, the first rotation angle is the angle of the first laser plane signal detected by the data receiving unit relative to the plane determined by the first rotation axis and the second rotation axis, and the second rotation angle is the angle of the second laser plane signal detected by the signal receiving unit relative to the plane determined by the first rotation axis and the second rotation axis. The reference time of the first laser plane signal and the second laser plane signal is set to the time when the first and second laser planes rotate to the planes determined by the first rotation axis and the second rotation axis respectively. The reference time is calculated based on the time when the signal receiving unit receives the synchronization signal.

[0049] Further, the data processing unit calculates the three-dimensional coordinates (X, Y, Z) of the corresponding first positioning device 2 or second positioning device 31 relative to the signal sending device according to the calculated distance from the corresponding first positioning device 2 or second positioning device 31 to the signal sending device and the rotation angle of the laser plane signal, and the following formula:

[0050]

[0051] X n =Z n ×tan(a n ) (5)

[0052] Y n =Z n ×tan(b n ) (6)

[0053] Among them, (X n , Y n , Z n ) represents the three-dimensional coordinates of the first positioning device 2 or the second positioning device 31 corresponding to the nth period of the signal, and n is a positive integer; a n represents the first rotation angle of the first laser plane signal acquired in the nth cycle; b n represents the second rotation angle of the second laser plane signal obtained by the nth period signal; L n Indicates the distance from the signal receiving device to the signal sending device in the nth cycle.

[0054] After obtaining its spatial position data according to the above calculation method, the second positioning device 31 sends the spatial position data to the corresponding first positioning device 2 in a wireless manner.

[0055] In order to ensure that the spatial position data sent by the corresponding second positioning device 31 and received by each first positioning device 2 in the system do not interfere with each other, it is necessary to set each first positioning device 2 to use different wireless communication frequencies to receive the spatial position data sent by the corresponding second positioning device 31. In addition, before running the system, the wireless communication frequencies corresponding to each first positioning device 2 and its corresponding second positioning device 31 can be pre-allocated, and each first positioning device 2 receives the spatial position data sent by the corresponding second positioning device 31 based on multiple mutually spaced wireless communication frequencies, and sends the spatial position data corresponding to each first positioning device 2 and the second positioning device 31 to the terminal for image rendering, so that the head-mounted display device can present the virtual scene.

[0056] Specifically, since each first positioning device 2 and its corresponding second positioning device 31 use the same type of wireless communication chip and the same transmission rate, the wireless communication frequency points used by this system have the same interval. Therefore, the interval between the wireless communication frequency points used by this system can be obtained according to the transmission rate of the selected wireless communication chip, so as to calculate the number of usable frequency points and the usable frequency point range of this system, so as to ensure that the wireless communication frequency points used by each first positioning device and its corresponding second positioning device 31 will not exceed the usable frequency point range. For example: the wireless chip NRF24L01 has 1M and 2M rates to choose from. If the 1M rate is selected, the frequency point interval is 1M, and if the 2M rate is selected, the frequency point interval is 2M. Among them, the interval between each wireless communication frequency point is an inherent property of the wireless communication chip. For example, the greater the data transmission rate of the wireless communication chip, the greater the interval between each wireless communication frequency point, which will not be repeated.

[0057] Since the wireless communication frequency point adopted by the first positioning device 2 includes the wireless communication frequency point of the corresponding second positioning device 31 , data transmission can be completed between the first positioning device 2 and the corresponding second positioning device 31 .

[0058] When each second positioning device group 3 includes N second positioning devices 31, the wireless communication frequency points used by the N second positioning devices 31 of each second positioning device group 3 can be calculated according to the following formula:

[0059] x N =x0+(C-1)*Δx*N+(N-1)Δx (7)

[0060] Among them, x NIt represents the wireless communication frequency point adopted by the Nth second positioning device 31 in each second positioning device group 3; x0 represents the initial frequency point, which is generally 1; C represents the number of the second positioning device group 3; Δx represents the interval (frequency difference) between each wireless communication frequency point.

[0061] For example, when each second positioning device group 3 corresponds to two second positioning devices 31, the two second positioning devices 31 are respectively used to locate the position of a certain part on both sides of the user's body; therefore, the wireless communication frequency points used by the two second positioning devices 31 of each second positioning device group 3 can be calculated according to the following formulas.

