Remote control positioning method and remote control system for remote control screen of remote controller

Abstract

The invention discloses a remote control positioning method and a remote control system for a remote control screen of a remote controller, and the method comprises the steps: obtaining a gravitational acceleration and an angular velocity according to an inertial measurement unit sensor disposed on the remote controller, and obtaining an x-axis attitude angle and a y-axis attitude angle according to the gravitational acceleration and the angular velocity; acquiring a first position coordinate and a second position coordinate according to ultra wide band sensors respectively arranged on a screen and a remote controller, and fusing the first position coordinate and the second position coordinate with the angular velocity of an inertial measurement unit sensor to acquire a z-axis attitude angle; and according to the first position coordinate, the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle acquired by an ultra-wideband sensor arranged on the screen, acquiring the pointing position of the remote controller output signal on the screen. By arranging the sensors on the remote controller and the screen, the pointing position of the output signal of the remote controller on the screen can be obtained to achieve positioning remote control, the remote control process is effectively simplified, and the remote control precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control positioning, and in particular to a remote control positioning method and a remote control system for a remote control screen. Background Art

[0002] With the development of remote control technology, more and more remote control methods are used in the remote control process. For example, in the application scenario of remote control of the screen, the infrared remote control using infrared technology needs to be aimed at the infrared receiver of the screen to realize the remote control function, and the Bluetooth remote control using Bluetooth technology needs to be moved up, down, left and right one by one to complete the remote control function, which leads to problems such as inconvenient remote control operation and unsmooth use.

[0003] Therefore, how to conveniently, quickly and accurately control the screen using a remote controller becomes a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] In order to solve at least one of the above problems, a first embodiment of the present invention provides a remote control positioning method for a remote control screen, comprising:

[0005] Acquire gravity acceleration and angular velocity according to an inertial measurement unit sensor provided on the remote controller, and acquire an x-axis attitude angle and a y-axis attitude angle according to the gravity acceleration and angular velocity;

[0006] Acquire the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fuse them with the angular velocity of the inertial measurement unit sensor to acquire the z-axis attitude angle;

[0007] The pointing position of the remote control output signal on the screen is obtained according to the first position coordinates, the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle obtained by the ultra-wideband sensor arranged on the screen.

[0008] For example, in the remote control positioning method provided in some embodiments of the present application, the step of obtaining the gravity acceleration and angular velocity according to the inertial measurement unit sensor provided on the remote control, and obtaining the x-axis attitude angle and the y-axis attitude angle according to the gravity acceleration and angular velocity further includes:

[0009] Acquire a first x-axis attitude angle and a first y-axis attitude angle according to the gravitational acceleration;

[0010] Acquire a second attitude angle of the x-axis, a second attitude angle of the y-axis, and a second attitude angle of the z-axis according to the angular velocity;

[0011] The x-axis attitude angle and the y-axis attitude angle are obtained by fusing the first x-axis attitude angle and the second x-axis attitude angle, and the first y-axis attitude angle and the second y-axis attitude angle.

[0012] For example, in the remote control positioning method provided in some embodiments of the present application, the acquiring the first x-axis attitude angle and the first y-axis attitude angle according to the gravity acceleration further includes:

[0013]

[0014] [-sin(θ y ), sin(θ x )cos(θ y ), cos(θ x )cos(θ y )] T =[g x , g y , g z ] T (2)

[0015] θ1 x =arctan(g y / g z ) (3)

[0016] θ1 y =-arcsin(g x ) (4)

[0017] Among them, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z-axis, [0, 0, 1] is the gravitational acceleration when not rotated, a x is the gravitational acceleration on the x-axis, a y is the gravitational acceleration on the y-axis, a z is the gravitational acceleration on the z-axis, θ x is the x-axis attitude angle, θ y is the y-axis attitude angle, g x is the gravitational acceleration component of the x-axis, g y is the gravitational acceleration component on the y-axis, g z is the gravitational acceleration component of the z-axis, θ1 x is the first attitude angle of the x-axis, θ1 y is the first attitude angle of the y-axis;

[0018] The acquiring of the second x-axis attitude angle, the second y-axis attitude angle and the second z-axis attitude angle according to the angular velocity further comprises:

[0019] The angular velocities relative to the x-axis, y-axis, and z-axis are respectively integrated to obtain the x-axis second attitude angle, the y-axis second attitude angle, and the z-axis second attitude angle:

[0020]

[0021] Among them, ω x is the angular velocity of the x-axis, ω y is the angular velocity of the y-axis, ω z is the angular velocity of the z-axis, θ2 x is the second attitude angle of the x-axis, θ2 y is the second attitude angle of the y-axis, θ2 z is the second attitude angle of the z-axis.

