Positioning method and electronic equipment

Abstract

Embodiments of the present application provide a positioning method and electronic device. The method includes: an electronic device obtaining electromagnetic position information corresponding to the electronic device's current location based on electromagnetic induction signals of different frequencies transmitted by multiple base stations. The electronic device obtains the electronic device's position information at the current location based on the electromagnetic position information and the IMU position information corresponding to the current location. Thus, a positioning system with multiple base stations can effectively reduce the size of a single base station while ensuring accurate position information over a wide range.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of wearable devices, and more particularly to a positioning method and electronic device. Background Art

[0002] With the development of display technology for wearable devices, they have been widely used in various fields such as gaming, entertainment, and education. Positioning technology is at the core of the development of wearable device technology. The combination of precise positioning technology and virtual images can provide users with a better experience when using wearable devices.

[0003] Current positioning technologies include camera positioning, for example, using the wearable device's camera to determine its position and posture. Electromagnetic positioning also uses electromagnetic induction signals transmitted by a single base station to obtain the wearable device's position and posture information. However, none of these current positioning methods can accurately locate wearable devices, and the resulting errors can negatively impact the user experience. Summary of the Invention

[0004] To address the above technical issues, the present application provides a positioning method and electronic device. This method uses an electronic device to obtain electromagnetic pose information based on electromagnetic induction signals sent by multiple base stations. Based on this electromagnetic pose information and IMU pose information, the pose information of the electronic device at its current location is obtained, thereby improving the positioning accuracy of the electronic device and thus enhancing the user experience.

[0005] In a first aspect, embodiments of the present application provide a positioning method. The method includes: a first electronic device, at a first location, receives a first electromagnetic induction signal transmitted by a first base station and a second electromagnetic induction signal transmitted by a second base station, the first electromagnetic induction signal having a different frequency than the second electromagnetic induction signal. Next, the first electronic device obtains first electromagnetic position information of the first electronic device at the first location based on the first electromagnetic induction signal and the second electromagnetic induction signal. Subsequently, the first electronic device obtains first acceleration information and first angular velocity information of the first electronic device at the first location. Based on the first acceleration information and the first angular velocity information, the first electronic device obtains first inertial measurement unit (IMU) position information of the first electronic device at the first location. Furthermore, based on the first electromagnetic position information and the first IMU position information, the first electronic device obtains position information of the first electronic device at the first location. In this way, a wearable device obtains electromagnetic position information based on electromagnetic induction signals transmitted by multiple base stations, effectively reducing the size of a single base station and increasing the overall coverage area of ​​the system. This allows the wearable device to obtain electromagnetic position information within the signal coverage area of ​​multiple base stations. Moreover, by combining electromagnetic posture information with IMU posture information, the impact of electromagnetic interference on the posture information of wearable devices can be effectively reduced, thereby improving the positioning accuracy of wearable devices and thus improving the user experience.

[0006] Exemplarily, the first electronic device may be a head-mounted device (eg, a VR helmet, VR glasses) and / or a handle.

[0007] Illustratively, the first location may be any location within the signal coverage of the first base station and the second base station.

[0008] According to the first aspect, the method further includes: a first electronic device receiving, at a second location, a third electromagnetic induction signal transmitted by the first base station and a fourth electromagnetic induction signal transmitted by the third base station, the third electromagnetic induction signal having the same frequency as the first electromagnetic induction signal, and a different frequency than the fourth electromagnetic induction signal. The first electronic device obtains second electromagnetic posture information of the first electronic device at the second location based on the third and fourth electromagnetic induction signals. The first electronic device obtains second acceleration information and second angular velocity information of the first electronic device at the second location. The first electronic device obtains second IMU posture information of the first electronic device at the second location based on the second acceleration information and the second angular velocity information. The first electronic device obtains posture information of the first electronic device at the second location based on the second electromagnetic posture information and the second IMU posture information. In this way, the first electronic device can move freely within the signal coverage area of ​​multiple base stations and obtain corresponding electromagnetic posture information based on electromagnetic induction signals transmitted by one or more base stations received at different locations. This application can achieve a wider signal coverage area by setting up multiple base stations, and can effectively reduce the size of the base stations, so that the wearable device can obtain corresponding electromagnetic posture information at any location within the signal coverage area of ​​the multiple base stations.

[0009] According to the first aspect, or any implementation of the first aspect above, the method further includes: the first electronic device receiving, at a third location, a fifth electromagnetic induction signal transmitted by the first base station, a sixth electromagnetic induction signal transmitted by the second base station, and a seventh electromagnetic induction signal transmitted by the third base station, wherein the frequency of the fifth electromagnetic induction signal is the same as the frequency of the first electromagnetic induction signal, the frequency of the sixth electromagnetic induction signal is the same as the frequency of the second electromagnetic induction signal, the frequency of the fifth electromagnetic induction signal is different from the frequency of the seventh electromagnetic induction signal, and the frequency of the sixth electromagnetic induction signal is different from the frequency of the seventh electromagnetic induction signal. The first electronic device obtains third electromagnetic posture information of the first electronic device at the third location based on the fifth electromagnetic induction signal, the sixth electromagnetic induction signal, and the seventh electromagnetic induction signal. The first electronic device obtains third acceleration information and third angular velocity information of the first electronic device at the third location. The first electronic device obtains third IMU posture information of the first electronic device at the third location based on the third acceleration information and the third angular velocity information. The first electronic device obtains posture information of the first electronic device at the third location based on the third electromagnetic posture information and the third IMU posture information. The first electronic device can move freely within the signal coverage area of ​​multiple base stations and obtain corresponding electromagnetic posture information based on electromagnetic induction signals transmitted by one or more base stations received at different locations.

[0010] According to the first aspect, or any implementation of the first aspect above, the first electronic device obtains first electromagnetic posture information of the first electronic device at a first location based on the first electromagnetic induction signal and the second electromagnetic induction signal, including: the first electronic device obtains first sub-electromagnetic posture information of the first electronic device at the first location and the weight corresponding to the first sub-electromagnetic posture information based on the first electromagnetic induction signal; the first electronic device obtains second sub-electromagnetic posture information of the first electronic device at the first location and the weight corresponding to the second sub-electromagnetic posture information based on the second electromagnetic induction signal; the first electromagnetic device obtains the first electromagnetic posture information based on the weight corresponding to the first sub-electromagnetic posture information and the first sub-electromagnetic posture information, as well as the weight corresponding to the second sub-electromagnetic posture information. In this way, the wearable device can fuse the multiple electromagnetic posture information obtained to obtain the electromagnetic posture information corresponding to the current location.

[0011] According to the first aspect, or any implementation of the first aspect above, the first electromagnetic device obtains the first electromagnetic posture information based on the first sub-electromagnetic posture information and the weight corresponding to the first sub-electromagnetic posture information, as well as the weight corresponding to the second sub-electromagnetic posture information and the second sub-electromagnetic posture information, including: the first electronic device calculates the first electromagnetic posture information T according to the following formula m1 :

[0012]

[0013] Among them, T1 is the first sub-electromagnetic posture information, T2 is the second sub-electromagnetic posture information, is the weight corresponding to the first sub-electromagnetic pose information, is the weight corresponding to the second sub-electromagnetic information, d1 is the distance between the first electronic device and the first base station, and d2 is the distance between the first electronic device and the second base station. The distance between the first electronic device and the first base station is obtained by the first electronic device based on the first electromagnetic induction signal, and the distance between the first electronic device and the second base station is obtained by the first electronic device based on the second electromagnetic induction signal. In this way, the wearable device can obtain the weights corresponding to different electromagnetic induction signals based on the distance between the wearable device and the base station, and can fuse multiple electromagnetic posture information based on different weights.

[0014] According to the first aspect, or any implementation of the first aspect above, the first electromagnetic device obtains the first electromagnetic posture information based on the first sub-electromagnetic posture information and the weight corresponding to the first sub-electromagnetic posture information, and the second sub-electromagnetic posture information and the weight corresponding to the second sub-electromagnetic posture information, including:

[0015] The first electronic device calculates the first electromagnetic posture information T according to the following formula: m1 :

[0016]

[0017] Among them, T1 is the first sub-electromagnetic posture information, T2 is the second sub-electromagnetic posture information, is the weight corresponding to the first sub-electromagnetic pose information, is the weight corresponding to the second sub-electromagnetic information, B1 is the electromagnetic induction intensity corresponding to the first electromagnetic induction signal, and B2 is the electromagnetic induction intensity corresponding to the second electromagnetic induction signal. In this way, the wearable device can obtain the weights corresponding to different electromagnetic induction signals based on the intensity of the electromagnetic induction signals, and can fuse multiple electromagnetic posture information based on different weights.

[0018] Illustratively, the weight obtained according to the background magnetic induction intensity of the electromagnetic induction signal and the weight obtained according to the distance between base stations may be the same as or different from each other.

[0019] According to the first aspect, or any implementation of the first aspect above, the first electronic device obtains the posture information of the first electronic device at a first location based on the first electromagnetic posture information and the first IMU posture information, including: the first electronic device obtains a first difference between the first electromagnetic posture information and the fourth electromagnetic posture information, where the fourth electromagnetic posture information is the last electromagnetic posture information obtained; the first electronic device obtains a second difference between the first IMU posture information and the fourth IMU posture information, where the fourth IMU posture information is the last IMU posture information obtained; the first electronic device obtains a first error value based on the first difference and the second difference; when the first error value is greater than a first threshold, the first electronic device determines that the first IMU posture information is the posture information of the first electronic device at the first location; when the first error value is less than or equal to the first threshold, the first electronic device corrects the first electromagnetic posture information based on the first IMU posture information to obtain the posture information of the first electronic device at the first location. In this way, the wearable device can combine the IMU posture information to determine whether the electromagnetic posture information has jumped, that is, whether it has received electromagnetic interference. And based on the judgment result, the corresponding posture information is obtained.

[0020] According to the first aspect, or any implementation of the first aspect above, the first electronic device corrects the first electromagnetic pose information based on the first IMU pose information, including: the first electronic device corrects the first electromagnetic pose information according to an extended Kalman filter (EKF) algorithm based on the first IMU pose information. In this way, the wearable device can combine the IMU pose information and the electromagnetic pose information to obtain more accurate pose information, thereby improving the positioning accuracy of the wearable device.

[0021] According to the first aspect, or any implementation of the first aspect above, the method further includes: the first electronic device sends the posture information of the first electronic device at the first position to the second electronic device; the first electronic device receives the image sent by the second electronic device, the image being generated by the second electronic device based on the posture information of the first electronic device at the first position; and the first electronic device displays the image. In this way, according to the more accurate positioning method provided by the embodiment of the present application, the image displayed by the wearable device can provide the user with a better user experience. For example, if there is electromagnetic interference, resulting in inaccurate electromagnetic posture information, the image displayed by the wearable device may jump from position 1 in the previous frame of the image to position 2 in the current image frame. Position 1 and position 2 may be far apart, seriously affecting the user's gaming experience. Using the positioning method in the embodiment of the present application, the influence of electromagnetic interference on positioning can be effectively avoided, and the user position displayed in two adjacent frames of images will not be abnormal, thereby improving the user's gaming experience.