[0062] x1=x0+(C-1)*Δx*2

[0063] x2=x0+(C-1)*Δx*2+Δx

[0064] The numbering of the second positioning device group 3 refers to combining each first positioning device 2 and its corresponding second positioning device group 3 as a whole and numbering them in sequence. In addition, in order to ensure that each second positioning device group 3 can use the corresponding wireless communication frequency, it is necessary to ensure that the numbering should satisfy the following relationship:

[0065] C<f÷Δx÷N (8)

[0066] Wherein, f represents the total frequency points of the channel used for data transmission; Δx represents the interval between each wireless communication frequency point, and N represents the number of the second positioning devices 31 in each second positioning device group 3.

[0067] That is, the number C is less than the number of available frequencies of the system to ensure that the wireless communication frequency used by each first positioning device 2 and its corresponding second positioning device 31 does not exceed the available frequency range. For example, the current 2.4g channel is from 2.4ghz to 2.483ghz, then f is 82, in order to ensure that the interference is relatively small, the frequency interval is set to 2M, each second positioning device group 3 includes 2 second positioning devices 31, then the number C is less than 20.

[0068] According to formula (7) and formula (8), the wireless communication frequency points used by the N second positioning devices 31 of each second positioning device group 3 can be obtained, and the wireless communication frequency points used by the first positioning device 2 corresponding to the second device group 3 can be obtained.

[0069] In one embodiment of the present invention, Figure 2 to Figure 5As shown, it is assumed that the system needs to synchronously locate fifteen and five users respectively, where each user corresponds to a head-mounted display device, and each head-mounted display device is equipped with a first positioning device 2, and each first positioning device needs to complete wireless communication with two second positioning devices 31 (left handle and right handle), so as to transmit the spatial positioning data of the first positioning device 2 and its corresponding two handles to the terminal for processing. The interval of the wireless communication unit used in this system is 2M; therefore, it is necessary to pre-allocate wireless communication frequency points for each first positioning device installed on the head-mounted display device, and the left handle and right handle corresponding to the first positioning device.

[0070] Specifically, in order to facilitate the pre-allocation of wireless communication frequencies to each first positioning device installed on the head mounted display device, and the left handle and the right handle corresponding to the first positioning device, a computing device can be used to pre-allocate or modify the wireless communication frequencies to the first positioning device, and the left handle and the right handle corresponding to the first positioning device. Since the channels currently used for data transmission are from 2.4 GHz to 2.483 GHz, and each channel needs to be spaced 2M apart to ensure that interference is relatively small, therefore, excluding the channels of the wireless synchronization signal, a total of 20 frequencies can be used by this system.

[0071] Then, each first positioning device 2 and the second positioning device group 3 can be connected to the computing device via a USB data cable, and the wireless communication frequency can be pre-allocated or modified according to the preset wireless communication frequency allocation rule through the computing device. For example, the wireless communication frequency can be pre-allocated or modified for the first positioning device and the left handle and the right handle corresponding to the first positioning device according to the following Tables 1 and 2.

[0072] The first positioning device Number from 1 to 20 (hexadecimal) 0x01 0x01-0x14

[0073] Table 1

[0074] Left handle / right handle Number from 1 to 20 (hexadecimal) 0x02 / 0x03 0x01-0x14

[0075] Table 2

[0076] Among them, 0x01 / 0x02 / 0x03 respectively represent the first positioning device / left handle / right handle, that is, which device is assigned or modified the frequency point; 0x01-0x14 represents the second positioning device group number. After the number is entered, the calculation device will modify the frequency point according to this number and formulas (7) and (8).

[0077] The computing device may be a computer or a single chip microcomputer storing wireless communication frequency allocation rules, or may be any memory storing wireless communication frequency allocation rules.

[0078] The system for realizing multi-person synchronous positioning provided by the present invention realizes synchronous positioning of multiple users by setting multiple first positioning devices within the signal range of the signal sending device, and corresponding to the second positioning device group of each first positioning device, so that the system can support multiple users to perform six-degree-of-freedom human-computer interaction of the head and hands at the same time, thereby improving the user experience. In addition, the system also ensures that the spatial position data sent by the corresponding second positioning device received by each first positioning device in the system do not interfere with each other by pre-allocating the wireless communication frequency point between each first positioning device and its corresponding second positioning device, thereby improving the use effect.

[0079] It should be pointed out that this system is mainly used to meet the needs of multi-user synchronous positioning and improve user experience. When using the system to achieve multi-user synchronous positioning, it is necessary to ensure that multiple users are within the signal range of the signal sending device (such as a base station), and multiple users stand or sit in a staggered manner so as not to block each other.