[0022] In a second aspect, an embodiment of the present application provides an electronic device. The electronic device includes: a memory and a processor, the memory and the processor being coupled; the memory storing program instructions, which, when executed by the processor, cause the electronic device to perform the following steps: receiving, at a first location, a first electromagnetic induction signal transmitted by a first base station and a second electromagnetic induction signal transmitted by a second base station, the frequency of the first electromagnetic induction signal being different from the frequency of the second electromagnetic induction signal; obtaining, based on the first electromagnetic induction signal and the second electromagnetic induction signal, first electromagnetic position information of the electronic device at the first location; obtaining first acceleration information and first angular velocity information of the electronic device at the first location; obtaining, based on the first acceleration information and the first angular velocity information, first inertial measurement unit (IMU) position information of the electronic device at the first location; and obtaining, based on the first electromagnetic position information and the first IMU position information, position information of the electronic device at the first location.

[0023] According to the second aspect, when the program instructions are executed by the processor, the electronic device performs the following steps: receiving a third electromagnetic induction signal sent by the first base station and a fourth electromagnetic induction signal sent by the third base station at a second position, the frequency of the third electromagnetic induction signal being the same as the frequency of the first electromagnetic induction signal, and the frequency of the third electromagnetic induction signal being different from the frequency of the fourth electromagnetic induction signal; obtaining second electromagnetic posture information of the electronic device at the second position based on the third electromagnetic induction signal and the fourth electromagnetic induction signal; obtaining second acceleration information and second angular velocity information of the electronic device at the second position; obtaining second IMU posture information of the electronic device at the second position based on the second acceleration information and the second angular velocity information; obtaining posture information of the electronic device at the second position based on the second electromagnetic posture information and the second IMU posture information.

[0024] According to the second aspect, or any implementation method of the above second aspect, when the program instructions are executed by the processor, the electronic device performs the following steps: receiving at a third position a fifth electromagnetic induction signal sent by the first base station, a sixth electromagnetic induction signal sent by the second base station, and a seventh electromagnetic induction signal sent by the third base station, the frequency of the fifth electromagnetic induction signal is the same as the frequency of the first electromagnetic induction signal, the frequency of the sixth electromagnetic induction signal is the same as the frequency of the second electromagnetic induction signal, the frequency of the fifth electromagnetic induction signal is different from the frequency of the seventh electromagnetic induction signal, and the frequency of the sixth electromagnetic induction signal is different from the frequency of the seventh electromagnetic induction signal; obtaining third electromagnetic posture information of the electronic device at the third position based on the fifth electromagnetic induction signal, the sixth electromagnetic induction signal, and the seventh electromagnetic induction signal; obtaining third acceleration information and third angular velocity information of the electronic device at the third position; obtaining third IMU posture information of the electronic device at the third position based on the third acceleration information and the third angular velocity information; obtaining posture information of the electronic device at the third position based on the third electromagnetic posture information and the third IMU posture information.

[0025] According to the second aspect, or any implementation method of the second aspect above, when the program instructions are executed by the processor, the electronic device performs the following steps: according to the first electromagnetic induction signal, obtain the first sub-electromagnetic posture information of the electronic device at the first position and the weight corresponding to the first sub-electromagnetic posture information; according to the second electromagnetic induction signal, obtain the second sub-electromagnetic posture information of the electronic device at the first position and the weight corresponding to the second sub-electromagnetic posture information; according to the first sub-electromagnetic posture information and the weight corresponding to the first sub-electromagnetic posture information, obtain the first electromagnetic posture information.

[0026] According to the second aspect, or any implementation of the second aspect above, when the program instructions are executed by the processor, the electronic device performs the following steps: calculating the first electromagnetic posture information T according to the following formula m1 :

[0027]

[0028] Among them, T1 is the first sub-electromagnetic posture information, T2 is the second sub-electromagnetic posture information, is the weight corresponding to the first sub-electromagnetic pose information, is the weight corresponding to the second sub-electromagnetic information, d1 is the distance between the electronic device and the first base station, d2 is the distance between the electronic device and the second base station, the distance between the electronic device and the first base station is obtained by the electronic device according to the first electromagnetic induction signal, and the distance between the electronic device and the second base station is obtained by the electronic device according to the second electromagnetic induction signal.

[0029] According to the second aspect, or any implementation of the second aspect above, when the program instructions are executed by the processor, the electronic device performs the following steps: calculating the first electromagnetic posture information T according to the following formula m1 :

[0030]

[0031] Among them, T1 is the first sub-electromagnetic posture information, T2 is the second sub-electromagnetic posture information, is the weight corresponding to the first sub-electromagnetic pose information, is the weight corresponding to the second sub-electromagnetic information, B1 is the electromagnetic induction intensity corresponding to the first electromagnetic induction signal, and B2 is the electromagnetic induction intensity corresponding to the second electromagnetic induction signal.

[0032] According to the second aspect, or any implementation method of the above second aspect, when the program instructions are executed by the processor, the electronic device performs the following steps: obtaining a first difference between the first electromagnetic posture information and the fourth electromagnetic posture information, the fourth electromagnetic posture information being the last electromagnetic posture information obtained; obtaining a second difference between the first IMU posture information and the fourth IMU posture information, the fourth IMU posture information being the last IMU posture information obtained; obtaining a first error value based on the first difference and the second difference; when the first error value is greater than the first threshold, determining that the first IMU posture information is the posture information of the electronic device at the first position; when the first error value is less than or equal to the first threshold, correcting the first electromagnetic posture information based on the first IMU posture information to obtain the posture information of the electronic device at the first position.

[0033] According to the second aspect, or any implementation of the second aspect above, when the program instructions are executed by the processor, the electronic device performs the following steps: based on the first IMU posture information, the first electromagnetic posture information is corrected according to the extended Kalman filter EKF algorithm.

[0034] According to the second aspect, or any implementation of the second aspect above, when the program instructions are executed by the processor, the electronic device performs the following steps: sending the posture information of the electronic device at a first position to another electronic device; receiving an image sent by another electronic device, where the image is generated by the other electronic device based on the posture information of the electronic device at the first position; and displaying the image.

[0035] The second aspect and any implementation of the second aspect correspond to the first aspect and any implementation of the first aspect, respectively. The technical effects corresponding to the second aspect and any implementation of the second aspect can be referred to the technical effects corresponding to the first aspect and any implementation of the first aspect, and will not be repeated here.

[0036] In a third aspect, an embodiment of the present application provides a chip. The chip comprises: one or more interfaces and one or more processors; the interface is configured to output a first electromagnetic induction signal received from a first base station and a second electromagnetic induction signal received from a second base station to the processor, wherein the frequency of the first electromagnetic induction signal is different from the frequency of the second electromagnetic induction signal. The processor is configured to obtain first electromagnetic posture information based on the first electromagnetic induction signal and the second electromagnetic induction signal inputted by the interface. The processor is further configured to obtain first acceleration information and first angular velocity information. The processor is further configured to obtain first inertial measurement unit (IMU) posture information based on the first acceleration information and the first angular velocity information. Furthermore, the processor is further configured to obtain posture information based on the first electromagnetic posture information and the first IMU posture information.

[0037] The third aspect and any implementation of the third aspect correspond to the first aspect and any implementation of the first aspect, respectively. The technical effects corresponding to the third aspect and any implementation of the third aspect can be referred to the technical effects corresponding to the first aspect and any implementation of the first aspect, and will not be repeated here.

[0038] In a fourth aspect, an embodiment of the present application provides a positioning system. The system includes a first base station, a second base station, and an electronic device. The first base station is configured to send a first electromagnetic induction signal. The second base station is configured to send a second electromagnetic induction signal, wherein the frequency of the first electromagnetic induction signal is different from the frequency of the second electromagnetic induction signal. The electronic device is configured to receive, at a first location, the first electromagnetic induction signal sent by the first base station and the second electromagnetic induction signal sent by the second base station; obtain first electromagnetic posture information of the electronic device at the first location based on the first electromagnetic induction signal and the second electromagnetic induction signal; obtain first acceleration information and first angular velocity information of the electronic device at the first location; obtain first inertial measurement unit (IMU) posture information of the electronic device at the first location based on the first acceleration information and the first angular velocity information; and obtain posture information of the electronic device at the first location based on the first electromagnetic posture information and the first IMU posture information.

[0039] The fourth aspect and any implementation of the fourth aspect correspond to the first aspect and any implementation of the first aspect, respectively. The technical effects corresponding to the fourth aspect and any implementation of the fourth aspect can be referred to the technical effects corresponding to the first aspect and any implementation of the first aspect, and will not be repeated here.

[0040] In a fifth aspect, an embodiment of the present application provides a computer-readable medium for storing a computer program, wherein the computer program includes instructions for executing the method in the first aspect or any possible implementation of the first aspect.

[0041] In a sixth aspect, an embodiment of the present application provides a computer program comprising instructions for executing the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic diagram illustrating an exemplary application scenario;

[0043] Figure 2 is a schematic structural diagram of an electronic device;

[0044] Figure 3 1 is a schematic diagram of VR glasses;

[0045] Figure 4 is a schematic diagram illustrating a software structure of an electronic device;

[0046] Figure 5 is a schematic diagram showing an exemplary layout of a base station;

[0047] Figure 6a is a schematic diagram showing an exemplary direction of electromagnetic induction signal transmission of a base station;

[0048] Figure 6b 1 is a schematic diagram illustrating an exemplary direction of receiving electromagnetic induction signals of VR glasses;

[0049] Figure 6c is a schematic diagram showing an exemplary transmitting coil and a receiving coil;

[0050] Figure 7 is a schematic diagram illustrating an exemplary application scenario;

[0051] Figure 8 Schematic diagram showing an exemplary method of obtaining electromagnetic posture information using VR glasses;

[0052] Figure 9 Schematic diagram showing the correspondence between IMU measurement information and electromagnetic posture information;

[0053] Figure 10 1 is a schematic diagram of an exemplary target posture information acquisition process;

[0054] Figure 11 is a schematic diagram illustrating exemplary interactions between electronic devices;

[0055] Figure 12 is a schematic diagram illustrating an exemplary application scenario. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0057] The term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0058] In the description and claims of the embodiments of this application, the terms "first" and "second" are used to distinguish different objects, rather than to describe a specific order of objects. For example, the terms "first target object" and "second target object" are used to distinguish different objects, rather than to describe a specific order of objects.

[0059] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0060] like Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1 , exemplarily, the application scenario includes base station 1, base station 2, base station 3, base station 4, a laptop computer, VR (Virtual Reality, virtual reality) glasses, handle 1 and handle 2. It should be noted that, Figure 1 The number of devices (including base stations and other electronic devices) in the application scenario shown in the figure is only an illustrative example. For example, the number of base stations may be 6 or 7, which is not limited in this application.

[0061] The following combination Figure 1 The principle of the positioning method in the embodiment of the present application is described, and further reference is made to Figure 1In an embodiment of the present application, base stations 1 to 4 may send signals with different frequencies. For example, the frequency of the electromagnetic induction signal sent by base station 1 is frequency 1, the frequency of the electromagnetic induction signal sent by base station 2 is frequency 2, the frequency of the signal sent by base station 3 is frequency 3, and the frequency of the signal sent by base station 4 is frequency 4. Optionally, the electromagnetic induction signal may also be referred to as a signal, an electromagnetic field signal, an electromagnetic signal, or an induction signal, etc., which is not limited in this application. Accordingly, VR glasses, handles 1 and 2 (hereinafter VR glasses, handles 1 and 2 are generally referred to as wearable devices) may obtain the posture information of the wearable device in the positioning system of at least one of base stations 1, 2, 3 and 4 based on the signals received from the base stations (including at least one of base stations 1 to 4). Then, the wearable device may fuse the multiple posture information obtained to obtain the electromagnetic posture information of the wearable device at the current position. Exemplarily, the wearable device also integrates an IMU (Inertial measurement unit) module, and the IMU posture information of the wearable device at the current position may be obtained through the IMU module. Accordingly, the wearable device can obtain the target pose information at its current location based on the acquired electromagnetic pose information and IMU pose information. The wearable device can then transmit the target pose information to the laptop through the connection between the two devices. The laptop processes the received target pose information and feeds the results back to the wearable device.

[0062] Figure 2 1 shows a schematic diagram of the structure of the electronic device 100. It should be understood that, Figure 2 The illustrated electronic device 100 is merely one example of an electronic device, and the electronic device 100 may have more or fewer components than shown in the figures, may combine two or more components, or may have a different configuration of components. Figure 2 The various components shown in the figure may be implemented in hardware, software, or a combination of hardware and software including one or more signal processing and / or application specific integrated circuits. Figure 2 The electronic device 100 shown may be Figure 1 VR glasses in the Figure 1 The handle 1 and handle 2 are not limited in this application.

[0063] The electronic device 100 may include: a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, a headphone interface 170D, an electromagnetic module 180, a 6-axis IMU module 181, a button 190, an indicator 191, a camera 192, a display screen 193, and a subscriber identification module (SIM) card interface 194, etc.

[0064] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0065] The controller may be the nerve center and command center of the electronic device 100. The controller may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0066] Processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in processor 110 is a cache memory. This memory can store instructions or data that have just been used or are being recycled by processor 110. If processor 110 needs to use the same instruction or data again, it can directly access the memory. This avoids duplicate accesses, reduces processor 110 latency, and thus improves system efficiency.

[0067] In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface.

[0068] USB interface 130 is an interface that complies with USB standards and specifications, and may be a MiniUSB interface, a MicroUSB interface, a USB Type-C interface, or the like. USB interface 130 can be used to connect a charger to charge electronic device 100, transfer data between electronic device 100 and peripheral devices, or connect headphones to play audio.

[0069] It is understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is merely an illustrative illustration and does not constitute a structural limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection methods from the above embodiments, or a combination of multiple interface connection methods.

[0070] The charging management module 140 is configured to receive charging input from a charger. The charger can be either a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 can receive charging input from the wired charger via the USB interface 130. In some wireless charging embodiments, the charging management module 140 can receive wireless charging input via the wireless charging coil of the electronic device 100. While charging the battery 142, the charging management module 140 can also provide power to the electronic device via the power management module 141.

[0071] The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and provides power to the processor 110, the internal memory 121, the external memory, the display 193, the camera 192, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle count, and battery health status (leakage, impedance). In some other embodiments, the power management module 141 can also be set in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 can also be set in the same device.

[0072] The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0073] Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In other embodiments, the antennas can be used in conjunction with a tuning switch.

[0074] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied to the electronic device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0075] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is passed to the application processor. The application processor outputs a sound signal through an audio device (not limited to the speaker 170A, the receiver 170B, etc.) or displays an image or video through the display screen 193. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be set in the same device as the mobile communication module 150 or other functional modules.

[0076] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the electronic device 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, frequency modulate it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0077] In some embodiments, the antenna 1 of the electronic device 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the electronic device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0078] Electronic device 100 implements display functionality through a GPU, display screen 193, and an application processor. The GPU is a microprocessor for image processing that connects display screen 193 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs that execute program instructions to generate or modify display information.

[0079] Display screen 193 is used to display images, videos, etc. Display screen 193 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a MiniLED, a MicroLED, a Micro-oLed, or a quantum dot light-emitting diode (QLED). In some embodiments, electronic device 100 may include one or N display screens 193, where N is a positive integer greater than 1.

[0080] The electronic device 100 can implement a shooting function through an ISP, a camera 192, a video codec, a GPU, and an application processor.

[0081] The ISP processes data fed back by camera 192. For example, when taking a photo, the shutter is opened, and light is transmitted through the lens to the camera's photosensitive element. The light signal is converted into an electrical signal, which is then passed to the ISP for processing and converted into a visible image. The ISP can also perform algorithmic optimization on image noise, brightness, and skin tone. It can also optimize parameters such as exposure and color temperature of the captured scene. In some embodiments, the ISP can be located within camera 192.

[0082] The camera 192 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the light signal into an electrical signal, and then passes the electrical signal to the ISP for conversion into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the electronic device 100 may include 1 or N cameras 192, where N is a positive integer greater than 1.

[0083] The digital signal processor is used to process digital signals. In addition to processing digital image signals, it can also process other digital signals. For example, when the electronic device 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy.

[0084] Video codecs are used to compress or decompress digital video. Electronic device 100 may support one or more video codecs. This allows electronic device 100 to play or record videos in various encoding formats, such as Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, and MPEG4.

[0085] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 100. The external memory card communicates with the processor 110 via the external memory interface 120 to implement data storage functions. For example, files such as music and videos can be stored on the external memory card.

[0086] The internal memory 121 can be used to store computer executable program codes, which include instructions. The processor 110 executes various functional applications and data processing of the electronic device 100 by running the instructions stored in the internal memory 121. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area can store data created during the use of the electronic device 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0087] The electronic device 100 can implement audio functions such as music playback and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

[0088] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. The audio module 170 can also be used to encode and decode audio signals. In some embodiments, the audio module 170 can be provided in the processor 110, or some functional modules of the audio module 170 can be provided in the processor 110.

[0089] The speaker 170A, also called a "speaker", is used to convert audio electrical signals into sound signals. The electronic device 100 can listen to music or listen to hands-free calls through the speaker 170A.

[0090] The receiver 170B, also called a "handset", is used to convert audio electrical signals into sound signals. When the electronic device 100 receives a call or a voice message, the user can place the receiver 170B close to the ear to hear the voice.

[0091] Microphone 170C, also known as "microphone" or "microphone", is used to convert sound signals into electrical signals. When making a call or sending a voice message, the user can speak by putting their mouth close to the microphone 170C to input the sound signal into the microphone 170C. The electronic device 100 can be provided with at least one microphone 170C. In other embodiments, the electronic device 100 can be provided with two microphones 170C, which can not only collect sound signals but also realize noise reduction function. In other embodiments, the electronic device 100 can also be provided with three, four or more microphones 170C to collect sound signals, reduce noise, identify the source of sound, realize directional recording function, etc.

[0092] The headphone jack 170D is used to connect a wired headphone and can be a USB interface 130 or a 3.5mm open mobile terminal platform (OMTP) standard interface or a cellular telecommunications industry association of the USA (CTIA) standard interface.

[0093] The electromagnetic module 180 is used to obtain electromagnetic posture information of the electronic device. For example, the electromagnetic module 180 may include a three-axis (i.e., x, y, and z axes) orthogonal receiving coil, which can receive electromagnetic induction signals through the three-axis orthogonal receiving coil and obtain corresponding electromagnetic posture information based on the received electromagnetic induction signals.

[0094] The 6-axis IMU module 181 is used to obtain IMU posture information of the electronic device. Exemplarily, the IMU module 181 may include an accelerometer and a gyroscope sensor. Exemplarily, the gyroscope sensor can be used to determine the motion posture of the electronic device 100. In some embodiments, the angular velocity of the electronic device 100 around three axes (i.e., the x, y, and z axes) can be determined by the gyroscope sensor. The accelerometer can detect the magnitude of the acceleration of the electronic device 100 on the three axes (i.e., the x, y, and z axes). When the electronic device 100 is stationary, the magnitude and direction of gravity can be detected. It should be noted that in the embodiments of the present application, only the 6-axis IMU module integrated into the electronic device is used as an example for explanation. In other embodiments, the electronic device can also integrate a 9-axis IMU module, which includes: a gyroscope sensor (which can obtain angular velocity on the x, y, and z axes), an accelerometer (which can obtain acceleration on the x, y, and z axes), and a magnetometer (which can obtain direction on the x, y, and z axes).

[0095] It should be noted that the electromagnetic module 180 and the IMU module 181 can be integrated on the same chip as the processor, or on different chips and connected through a bus, which is not limited in this application.

[0096] like Figure 3 The figure shows an exemplary schematic diagram of VR glasses, referring to Figure 3 , for example, VR glasses integrate electromagnetic modules (e.g. Figure 2 The electromagnetic module 180 in the embodiment of the present invention) and the IMU module (e.g. Figure 2 181 in ). For example, the electromagnetic module can be integrated into the front end of the VR glasses (i.e., the main body including the screen), and the IMU module can be integrated into the side end of the VR glasses. It should be noted that the embodiments of this application are all described using VR glasses as an example of an electronic device. The positioning method in the embodiments of this application is also applicable to electronic devices such as smart watches and wearable helmets, and this application does not limit it.

[0097] The buttons 190 include a power button, a volume button, and the like. The buttons 190 may be mechanical buttons or touch buttons. The electronic device 100 may receive key inputs and generate key signal inputs related to user settings and function control of the electronic device 100.

[0098] The indicator 191 can be an indicator light, which can be used to indicate the charging status, power changes, messages, missed calls, notifications, etc.

[0099] The SIM card interface 194 is used to connect a SIM card. The SIM card can be connected to and disconnected from the electronic device 100 by inserting or removing the SIM card into or from the SIM card interface 194. The electronic device 100 may support one or N SIM card interfaces, where N is a positive integer greater than one.

[0100] The software system of the electronic device 100 can adopt a layered architecture, an event-driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture. In the embodiment of the present application, the Android system with a layered architecture is used as an example to illustrate the software structure of the electronic device 100. In other embodiments, the electronic device 100 can also adopt a Windows system or other systems, which is not limited in this application.

[0101] Figure 4 It is a software structure block diagram of the electronic device 100 according to an embodiment of the present application.

[0102] The layered architecture of electronic device 100 divides the software into several layers, each with a clear role and division of labor. Layers communicate with each other via software interfaces. In some embodiments, the Android system is divided into four layers: from top to bottom, the application layer, the application framework layer, the Android runtime and system libraries, and the kernel layer.

[0103] The application layer can include a series of application packages.

[0104] like Figure 4 As shown, the application package may include applications such as Bluetooth, games, music, calendar, and WLAN.

[0105] The application framework layer provides an application programming interface (API) and programming framework for the applications in the application layer. The application framework layer includes some predefined functions.

[0106] like Figure 4 As shown, the application framework layer may include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, a positioning module, and the like.

[0107] The window manager is used to manage window programs. The window manager can obtain the display size, determine whether there is a status bar, lock the screen, take screenshots, etc.

[0108] Content providers are used to store and retrieve data and make it accessible to applications. The data may include videos, images, audio, calls made and received, browsing history and bookmarks, phone books, etc.

[0109] The view system includes visual controls, such as those for displaying text and images. The view system is used to build applications. A display interface can consist of one or more views. For example, a display interface containing a text notification icon might include a view for displaying text and a view for displaying images.

[0110] The phone manager is used to provide communication functions of the electronic device 100, such as management of call status (including answering, hanging up, etc.).

[0111] The resource manager provides various resources for applications, such as localized strings, icons, images, layout files, video files, and so on.