[0080] The above is a detailed description of the system for realizing multi-person synchronous positioning provided by the present invention. For those skilled in the art, any obvious changes made to it without departing from the essential spirit of the present invention will fall within the protection scope of the patent right of the present invention.

Claims

1. A system for realizing multi-person synchronous positioning, characterized in that It comprises a signal sending device, a plurality of first positioning devices, and a second positioning device group corresponding to each of the first positioning devices; Each of the first positioning device and the second positioning device group is used to calculate the spatial position data of each of the first positioning device and the second positioning device group according to the positioning signal sent by the detected signal sending device; wherein each second positioning device group includes at least one second positioning device, and each of the first positioning device and the second positioning device includes a signal receiving unit, a data processing unit and a wireless communication unit, the signal receiving unit is connected to the data processing unit, the data processing unit includes a signal amplification unit and an analog-to-digital conversion unit, and the data processing unit is connected to the wireless communication unit; the signal receiving unit is used to detect the positioning signal sent by the signal sending device; The signal sending device simultaneously sends a synchronization signal, an ultrasonic signal and a laser plane signal to the signal receiving unit of each of the first positioning device and the second positioning device group, and the synchronization signal, the ultrasonic signal and the laser plane signal are sent simultaneously or at a fixed time interval; each of the signal receiving units calculates the emission time of the ultrasonic signal and the reference time of the laser plane signal according to the time of the synchronization signal sent by the detected signal sending device; The signal receiving unit obtains the emission time and the receiving time of the ultrasonic signal, amplifies the signal through the signal amplifying unit, and converts the amplified analog signal into a digital signal through the analog-to-digital conversion unit, and transmits it to the data processing unit; the data processing unit calculates the distance from the corresponding first positioning device or the second positioning device to the signal sending device according to the emission time and the receiving time of the ultrasonic signal; The reference time and receiving time of the laser plane signal acquired by the signal receiving unit are amplified by the signal amplifying unit, and the amplified analog signal is converted into a digital signal by the analog-to-digital conversion unit, and then transmitted to the data processing unit; the data processing unit calculates the rotation angle of the laser plane signal according to the reference time and receiving time of the laser plane signal; The data processing unit calculates the spatial position data of the corresponding first positioning device or second positioning device relative to the signal sending device according to the calculated distance from the corresponding first positioning device or second positioning device to the signal sending device and the rotation angle of the laser plane signal; Each of the first positioning devices receives spatial position data sent by the corresponding second positioning device group based on a plurality of mutually spaced wireless communication frequency points, and sends the spatial position data of each of the first positioning devices and the corresponding second positioning device group to the corresponding terminal; Wherein, by means of a calculation device, wireless communication frequencies are pre-allocated or modified according to a preset wireless communication frequency allocation rule; the wireless communication frequency allocation rule is as follows: When each second positioning device group includes N second positioning devices, the wireless communication frequency point used by the Nth second positioning device in each second positioning device group is calculated according to the following formula: Wherein, xN represents the wireless communication frequency point used by the Nth second positioning device in each second positioning device group; x0 represents the initial frequency point; C represents the number of the second positioning device group; Δx represents the interval between each wireless communication frequency point; and the number C of the second positioning device group satisfies the following relationship: C<f÷Δx÷N Wherein, f represents the total frequency points of the channel used for data transmission, and N represents the number of second positioning devices in each second positioning device group.

2. The system for realizing multi-person synchronous positioning according to claim 1, characterized in that: The second positioning device group includes at least one second positioning device for positioning a prop or a part of a user's body.

3. The system for realizing multi-person synchronous positioning as claimed in claim 2, characterized in that: Each of the first positioning devices is installed on a corresponding head-mounted display device, and the head-mounted display device is an integrated head-mounted display device or a mobile head-mounted display device.

4. The system for realizing multi-person synchronous positioning as claimed in claim 3, characterized in that: The wireless communication units in each of the first positioning devices and the corresponding second positioning devices use the same wireless chip and transmission rate, so that the wireless communication frequency points have the same interval.

5. The system for realizing multi-person synchronous positioning according to claim 1, characterized in that: The computing device is a computer, a single chip microcomputer or a memory storing wireless communication frequency allocation rules.

6. The system for realizing multi-person synchronous positioning according to claim 1, characterized in that: The number of the second positioning device group is less than the number of available frequency points of the system for realizing multi-person synchronous positioning, and the number of available frequency points is the total number of frequency points of the data transmission channel divided by the product of the interval of the wireless communication frequency points and the number of second positioning devices in each second positioning device group.

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