[0112] The Notification Manager allows applications to display notifications in the status bar. These messages can be displayed briefly and then disappear automatically without user interaction. For example, the Notification Manager is used to notify users of completed downloads and message reminders. The Notification Manager can also display notifications in the top status bar of the system as icons or scrolling text, such as notifications from background applications, or as dialog windows on the screen. Examples include text messages in the status bar, beeps, vibrations on electronic devices, and flashing indicator lights.

[0113] The positioning module is used to perform corresponding processing based on the IMU posture information input by the IMU module and the electromagnetic posture information input by the electromagnetic module to obtain the target posture information.

[0114] Android Runtime includes core libraries and a virtual machine. Android runtime is responsible for scheduling and management of the Android system.

[0115] The core library consists of two parts: one is the function that needs to be called by the Java language, and the other is the Android core library.

[0116] The application layer and application framework layer run in a virtual machine. The virtual machine executes Java files in the application layer and application framework layer as binary files. The virtual machine manages object lifecycles, stack management, thread management, security and exception management, and garbage collection.

[0117] The system library can include multiple functional modules, such as surface manager, media library, 3D graphics processing library (such as OpenGL ES), 2D graphics engine (such as SGL), etc.

[0118] The surface manager is used to manage the display subsystem and provide fusion of 2D and 3D layers for multiple applications.

[0119] The media library supports playback and recording of a variety of common audio and video formats, as well as static image files. The media library can support a variety of audio and video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.

[0120] The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, compositing, and layer processing.

[0121] A 2D graphics engine is a drawing engine for 2D drawings.

[0122] The kernel layer is the layer between hardware and software. The kernel layer includes at least display drivers, camera drivers, audio drivers, Bluetooth drivers, and Wi-Fi drivers.

[0123] It is understandable that Figure 4 The components or modules included in the application layer, application framework layer, system library and runtime layer, and kernel layer shown do not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown, or combine or split some components, or arrange the components differently.

[0124] The positioning method in the embodiment of the present application is described in detail below with reference to specific embodiments. Figure 1 In the application scenario shown, the user sets up the base station, places the base station at a designated location, and activates the base station so that the base station emits electromagnetic induction signals. Figure 5 Schematic diagram of the layout of multiple base stations shown in FIG. Figure 5 (1), for example, base stations 1 to 4 can be based on Figure 5 (1) is set, for example, base stations 1 to 4 are located Figure 5 The four corners of the rectangle enclosed by the dotted lines in (1) have a side length of 4m (meters), that is, the distances between base station 1 and base station 2, base station 2 and base station 3, base station 3 and base station 4, and base station 4 and base station 1 are all a (i.e., 4m). For example, refer to Figure 5 (2) Assuming that the coverage area of ​​each base station in base station 1 to base station 4 is a semicircle with a radius of 2.5m, accordingly, in the embodiment of the present application, base station 1 to base station 4 are Figure 5 If the method in (1) is used, the signal coverage area of ​​base stations 1 to 4 can be as follows: Figure 5As shown in the solid rectangular box in (1), the signal coverage areas of base stations 1 to 4 overlap with each other. For example, the signal coverage area of ​​base station 1 at least partially overlaps with the signal coverage area of ​​another base station. In the embodiment of the present application, the side length of the solid rectangular box is 4m, that is, by setting up 4 base stations, accurate positioning of wearable devices within the full coverage range of 4m*4m signal can be achieved. It should be noted that the signal coverage area described in the present application refers to the communication quality parameter between the electronic device (such as VR glasses) and the base station being greater than a threshold (which can be set according to actual conditions). Optionally, the communication quality parameter can be at least one of the following: SNR (SIGNAL NOISERATIO), RSRP (Reference Signal Receiving Power), RSRQ (Reference Signal Receiving Quality), RSSI (Received Signal Strength Indication), etc., that is, the communication quality parameter between the electronic device and the base station is greater than the threshold at any position within the signal coverage area of ​​the base station. Therefore, in the embodiment of the present application, there are no signal blind spots within the rectangular area (which can also be a circular or other polygonal area) enclosed by base stations 1 to 4. This ensures that the wearable device can receive electromagnetic induction signals sent by at least one base station at all locations within the full signal coverage area, and in the absence of interference, the communication quality parameter corresponding to at least one of the received electromagnetic induction signals is greater than a threshold. After the base stations are deployed, the user can activate the base stations, which allows the base stations to send signals.

[0125] It should be noted that, in the embodiment of the present application, only a base station with a signal coverage radius of 2.5m is used as an example for explanation. In other embodiments, the layout of multiple base stations can be adaptively adjusted according to the signal coverage range of the base station. For example, if the signal coverage radius of the base station is 3m, the relative distance between base stations 1 to 4 can be adjusted. Figure 5 , for example, after adjusting the layout of base stations 1 to 4, full signal coverage within a range of 5m*5m can be achieved. Optionally, if full signal coverage within a larger area is required when the signal coverage range of a base station is certain, the number of base stations can be adaptively increased and the layout of the base stations can be adjusted to achieve full signal coverage. The specific layout can be set based on actual conditions, and this application will not illustrate each one.

[0126] exist Figure 5In the signal coverage area of ​​base stations 1 to 4 shown, wearable devices (including VR glasses, handles 1 and 2) can obtain electromagnetic posture information based on the electromagnetic induction signal sent by at least one of base stations 1 to 4. The wearable device can further obtain the posture information of the wearable device based on the obtained electromagnetic posture information and the IMU electromagnetic posture information, thereby achieving accurate positioning of the wearable device. The positioning method in the embodiment of the present application is described in detail below with reference to specific examples.

[0127] For example, taking VR glasses as an example, a user can wear VR glasses and move to Figure 5 After starting the VR glasses, you can use them with your laptop (refer to Figure 1 The method for establishing a Wi-Fi connection between VR glasses and laptop computers can refer to the description in the 802.11 protocol, and will not be described in detail in this application. It should be noted that this application only takes the electronic device that communicates with the wearable device as a laptop computer as an example for explanation. In other embodiments, the electronic device may also be other devices such as tablets, mobile phones, etc., and this application does not limit it.

[0128] For example, the VR glasses and the laptop are loaded with the same application, such as the same game application, and the user controls the laptop or the handle to start the game application on the VR glasses and the laptop.

[0129] For example, after the game application in the VR glasses is started, the game application calls the positioning system in the VR glasses, which includes the electromagnetic module 180 and the 6-axis IMU module 181. For example, the electromagnetic module 180 can obtain electromagnetic posture information and output the electromagnetic posture information to the processor 110, and the 6-axis IMU module 181 can obtain IMU measurement information and output the IMU measurement information to the processor 110. Then, the processor 110 (for example Figure 3 The positioning module shown in FIG1 can obtain the pose information of the wearable device (referred to as target pose information in this embodiment of the application) based on the received electromagnetic pose information and IMU measurement information. The following describes in detail the processing methods of the electromagnetic module 180, the 6-axis IMU module 181, and the processor 110 described above in executing the positioning method in this embodiment of the application, with reference to specific examples.

[0130] For example, the electromagnetic module 180 can obtain electromagnetic posture information based on the electromagnetic induction signal received from at least one base station. To help those skilled in the art better understand the method for obtaining electromagnetic posture information in the embodiments of the present application, the method for obtaining electromagnetic posture information by the VR glasses (specifically, the electromagnetic module 180) under a single base station is first briefly described.

[0131] like Figure 6a is a schematic diagram showing an exemplary direction of electromagnetic induction signal transmission of a base station, Figure 6b Schematic diagram of the electromagnetic induction signal receiving direction of VR glasses. Figure 6a The base station (not shown) includes transmitting coils in the X, Y, and Z axis directions. The transmitting coils can send electromagnetic induction signals in the X, Y, and Z axis directions respectively. Figure 6b As described above, the electromagnetic module (e.g., electromagnetic module 180) may include receiving coils (also referred to as induction coils) in the x, y, and z axes. The receiving coils may receive electromagnetic induction signals transmitted by the base station in the x, y, and z axes, respectively. It should be noted that the x, y, and z axes described in the embodiments of this application all refer to directions in the base station coordinate system.

[0132] Combine Figure 6a and 6b ,like Figure 6c This is a schematic diagram of the transmitting coil and the receiving coil, refer to Figure 6c For example, assuming that in the base station coordinate system, the coordinates of the base station (specifically the transmitting coil in the base station) are (a, b, c) (where the base station coordinates are known parameters), the 6-dimensional position and direction parameters of the receiving coil (i.e., posture information) can be expressed as (x, y, z, α, β, γ), where (x, y, z) represents the position information t of the receiving coil in the base station coordinate system (which can also be understood as the positioning system composed of the base station and VR glasses), and (α, β, γ) represents the rotation angle parameters of the receiving coil around the X-axis, Y-axis, and Z-axis, respectively, i.e., the posture information R of the receiving coil in the base station coordinate system.

[0133] The electromagnetic induction signal E sensed by the receiving coil is a function of (x, y, z, α, β, γ) and can be expressed as:

[0134] E=f(x,y,z,α,β,γ) (1)

[0135] For example, the three transmitting coils of the base station transmit sinusoidal signals (i.e., electromagnetic induction signals) of different frequencies in the three directions of X, Y, and Z in turn. The three receiving coils of the VR glasses receive a total of 9 groups of alternating signals (i.e., each of the 3 receiving coils receives 3 groups of electromagnetic induction signals). 9 equations can be established to solve 6 unknown parameters, i.e., electromagnetic posture information (x, y, z, α, β, γ). It should be noted that in the embodiment of the present application, the electromagnetic posture information obtained based on the electromagnetic induction signal can be expressed as T m , including position information t (i.e. (x, y, z)) and posture information R (i.e. (α, β, γ)).

[0136] For example, the application scenario of the embodiment of the present application (hereinafter referred to as the positioning system) includes base stations 1 to 4. It can be understood that the positioning system in the present application is composed of the positioning system of base station 1 (also referred to as a sub-positioning system), the positioning system of base station 2, the positioning system of base station 3, and the positioning system of base station 4. The electromagnetic module 180 can obtain its electromagnetic posture information under a single base station based on the above formula (1). Optionally, when the VR glasses are in the signal coverage range of multiple base stations, such as base station 1 and base station 2, the electromagnetic module 180 will obtain the electromagnetic posture information of the VR glasses in the positioning system of base station 1 and the electromagnetic posture information in the positioning system of base station 2. The electromagnetic module 180 can convert the positioning information obtained in the two positioning systems to convert the electromagnetic posture information in different positioning systems into the same system. The conversion relationship between base stations 1 and 2 is used as an example for explanation. The conversion relationship between the position information of the VR glasses in the positioning system of base station 1 and the position information of the VR glasses in the positioning system of base station 2 (also referred to as the relative posture relationship) can be expressed as:

[0137]

[0138] Wherein, t1 is a 3*1 vector, which represents the position information of VR glasses in the positioning system of base station 1 (i.e. (x, y, z) in formula (1)), and t2 is a 3*1 vector, which represents the position information of VR glasses in the positioning system of base station 2. 12 It is a 3*3 matrix, which can be called a rotation matrix, t 12 It is a 3*1 vector, which can be called a translation vector. is the transformation matrix between the positioning system of base station 1 and the positioning system of base station 2.

[0139] For example, the VR glasses can move at least 4 times within the signal coverage of base station 1 and base station 2, that is, 4 sets of position information are obtained at 4 points, which can be expressed as in, Indicates the location information of VR glasses in the positioning system of base station 1, represents the position information of the VR glasses in the positioning system of base station 2, and n represents the point where the VR glasses move (for example, moving 4 times, including 4 points, that is, n = 1, 2, 3, 4). Substituting into formula (2) we can get For example, VR glasses can obtain the relative posture relationship between the positioning systems of base station 1, base station 2, base station 3, and base station 4 in turn in the above manner, that is, the transformation matrix, for example, including: the transformation matrix between the positioning system of base station 1 and the positioning system of base station 3 Transformation matrix between the positioning system of base station 1 and the positioning system of base station 4 Transformation matrix between the positioning system of base station 2 and the positioning system of base station 3 The transformation matrix between the positioning system of base station 2 and the positioning system of base station 4 Transformation matrix between the positioning system of base station 3 and the positioning system of base station 4 The electromagnetic module 180 stores the transformation matrix between the positioning systems, for example, in a memory.

[0140] It should be noted that in the embodiment of the present application, only the electromagnetic module 180 is used as an example to obtain the relative posture relationship (i.e., the conversion matrix) between the positioning systems of different base stations based on position information. In other embodiments, the electromagnetic module 180 can also obtain the relative posture relationship (i.e., the conversion matrix) between the positioning systems of different base stations based on posture information, or position information and posture information. The principle is the same as above and will not be repeated in this application.

[0141] It should be further explained that in the embodiment of the present application, only the electromagnetic module 180 is used as an example to obtain the relative posture relationship (i.e., the conversion matrix) between the positioning systems of different base stations. In other embodiments, other electronic devices with devices or modules that have the same functions as the electromagnetic module 180 can obtain the relative posture relationship and transmit it to the wearable device through WI-Fi, Bluetooth and other communication methods, so that the wearable device can perform subsequent processing based on the received relative posture relationship. Optionally, after the electromagnetic module 180 in the VR glasses obtains the relative posture relationship, it can save the relative posture relationship locally (for example, in memory) and can also transmit the relative posture relationship to other electronic devices, for example, Figure 1 The laptop computer or each base station in the game is saved by other devices, and when other wearable devices (such as handle 1 and handle 2, or another VR glasses, etc.) are used in the game scene (or other scenes), the other devices transmit the relative posture relationship to other wearable devices.

[0142] like Figure 7For an exemplary scene diagram, refer to Figure 7 For example, in the embodiment of the present application, the current location of the VR glasses is within the signal coverage area of ​​base station 1 and base station 4. Optionally, the VR glasses can also be within the signal coverage area of ​​a base station (for example, base station 1). Optionally, the VR glasses can also be within the signal coverage area of ​​multiple base stations (for example, base station 1, base station 2 and base station 3, or base station 1, base station 2, base station 3 and base station 4), which is not limited in this application.

[0143] Optionally, handles 1 and 2 and the VR glasses can be located in different signal coverage areas. For example, when the VR glasses are located within the signal coverage areas of base stations 1 and 4, handles 1 and 2 are located within the signal coverage areas of base stations 1 and 2. This application does not limit this. The processing of handles 1 and 2 is the same as that of the VR glasses, and will not be explained one by one in this application.

[0144] Combine Figure 7 ,like Figure 8 This is a schematic diagram of an exemplary VR glasses obtaining electromagnetic posture information, refer to Figure 8 For example, when the VR glasses are located within the coverage range of base station 1 and base station 4, the VR glasses can receive the electromagnetic induction signal sent by base station 1 and the electromagnetic induction signal sent by base station 4. The VR glasses can obtain the frequency (for example, frequency 1) and the corresponding electromagnetic induction intensity corresponding to the electromagnetic induction signal based on the received electromagnetic induction signal sent by base station 1, and the VR glasses can obtain the frequency (for example, frequency 4) and the corresponding electromagnetic induction intensity corresponding to the electromagnetic induction signal based on the received electromagnetic induction signal sent by base station 4.

[0145] Exemplarily, the VR glasses may be pre-configured with a correspondence between frequencies and base stations. For example, the VR glasses may record the correspondence between the identification information of the base station and the signal frequency. Accordingly, the VR glasses may determine which base station or base stations the current location is within the signal coverage area based on the correspondence between the recorded identification information and the signal frequency and the frequency of one or more received signals. In one example, if the VR glasses only receive a signal of one frequency, such as an electromagnetic induction signal with a frequency of frequency 1 sent by base station 1, the VR glasses may determine that they are currently within the signal coverage area of ​​a single base station. The VR glasses may obtain the electromagnetic posture information of the VR glasses under the positioning system of base station 1 based on the above formula (1). The electromagnetic posture information is the electromagnetic posture information of the VR glasses at the current location. In another example, if the VR glasses receive electromagnetic induction signals of multiple frequencies, such as an electromagnetic induction signal with a frequency of frequency 1 sent by base station 1 and an electromagnetic induction signal with a frequency of frequency 4 sent by base station 4, the VR glasses can determine that the received signals correspond to two different frequencies, that is, the current position of the VR glasses is within the signal coverage area of ​​the two base stations, and can further determine that the current position of the VR glasses is within the signal coverage area of ​​base station 1 and base station 4 based on the correspondence between the recorded frequencies and the base station identification information. Then, the VR glasses can respectively obtain the electromagnetic posture information of the VR glasses in the positioning system of base station 1 and the electromagnetic posture information in the positioning system of base station 4, and fuse the two obtained electromagnetic posture information to obtain the electromagnetic posture information of the VR glasses.

[0146] In the embodiment of the present application, the VR glasses are taken as an example to obtain electromagnetic posture information in the signal coverage area of ​​base station 1 and base station 4. Figure 8 For example, based on receiving signal 1 at frequency 1 and signal 4 at frequency 2, electromagnetic module 180 can retrieve a pre-configured correspondence between frequencies and base stations to determine that the base station corresponding to the signal at frequency 1 is base station 1, and the base station corresponding to the signal at frequency 4 is base station 4. Electromagnetic module 180 can determine that the VR glasses are currently within the signal coverage area of ​​base station 1 and base station 4.

[0147] Exemplarily, the electromagnetic module 180 can obtain the electromagnetic posture information (x1, y1, z1, α1, β1, γ1) of the VR glasses in base station 1 and the electromagnetic posture information (x4, y4, z4, α4, β4, γ4) of the VR glasses in base station 4 based on formula (1). Exemplarily, as described above, the electromagnetic module 180 pre-acquires the transformation matrix between the positioning system of base station 1 and the positioning system of base station 4 For example, the electromagnetic module 180 can convert the electromagnetic posture information of the VR glasses in the positioning system of the base station 4 into the positioning system of the base station 1 based on the following formula (3), and obtain (x 14 ,y 14 ,z 14 ,α 14 ,β 14 ,γ 14 ).

[0148]

[0149] Among them, T4 is a 4*4 matrix, which represents the electromagnetic posture information (x4, y4, z4, α4, β4, γ4) of the VR glasses in base station 4, T 14 It is a 4*4 matrix, which represents the electromagnetic posture information of VR glasses in the positioning system of base station 4 after being converted to the electromagnetic posture information of the positioning system of base station 1 (x 14 ,y 14 ,z 14 ,α 14 ,β 14 ,γ 14 ), As described above, this is the transformation matrix between base station 4 and base station 1 pre-acquired by the electromagnetic module 180 (it can be calculated by the electromagnetic module 180 or obtained by the electromagnetic module 180 from other electronic devices, which is not limited in this application).

[0150] Exemplarily, as described above, the VR glasses can obtain the frequency of the electromagnetic induction signal based on the received electromagnetic induction signal, and can also obtain the electromagnetic induction intensity B corresponding to the electromagnetic induction signal. In one possible implementation, the electromagnetic module 180 can obtain the distance between the VR glasses and the base station based on the electromagnetic induction intensity B corresponding to the base station, and obtain the corresponding weight based on the distance between the VR and different base stations. The electromagnetic module 180 can further realize the fusion of the location information of different base stations based on the weight corresponding to each base station. It should be noted that the weight corresponding to the base station can also be understood as the weight corresponding to the electromagnetic induction signal sent by the base station, and can also be understood as the weight corresponding to the electromagnetic posture information of the VR glasses in the positioning system of the base station. The specific method is as follows:

[0151] Exemplarily, the electromagnetic module 180 obtains the distance between the VR glasses (ie, the electromagnetic module 180 ) and the base station based on the following formula.

[0152]

[0153] Where d is the distance between the base station and the VR glasses (specifically the electromagnetic module 180), B T is the electromagnetic constant, and B is the electromagnetic induction intensity.

[0154] For example, the electromagnetic module 180 can determine the distance between itself and base station 1 as d1 based on formula (4) and the electromagnetic induction intensity B1 of the received electromagnetic induction signal with a frequency of 1, and determine the distance between itself and base station 4 as d2 based on the received electromagnetic induction signal with a frequency of 4. The electromagnetic module 180 can determine the weights of base station 1 and base station 4 based on d1 and d2 (to distinguish them from the IMU weights below, the weights can also be called positioning weights), which are: The positioning weight of base station 1 is The positioning weight of base station 2 is

[0155] For example, the electromagnetic module 180 can calculate the position of T1 and T4 based on the positioning weight of base station 1 and the positioning weight of base station 4. 14 Perform weighted averaging to achieve the fusion of the electromagnetic posture information of the VR glasses in the positioning system of base station 1 and the electromagnetic posture information in the positioning system of base station 4, and obtain the electromagnetic posture information T of the VR glasses m .

[0156] For example, the electromagnetic module 180 can obtain the electromagnetic posture information T based on the following formula: m :

[0157]

[0158] In another possible implementation, the electromagnetic module 180 may obtain a corresponding weight based on the electromagnetic induction intensity B corresponding to the base station, and the electromagnetic module 180 may further integrate the location information of different base stations based on the weight corresponding to each base station. For example, the electromagnetic module 180 may obtain the electromagnetic posture information T based on the following formula: m :

[0159]

[0160] in, is the weight corresponding to base station 1, which can also be understood as the weight corresponding to the electromagnetic posture information of the VR glasses in the positioning system of base station 1. is the weight corresponding to base station 4, which can also be understood as the weight corresponding to the electromagnetic posture information of the VR glasses in the positioning system of base station 1.

[0161] Optionally, the numerical values ​​obtained by formula (5) and formula (6) may be the same or different, and the error does not affect subsequent processing. Optionally, the weights can be adjusted by setting coefficients so that the errors of the two numerical values ​​are reduced or zero. This application does not limit this.

[0162] It should be noted that if the VR glasses are within the signal coverage range of multiple other base stations (such as base station 2 and base station 3), the method of obtaining the positioning weights of base station 1 and base station 4 can be inferred by analogy, and will not be repeated in this application.

[0163] For example, the electromagnetic module 180 obtains the electromagnetic posture information T m The corresponding timestamp is output to the processor of the VR glasses for subsequent processing.

[0164] For example, the timestamp corresponding to the electromagnetic posture information may be the acquisition time, that is, the time when the electromagnetic module 180 acquires the electromagnetic posture information of the VR glasses in the base station. For example, the timestamp corresponding to the electromagnetic posture information may be the generation time, that is, the time when the electromagnetic module 180 obtains the electromagnetic posture information T based on the electromagnetic posture information of multiple base stations. In the embodiments of this application, the timestamp is used as the acquisition time of the electromagnetic posture information as an example for description.

[0165] In the embodiment of the present application, while the electromagnetic module 180 is acquiring electromagnetic pose information, the 6-axis IMU module 181 can acquire IMU measurement information and output the IMU measurement information to the processor 110, so that the processor 110 can acquire IMU pose information based on the IMU measurement information. The following, still using the VR glasses within the signal coverage area of ​​base stations 1 and 4 as an example, describes in detail the interaction between the 6-axis IMU module 181 and the processor 110.

[0166] Exemplarily, as described above, the 6-axis IMU module 181 optionally integrates an acceleration sensor and a gyroscope sensor. Exemplarily, the 6-axis IMU module 181 obtains the acceleration values ​​a in the X, Y, and Z directions collected by the acceleration sensor and the angular velocity values ​​w in the X, Y, and Z directions collected by the gyroscope sensor, and outputs them to the processor 110. Exemplarily, in the embodiment of the present application, the acceleration values ​​a in the X, Y, and Z directions collected by the acceleration sensor and the angular velocity values ​​w in the X, Y, and Z directions collected by the gyroscope sensor can be referred to as IMU measurement information I.

[0167] Then, the 6-axis IMU module 181 outputs the acquired IMU measurement information I and the corresponding timestamp to the processor 110.

[0168] For example, the processor 110 may receive electromagnetic posture information input by the electromagnetic module 180 and IMU measurement information input by the 6-axis IMU module 181. The processor 110 may obtain IMU posture information based on the IMU measurement information. In the embodiment of the present application, the sampling rate of the electromagnetic posture information is 100Hz and the sampling rate of the IMU measurement information is 500Hz. Figure 9This is an illustrative diagram showing the correspondence between IMU measurement information and electromagnetic posture information. It should be noted that: Figure 9 The number and time of the posture information and measurement information shown in are only illustrative examples and are not limited in this application.

[0169] Reference Figure 9 (1), for example, the processor 110 obtains multiple IMU measurement information and corresponding timestamps input by the 6-axis IMU module 181, which are the IMU measurement information corresponding to the timestamp t2 (denoted as I2, including acceleration information a i2 and angular velocity information w i2 ), the IMU measurement information corresponding to timestamp t3 (denoted as I3, including acceleration information a i3 and angular velocity information w i3 ), the IMU measurement information corresponding to timestamp t4 (denoted as I4, including acceleration information a i4 and angular velocity information w i4 , the IMU measurement information corresponding to timestamp t5 (denoted as I5, including acceleration information a i5 and angular velocity information w i5 ), the IMU measurement information corresponding to timestamp t6 (denoted as I6, including acceleration information a i6 and angular velocity information w i6 ), exemplarily, the processor 110 obtains the electromagnetic posture information input by the electromagnetic module 180, that is, the corresponding timestamp, that is, the electromagnetic posture information corresponding to the timestamp t7 (expressed as T m7 , including location information t m7 and posture information R m7 ).

[0170] It should be noted that the embodiment of the present application only uses the example of the sampling rate of the IMU module being greater than the sampling rate of the electromagnetic module. In other embodiments, the sampling rate of the electromagnetic module may also be greater than the sampling rate of the IMU module. The processing principle is the same as that in the embodiment of the present application, and this application will not repeat it.

[0171] Continue to refer to Figure 9 (1), for example, after the processor 110 obtains the above-mentioned posture information and the corresponding timestamp, it can be based on the electromagnetic posture information (T m7 ) corresponding to the timestamp (i.e., timestamp t7), and determine whether there is IMU measurement information with timestamp t7.

[0172] For example, in the embodiment of the present application, the processor 110 determines that there is no IMU measurement information with a timestamp of t7 based on the timestamps (t2 to t6) of the IMU measurement information, that is, the timestamp of the IMU measurement information is not aligned with the timestamp of the electromagnetic pose information. For example, the processor 110 may wait for the next IMU measurement information and the corresponding timestamp input by the IMU, for example Figure 9 The IMU measurement information with the timestamp t8 in (1) (denoted as I8, including acceleration information a i8 and angular velocity information w i8 ).

[0173] For example, the processor 110 may obtain the IMU interpolation with a timestamp of t7 (also referred to as IMU pose information interpolation, represented as I7 including acceleration information a) based on the IMU measurement information (I6) with a timestamp of t6 and the IMU measurement information (I8) with a timestamp of t8. i7 and angular velocity information w i7 ). For example, the method of obtaining IMU interpolation can be:

[0174] 1) The processor 110 obtains the weight of the IMU measurement information. For example, the weight of the IMU measurement information (I6) with timestamp t6 is The weight of the IMU measurement information (I8) with timestamp t8 is

[0175] 2) The processor 110 obtains the IMU interpolation value (I i7 ). For example, the processor 110 may calculate the acceleration information a based on the following formula: i7 and angular velocity information w i7 , to get the IMU interpolation T i7 :

[0176]

[0177] For example, if the processor 110 determines that there is IMU measurement information with a timestamp of t7, that is, the timestamps of the IMU measurement information and the electromagnetic pose information are aligned, the processor 110 executes Figure 9 Relevant steps in (3).

[0178] Reference Figure 9 (3), illustratively, the processor 110 calculates two adjacent electromagnetic posture information, for example, the electromagnetic posture information with a timestamp of t1 (T m1 ) and the electromagnetic posture information corresponding to timestamp t7 (T m7 ) and integrate multiple IMU measurement information (for example, including I2 to I7) to obtain IMU pose information Ti7 , including position information t and posture information R:

[0179]

[0180] in, Indicates the position information of the IMU at time k+1, Indicates the velocity information of the IMU at time k+1, Indicates the attitude information of the IMU at time k+1, Represents the position information of IMU at time k, Represents the velocity information of the IMU at time k, Represents the attitude information of IMU at time k, represents the posture in the base station coordinate system at time t (expressed as a rotation matrix), represents the velocity in the base station coordinate system at time t, a t Represents the acceleration information of the IMU at time t, w t Indicates the angular velocity information of the IMU at time t, g w Represents the gravity in the base station coordinate system W.

[0181] Reference Figure 9 (4), exemplarily, after the processor 110 integrates I2 to I7, it obtains the IMU posture information T i =(R,t). Where R represents the attitude information, t represents the position information, and the frequency of the IMU attitude information is consistent with the electromagnetic attitude information, that is, at time t7, T i7 With T m7 Alignment is performed to facilitate the subsequent fusion process of electromagnetic pose information and IMU pose information.

[0182] The processor 110 obtains the electromagnetic posture information T m7 and IMU pose information T i7 The processor 110 can then determine whether the currently acquired electromagnetic pose information is abnormal based on the changes in the electromagnetic pose information and the IMU pose information. It should be noted that the cause of the abnormal electromagnetic pose information may be electromagnetic interference. For example, since electromagnetic signals are sensitive to metal in the environment, when the electromagnetic module 180 is close to metal devices in the environment, electromagnetic interference will occur, thereby affecting the electromagnetic positioning accuracy.

[0183] like Figure 10 For an exemplary flowchart of target pose information acquisition, refer to Figure 10For example, the processor 110 may obtain the difference between two adjacent electromagnetic pose information and the difference between two adjacent IMU pose information to determine whether an abnormality has occurred in the electromagnetic pose information based on changes in the electromagnetic pose information and the IMU pose information. It should be noted that two adjacent electromagnetic pose information can be obtained at different times at the same location, or at different locations, and this application does not limit this.

[0184] For example, continue to refer to Figure 10 , the processor 110 obtains the electromagnetic posture information at time t1 (T m1 ) and the electromagnetic posture information at time t7 (T m7 ), denoted as ΔT Mag , and the processor 110 obtains the IMU pose information at time t1 (T i1 ) and the IMU pose information at time t7 (T i7 ), denoted as ΔT Imu The processor 110 obtains the error value ε based on the following formula:

[0185] ε=ΔT Mag -1 ΔT Imu (12)

[0186] Among them, ε is a 4*4 matrix. For example, ε can be expressed as:

[0187]

[0188] Among them, r1~r9 represent rotation errors and t1~t3 represent translation errors.

[0189] For example, the processor 110 may calculate the distance error ε based on the above ε. t :

[0190]

[0191] Still refer to Figure 10 , for example, if ε t Greater than the preset threshold Δε t , the processor 110 determines that the electromagnetic posture information is abnormal, that is, the electromagnetic module 180 is disturbed, and the processor 110 converts the IMU posture information (T i7 ) as the target pose information T. For example, Δε t It can be 2 cm (centimeter), which is only an illustrative example and is not limited in this application.

[0192] For example, if ε t Less than or equal to the preset threshold Δε t, the processor 110 can determine that the electromagnetic posture information is normal, and the processor 110 can fuse the electromagnetic posture information with the IMU posture information to obtain the target posture information T. It should be noted that the electromagnetic posture information described in this application is normal, which can optionally be that the gap between the electromagnetic posture information currently obtained and the electromagnetic posture information obtained last time is small, that is, the electromagnetic posture information does not show abnormal jumps. It should be further noted that the fusion of electromagnetic posture information and IMU posture information can also be understood as the mutual correction between electromagnetic posture information and IMU posture information. For example, it can be understood that VR glasses use electromagnetic posture information to correct IMU posture information to obtain more accurate posture information. It can also be understood that VR glasses use IMU posture information to correct electromagnetic posture information to obtain more accurate posture information. In the embodiment of this application, the method of fusing electromagnetic posture information and IMU posture information using the EKF (Extended Kalman Filter) algorithm is used as an example to illustrate the specific fusion method as follows:

[0193] Assume that the result of fusion positioning (i.e., the target posture information described in the embodiment of this application) is T t , the result of IMU integration is T it , the electromagnetic positioning result is T mt According to the EKF principle:

[0194] IMU motion prediction equation:

[0195] T t =g(T t-1 ,T it )+ε t (15)

[0196] Electromagnetic positioning observation equation:

[0197] T mt =h(T t )+δ t (16)

[0198] Among them, g represents the state transfer function, ε t Represents the error term of the prediction equation, which satisfies the Gaussian distribution ε t ~N(0,S). h represents the observation function, δ t Represents the error term of the observation equation, which satisfies the Gaussian distribution δ t ~N(0,Q).

[0199] EKF fusion positioning methods include:

[0200] Calculate the pose predicted by the IMU:

[0201]

[0202] Calculate the covariance matrix of the IMU predictions:

[0203]

[0204] Calculate the Kalman gain matrix:

[0205]

[0206] Using the electromagnetic positioning results, update the pose:

[0207]

[0208] Update the covariance matrix of fusion positioning:

[0209]

[0210] Among them, G t represents the state transition matrix, S t Denotes the covariance matrix of the state transfer matrix, H t represents the observation matrix, Q t represents the covariance matrix of the observation matrix, ∑ t Represents the covariance matrix of the pose.

[0211] In one possible implementation, processor 110 may set a timer. Upon determining that electromagnetic posture information is abnormal, the timer is started. The timer duration may be set based on actual conditions, for example, to 2 minutes. Before the timer expires, if the number of abnormal electromagnetic posture information obtained by processor 110 exceeds a threshold (e.g., 80%), the display interface of the gaming application may display a prompt box including prompt information indicating the presence of electromagnetic interference. Optionally, the wearable device may also send an indication message to a laptop computer, which may display a prompt box also including the aforementioned prompt information.

[0212] It should be noted that the embodiments of the present application only take the fusion of IMU pose information and electromagnetic pose information based on Kalman filtering as an example. In other embodiments, the processor 110 can also perform the fusion of IMU pose information and electromagnetic pose information based on other algorithms. For example, the average value of the IMU pose information and the electromagnetic pose information can be used as the target pose information, or the target pose information can be obtained based on weighted averaging. This application does not limit this.

[0213] After the processor 110 obtains the target posture information, it can send the target posture information to the laptop through the communication module of the wearable device. For example, Figure 11 The electronic device interaction diagram is shown as an example. Figure 11The VR glasses can send the acquired target pose information T to the laptop via a Wi-Fi connection. After the laptop receives the target pose information T, the game application in the laptop can process the image based on the target pose information. For example, the game character can be drawn at the corresponding position in the image based on the displacement between the currently acquired target pose information and the previously acquired target pose information.

[0214] Continue to refer to Figure 11 For example, the laptop computer can send the processed image to the VR glasses via a Wi-Fi connection. For example, the display screen in the VR glasses can display the received image.

[0215] It should be noted that the above embodiment is only described by taking the location of the wearable device as being within the signal coverage range of base station 1 and base station 4. In the embodiment of the present application, the wearable device is within the full signal coverage range of base stations 1 to 4, for example Figure 7 Any point within the rectangular frame shown can obtain the pose information of the wearable device at its current location based on the positioning method described above in this application. Figure 12 For an exemplary scene diagram, refer to Figure 12 In one example, when the wearable device (including VR glasses, handle 1 and handle 2) is at position 1201, that is, Figure 7In another example, the wearable device moves to position 1202. At this position, the wearable device can receive the electromagnetic induction signal sent by base station 1 and obtain the electromagnetic posture information of the wearable device in the positioning system of base station 1. In addition, the wearable device obtains the electromagnetic induction information of the wearable device in the positioning system of base station 2 based on the electromagnetic induction signal received by base station 2. It should be noted that when the wearable device moves from position 1201 to position 1202, the electromagnetic induction intensity corresponding to the electromagnetic induction signal sent by base station 1 received by the wearable device at position 1202 may be the same as or different from the electromagnetic induction intensity corresponding to the electromagnetic induction signal sent by base station 1 received by the wearable device at position 1201. This is not limited in this application. Next, the wearable device can convert the electromagnetic pose information in base station 2 into the positioning system of base station 1 based on the transformation matrix between the positioning systems of base station 1 and base station 2, thereby obtaining two pieces of electromagnetic pose information in the positioning system of base station 1. Subsequently, the wearable device can obtain the distances between the wearable device and base stations 1 and 2 based on the electromagnetic induction signals received from base station 1 and base station 2, thereby obtaining weight values ​​corresponding to the two pieces of electromagnetic pose information. Based on the corresponding weight values, the two pieces of electromagnetic pose information are fused to obtain the electromagnetic pose information of the wearable device at its current location, i.e., location 1202. Simultaneously, the wearable device also obtains the acceleration value and angular velocity value at location 1202, and based on the acceleration and angular velocity values, obtains the corresponding IMU pose information of the wearable device at location 1202. Next, the wearable device can determine whether the electromagnetic posture information is abnormal based on the electromagnetic posture information and IMU posture information obtained at position 1202. For example, if the electromagnetic posture information is abnormal, the wearable device uses the IMU posture information as the posture information of position 1202 and transmits it to the laptop. For example, if the electromagnetic posture information is normal, the wearable device fuses the IMU posture information with the electromagnetic posture information to obtain the posture information of the wearable device at position 1202 and transmits it to the laptop. The undescribed part can refer to the wearable device at position 1201, that is, Figure 7 The relevant content of the positioning method when the position is in the position will not be repeated here.

[0216] Continue to refer to Figure 12In another example, taking the wearable device at position 1203 as an example, the wearable device can optionally move from position 1202 to 1203, or from position 1201 to position 1203, which is not limited in this application. For example, the wearable device can receive an electromagnetic induction signal from base station 2 at position 1203. Since the wearable device only receives electromagnetic induction signals of one frequency, the wearable device can determine that its current position is within the signal coverage range of base station 2 corresponding to the frequency of the electromagnetic induction signal, that is, there is no need to perform the electromagnetic posture information conversion process. The electromagnetic posture information of the wearable device at position 1203 is the electromagnetic posture information of the wearable device in the positioning system of base station 2 obtained by the wearable device based on the electromagnetic induction signal sent by base station 2. Then, the wearable device can obtain the IMU posture information at position 1203, and obtain the posture information of the wearable device at position 1203 based on the IMU posture information and the electromagnetic posture information. In addition, the wearable device transmits the posture information obtained at position 1203 to the laptop. For other undescribed parts, please refer to the wearable device at position 1201, i.e. Figure 7 The relevant content of the positioning method when the position is in the position will not be repeated here.

[0217] Still refer to Figure 12 In another example, assuming the wearable device is located at location 1204, the wearable device can receive electromagnetic induction signals sent by base stations 1, 2, and 4 at location 1204. The wearable device can obtain electromagnetic pose information of the wearable device in the positioning system of base station 1, the positioning system of base station 2, and the positioning system of base station 4, respectively. Based on the obtained electromagnetic pose information, the wearable device can perform electromagnetic pose information transformation to obtain multiple electromagnetic pose information in the positioning system of base station 1. Next, the wearable device can obtain weights corresponding to the multiple electromagnetic pose information based on the distances from base stations 1, 2, and 4, and obtain the electromagnetic pose information of the wearable device at location 1204 based on the obtained weights. Simultaneously, the wearable device also obtains IMU pose information at location 1204. For example, the wearable device can obtain the pose information of the wearable device at position 1204 based on the IMU pose information and electromagnetic pose information at position 1204, and the wearable device transmits the pose information obtained at position 1204 to the laptop. For other undescribed parts, please refer to the wearable device at position 1201, i.e. Figure 7 The relevant content of the positioning method when the position is in the position will not be repeated here.

[0218] Continue to refer to Figure 12In another example, taking the wearable device at position 1205 as an example, illustratively, the wearable device at position 1205 can receive electromagnetic induction signals sent by base station 1, base station 2, base station 3, and base station 4, and the wearable device can obtain electromagnetic posture information in different positioning systems based on the received electromagnetic induction signals. Then, the wearable device can fuse multiple electromagnetic posture information to obtain electromagnetic posture information of the wearable device at position 1205. At the same time, the wearable device also obtains the IMU posture information at position 1205. Exemplarily, the wearable device can obtain the posture information of the wearable device at position 1205 based on the IMU posture information and electromagnetic posture information obtained at position 1205, and the wearable device transmits the posture information obtained at position 1205 to the laptop. Other undescribed parts can refer to the wearable device at position 1201, that is, Figure 7 The relevant content of the positioning method when the position is in the position will not be repeated here.

[0219] In summary, in an embodiment of the present application, the wearable device can move freely within the signal coverage range of multiple base stations, and the wearable device can obtain corresponding electromagnetic posture information based on the signals received from one or more base stations at any point within the range. In addition, in an embodiment of the present application, if the electromagnetic induction signal is interfered with, it will cause the electromagnetic posture information to jump. The wearable device can judge whether the electromagnetic posture information is abnormal based on the electromagnetic posture information and the IMU posture information, and based on the judgment result, determine that the target posture information is a fusion of the IMU posture information and the electromagnetic posture information, or the IMU posture information, so as to ensure a better positioning effect. In addition, in an embodiment of the present application, the wearable device fuses the IMU posture information with the electromagnetic posture information, which can effectively improve the accuracy of the posture information.

[0220] It is understandable that, in order to implement the above functions, the electronic device includes hardware and / or software modules that perform the corresponding functions. In combination with the algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in combination with the embodiments, but such implementation should not be considered to be beyond the scope of this application.

[0221] This embodiment further provides a computer storage medium, in which computer instructions are stored. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the positioning method in the above-mentioned embodiment.

[0222] This embodiment further provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement the positioning method in the above-mentioned embodiment.

[0223] In addition, an embodiment of the present application also provides a device, which can specifically be a chip, component or module, and the device may include a connected processor and memory; wherein the memory is used to store computer-executable instructions, and when the device is running, the processor can execute the computer-executable instructions stored in the memory to enable the device to perform the positioning method in the above-mentioned method embodiments.

[0224] Optionally, an embodiment of the present application provides a chip. The chip includes one or more interfaces and one or more processors. The interfaces can be used to receive electromagnetic pose information input by the electromagnetic module and IMU measurement information input by the IMU module. The interfaces output the received electromagnetic pose information and IMU measurement information to the processor. The processor can obtain corresponding pose information based on the electromagnetic pose information and IMU measurement information input by the interface. The electromagnetic module and IMU module are disposed outside the chip.

[0225] Optionally, an embodiment of the present application provides a chip. The chip includes an interface and the IMU module, electromagnetic module, and processor described in the above method embodiment. The interface can be used to receive or send signals or data. For example, the interface can be used to receive acceleration information input by an accelerometer, electromagnetic induction signals sent by a base station, and can also be used to send posture information. The electromagnetic module, IMU module, and processor can be used to execute the positioning method described in the above method embodiment.

[0226] Optionally, embodiments of the present application provide a chip. The chip includes an interface and a processor, and the processor can control the interface to receive or send signals or data. For example, the interface can receive electromagnetic induction signals sent by a base station, or transmit position information. The processor can be used to implement the positioning methods described in the above method embodiments, namely, the steps performed by the electromagnetic module, the IMU module, and the processor.

[0227] Among them, the electronic device, computer storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0228] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0229] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0230] Units described as separate components may or may not be physically separate, and components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0231] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0232] Any content of each embodiment of this application, as well as any content of the same embodiment, can be freely combined. Any combination of the above content is within the scope of this application.

[0233] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0234] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0235] The steps of the method or algorithm described in conjunction with the disclosure of the embodiments of the present application can be implemented in a hardware manner, or can be implemented by a processor executing a software instruction. The software instruction can be composed of corresponding software modules, and the software module can be stored in a random access memory (Random Access Memory, RAM), a flash memory, a read-only memory (Read Only Memory, ROM), an erasable programmable read-only memory (Erasable Programmable ROM, EPROM), an electrically erasable programmable read-only memory (Electrically EPROM, EEPROM), a register, a hard disk, a mobile hard disk, a read-only compact disc (CD-ROM) or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0236] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0237] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A positioning method, characterized in that: include: The first electronic device receives at a first location a first electromagnetic induction signal sent by a first base station and a second electromagnetic induction signal sent by a second base station, where the frequency of the first electromagnetic induction signal is different from the frequency of the second electromagnetic induction signal; The first electronic device obtains first electromagnetic posture information of the first electronic device at the first position according to the first electromagnetic induction signal and the second electromagnetic induction signal; The first electronic device acquires first acceleration information and first angular velocity information of the first electronic device at the first position; The first electronic device obtains, according to the first acceleration information and the first angular velocity information, first inertial measurement unit (IMU) position information of the first electronic device at the first position; The first electronic device obtains, according to the first electromagnetic posture information and the first IMU posture information, posture information of the first electronic device at the first position; The step of the first electronic device acquiring first electromagnetic posture information of the first electronic device at the first position according to the first electromagnetic induction signal and the second electromagnetic induction signal includes: The first electronic device obtains, according to the first electromagnetic induction signal, first sub-electromagnetic posture information of the first electronic device at the first position and a weight corresponding to the first sub-electromagnetic posture information; The first electronic device obtains, according to the second electromagnetic induction signal, second sub-electromagnetic posture information of the first electronic device at the first position and a weight corresponding to the second sub-electromagnetic posture information; The first electronic device obtains the first electromagnetic posture information according to the first sub-electromagnetic posture information and the weight corresponding to the first sub-electromagnetic posture information, and the second sub-electromagnetic posture information and the weight corresponding to the second sub-electromagnetic posture information.

2. The method according to claim 1, characterized in that The method further comprises: The first electronic device receives, at a second location, a third electromagnetic induction signal sent by the first base station and a fourth electromagnetic induction signal sent by a third base station, wherein the frequency of the third electromagnetic induction signal is the same as the frequency of the first electromagnetic induction signal, and the frequency of the third electromagnetic induction signal is different from the frequency of the fourth electromagnetic induction signal; The first electronic device obtains second electromagnetic posture information of the first electronic device at the second position according to the third electromagnetic induction signal and the fourth electromagnetic induction signal; The first electronic device obtains second acceleration information and second angular velocity information of the first electronic device at the second position; The first electronic device obtains second IMU pose information of the first electronic device at the second position according to the second acceleration information and the second angular velocity information; The first electronic device obtains the posture information of the first electronic device at the second position according to the second electromagnetic posture information and the second IMU posture information.

3. The method according to claim 1, characterized in that The method further comprises: the first electronic device receives, at a third location, a fifth electromagnetic induction signal sent by the first base station, a sixth electromagnetic induction signal sent by the second base station, and a seventh electromagnetic induction signal sent by the third base station, wherein a frequency of the fifth electromagnetic induction signal is the same as a frequency of the first electromagnetic induction signal, a frequency of the sixth electromagnetic induction signal is the same as a frequency of the second electromagnetic induction signal, a frequency of the fifth electromagnetic induction signal is different from a frequency of the seventh electromagnetic induction signal, and a frequency of the sixth electromagnetic induction signal is different from a frequency of the seventh electromagnetic induction signal; The first electronic device obtains third electromagnetic posture information of the first electronic device at the third position according to the fifth electromagnetic induction signal, the sixth electromagnetic induction signal, and the seventh electromagnetic induction signal; acquiring, by the first electronic device, third acceleration information and third angular velocity information of the first electronic device at the third position; The first electronic device obtains, according to the third acceleration information and the third angular velocity information, third IMU pose information of the first electronic device at the third position; The first electronic device obtains the posture information of the first electronic device at the third position according to the third electromagnetic posture information and the third IMU posture information.

4. The method according to claim 1, wherein The first electronic device obtains the first electromagnetic posture information according to the first sub-electromagnetic posture information and the weight corresponding to the first sub-electromagnetic posture information, and the second sub-electromagnetic posture information and the weight corresponding to the second sub-electromagnetic posture information, including: The first electronic device calculates the first electromagnetic posture information T according to the following formula: m1 : Among them, T1 is the first sub-electromagnetic posture information, T2 is the second sub-electromagnetic posture information, is the weight corresponding to the first sub-electromagnetic posture information, is the weight corresponding to the second sub-electromagnetic posture information, d1 is the distance between the first electronic device and the first base station, d2 is the distance between the first electronic device and the second base station, the distance between the first electronic device and the first base station is obtained by the first electronic device according to the first electromagnetic induction signal, and the distance between the first electronic device and the second base station is obtained by the first electronic device according to the second electromagnetic induction signal.

5. The method according to claim 1, wherein The first electronic device obtains the first electromagnetic posture information according to the first sub-electromagnetic posture information and the weight corresponding to the first sub-electromagnetic posture information, and the second sub-electromagnetic posture information and the weight corresponding to the second sub-electromagnetic posture information, including: The first electronic device calculates the first electromagnetic posture information T according to the following formula: m1 : Among them, T1 is the first sub-electromagnetic posture information, T2 is the second sub-electromagnetic posture information, is the weight corresponding to the first sub-electromagnetic posture information, is the weight corresponding to the second sub-electromagnetic posture information, B1 is the electromagnetic induction intensity corresponding to the first electromagnetic induction signal, and B2 is the electromagnetic induction intensity corresponding to the second electromagnetic induction signal.

6. The method according to claim 1, wherein The first electronic device obtains, according to the first electromagnetic posture information and the first IMU posture information, posture information of the first electronic device at the first position, including: The first electronic device obtains a first difference between the first electromagnetic posture information and fourth electromagnetic posture information, where the fourth electromagnetic posture information is the last obtained electromagnetic posture information; The first electronic device obtains a second difference between the first IMU pose information and fourth IMU pose information, where the fourth IMU pose information is the last acquired IMU pose information; The first electronic device obtains a first error value according to the first difference and the second difference; When the first error value is greater than a first threshold, the first electronic device determines that the first IMU posture information is the posture information of the first electronic device at the first position; When the first error value is less than or equal to the first threshold, the first electronic device corrects the first electromagnetic posture information according to the first IMU posture information to obtain the posture information of the first electronic device at the first position.

7. The method according to claim 6, characterized in that The first electronic device corrects the first electromagnetic posture information according to the first IMU posture information, including: The first electronic device corrects the first electromagnetic posture information according to the first IMU posture information and an extended Kalman filter (EKF) algorithm.

8. The method according to claim 1, characterized in that The method further comprises: The first electronic device sends the position information of the first electronic device at the first position to the second electronic device; The first electronic device receives an image sent by the second electronic device, where the image is generated by the second electronic device based on the position information of the first electronic device at the first position; The first electronic device displays the image.

9. An electronic device, characterized in that: include: a memory and a processor, the memory and the processor being coupled; The memory stores program instructions, and when the processor executes the program instructions, the electronic device performs the following steps: receiving, at a first location, a first electromagnetic induction signal sent by a first base station and a second electromagnetic induction signal sent by a second base station, wherein a frequency of the first electromagnetic induction signal is different from a frequency of the second electromagnetic induction signal; acquiring, according to the first electromagnetic induction signal, first sub-electromagnetic posture information of the electronic device at the first position and a weight corresponding to the first sub-electromagnetic posture information; acquiring, according to the second electromagnetic induction signal, second sub-electromagnetic posture information of the electronic device at the first position and a weight corresponding to the second sub-electromagnetic posture information; Acquire first electromagnetic posture information of the first position according to the first sub-electromagnetic posture information and the weight corresponding to the first sub-electromagnetic posture information, and the second sub-electromagnetic posture information and the weight corresponding to the second sub-electromagnetic posture information; Acquiring first acceleration information and first angular velocity information of the electronic device at the first position; Acquire first inertial measurement unit (IMU) pose information of the electronic device at the first position according to the first acceleration information and the first angular velocity information; Acquire the posture information of the electronic device at the first position according to the first electromagnetic posture information and the first IMU posture information.

10. The electronic device according to claim 9, characterized in that When the program instructions are executed by the processor, the electronic device performs the following steps: receiving, at a second location, a third electromagnetic induction signal sent by the first base station and a fourth electromagnetic induction signal sent by a third base station, wherein a frequency of the third electromagnetic induction signal is the same as a frequency of the first electromagnetic induction signal, and a frequency of the third electromagnetic induction signal is different from a frequency of the fourth electromagnetic induction signal; Acquire second electromagnetic posture information of the electronic device at the second position according to the third electromagnetic induction signal and the fourth electromagnetic induction signal; Acquiring second acceleration information and second angular velocity information of the electronic device at the second position; Acquire second IMU pose information of the electronic device at the second position according to the second acceleration information and the second angular velocity information; Acquire the posture information of the electronic device at the second position according to the second electromagnetic posture information and the second IMU posture information.

11. The electronic device according to claim 9, wherein: When the program instructions are executed by the processor, the electronic device performs the following steps: receiving, at a third location, a fifth electromagnetic induction signal sent by the first base station, a sixth electromagnetic induction signal sent by the second base station, and a seventh electromagnetic induction signal sent by the third base station, wherein the frequency of the fifth electromagnetic induction signal is the same as the frequency of the first electromagnetic induction signal, the frequency of the sixth electromagnetic induction signal is the same as the frequency of the second electromagnetic induction signal, the frequency of the fifth electromagnetic induction signal is different from the frequency of the seventh electromagnetic induction signal, and the frequency of the sixth electromagnetic induction signal is different from the frequency of the seventh electromagnetic induction signal; acquiring third electromagnetic posture information of the electronic device at the third position according to the fifth electromagnetic induction signal, the sixth electromagnetic induction signal, and the seventh electromagnetic induction signal; Acquiring third acceleration information and third angular velocity information of the electronic device at the third position; Acquire third IMU pose information of the electronic device at the third position according to the third acceleration information and the third angular velocity information; According to the third electromagnetic posture information and the third IMU posture information, the posture information of the electronic device at the third position is obtained.

12. The electronic device according to claim 9, wherein: When the program instructions are executed by the processor, the electronic device performs the following steps: The first electromagnetic posture information T is calculated according to the following formula: m1 : Among them, T1 is the first sub-electromagnetic posture information, T2 is the second sub-electromagnetic posture information, is the weight corresponding to the first sub-electromagnetic posture information, is the weight corresponding to the second sub-electromagnetic posture information, d1 is the distance between the electronic device and the first base station, d2 is the distance between the electronic device and the second base station, the distance between the electronic device and the first base station is obtained by the electronic device according to the first electromagnetic induction signal, and the distance between the electronic device and the second base station is obtained by the electronic device according to the second electromagnetic induction signal.

13. The electronic device according to claim 9, wherein When the program instructions are executed by the processor, the electronic device performs the following steps: The first electromagnetic posture information T is calculated according to the following formula: m1 : Among them, T1 is the first sub-electromagnetic posture information, T2 is the second sub-electromagnetic posture information, is the weight corresponding to the first sub-electromagnetic posture information, is the weight corresponding to the second sub-electromagnetic posture information, B1 is the electromagnetic induction intensity corresponding to the first electromagnetic induction signal, and B2 is the electromagnetic induction intensity corresponding to the second electromagnetic induction signal.

14. The electronic device according to claim 9, wherein: When the program instructions are executed by the processor, the electronic device performs the following steps: Obtaining a first difference between the first electromagnetic posture information and fourth electromagnetic posture information, where the fourth electromagnetic posture information is the last obtained electromagnetic posture information; Obtaining a second difference between the first IMU pose information and fourth IMU pose information, where the fourth IMU pose information is the last acquired IMU pose information; Obtaining a first error value according to the first difference and the second difference; When the first error value is greater than a first threshold, determining that the first IMU posture information is the posture information of the electronic device at the first position; When the first error value is less than or equal to the first threshold, the first electromagnetic posture information is corrected according to the first IMU posture information to obtain the posture information of the electronic device at the first position.

15. The electronic device according to claim 14, characterized in that When the program instructions are executed by the processor, the electronic device performs the following steps: According to the first IMU posture information, the first electromagnetic posture information is corrected according to the extended Kalman filter (EKF) algorithm.

16. The electronic device according to claim 9, characterized in that When the program instructions are executed by the processor, the electronic device performs the following steps: Sending the position information of the electronic device at the first position to another electronic device; receiving an image sent by the other electronic device, where the image is generated by the other electronic device based on the posture information of the electronic device at the first position; The image is displayed.

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