[0022] For example, in the remote control positioning method provided in some embodiments of the present application, the fusing the first x-axis attitude angle and the second x-axis attitude angle, and the first y-axis attitude angle and the second y-axis attitude angle to obtain the x-axis attitude angle and the y-axis attitude angle further includes:

[0023] Obtaining a first attitude angle difference between the x-axis and the y-axis according to the x-axis first attitude angle and the x-axis second attitude angle, and the y-axis first attitude angle and the y-axis second attitude angle;

[0024] The first attitude angle difference is used as a sliding window for filtering to obtain a first attitude angle difference mean, and the x-axis attitude angle and the y-axis attitude angle are obtained according to the first attitude angle difference mean, the x-axis first attitude angle and the x-axis second attitude angle, and the y-axis first attitude angle and the y-axis second attitude angle.

[0025] For example, in the remote control positioning method provided in some embodiments of the present application, the obtaining of the first position coordinate and the second position coordinate according to the ultra-wideband sensor respectively provided on the screen and the remote control, and the angular velocity fusion with the inertial measurement unit sensor to obtain the z-axis attitude angle further includes:

[0026] Acquire a first z-axis attitude angle according to the received first position coordinates and second position coordinates, wherein the first position coordinates are position coordinates output by a first ultra-wideband sensor arranged on the screen, and the second position coordinates are position coordinates output by a second ultra-wideband sensor arranged on the remote controller;

[0027] The z-axis first attitude angle and the z-axis second attitude angle are integrated to obtain the z-axis attitude angle.

[0028] For example, in the remote control positioning method provided in some embodiments of the present application, the step of obtaining the first z-axis attitude angle according to the received first position coordinates and the second position coordinates further includes:

[0029] Normalize the first position coordinates and the second position coordinates to obtain a first normalized vector and a second normalized vector:

[0030] P nc =P c / ||P c||, P nd =P d / ||P d ||; (6)

[0031] Among them, P c is the first position coordinate, P nc is the first normalized vector, P d is the second position coordinate, P nd is the second normalized vector;

[0032] The first z-axis first posture is obtained according to the first normalized vector and the second normalized vector having equal lengths.

[0033] State angles, including:

[0034]

[0035] θ1 z =arctan2(y c x 1 -x c y 1 , x c x 1 +y c y 1 ) (10)

[0036] Among them, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z axis, P nc is the first normalized vector, P nd is the second normalized vector, θ1 z is the first attitude angle of the z axis, x c is the x coordinate of the first position, y c is the y coordinate of the first position, P 1 is the middle vector, x 1 is the vector component of the middle vector on the x-axis, y 1 is the vector component of the middle vector on the y-axis;

[0037] The fusing the first z-axis attitude angle and the second z-axis attitude angle to obtain the z-axis attitude angle further comprises:

[0038] Acquire a second attitude angle difference of the z-axis according to the first attitude angle of the z-axis and the second attitude angle of the z-axis;

[0039] The second attitude angle difference is used as a sliding window for filtering to obtain a second attitude angle difference mean, and the z-axis attitude angle is obtained according to the second attitude angle difference mean and the z-axis second attitude angle.

[0040] For example, in the remote control positioning method provided in some embodiments of the present application, the step of obtaining the pointing position of the remote control output signal on the screen according to the first position coordinates, x-axis attitude angle, y-axis attitude angle and z-axis attitude angle obtained by the ultra-wideband sensor disposed on the screen further includes:

[0041] Performing a noise removal operation on the first position coordinates using a preset filter;

[0042] Obtaining an x-axis rotation matrix, a y-axis rotation matrix, and a z-axis rotation matrix according to the x-axis attitude angle, the y-axis attitude angle, and the z-axis attitude angle, respectively, to obtain a signal direction vector of the remote control output signal relative to the screen;

[0043] The position coordinates of the pointing position of the remote control output signal on the screen are obtained according to the first position coordinates after noise removal and the signal direction vector.

[0044] For example, in the remote control positioning method provided in some embodiments of the present application, the obtaining of the x-axis rotation matrix, the y-axis rotation matrix and the z-axis rotation matrix according to the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle respectively to obtain the signal direction vector of the remote control output signal relative to the screen further includes:

[0045] v=R z R y R x [0, 1, 0] T (11)

[0046]

[0047] Wherein, v is the direction of the y-axis of the remote control output signal, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z-axis, [0, 1, 0] is the direction pointing to the y-axis; x is the equation of the straight line of the remote control output signal on the x-axis relative to the screen, y is the equation of the straight line of the remote control output signal on the y-axis relative to the screen, z is the equation of the straight line of the remote control output signal on the z-axis relative to the screen, x c is the x coordinate of the first position, y c is the y coordinate of the first position, z c is the z coordinate of the first position, m is a hyperparameter, x v is the vector component of the signal direction vector on the x-axis, y v is the vector component of the signal direction vector on the y-axis, z v is the vector component of the signal direction vector on the z-axis;

[0048] The position coordinates of the pointing position of the remote control output signal on the screen are obtained according to the first position coordinates after noise removal and the signal direction vector:

[0049] When y=0,

[0050] Among them, x c is the x coordinate of the first position, y c is the y coordinate of the first position, z c is the z coordinate of the first position, x v is the vector component of the signal direction vector on the x-axis, y v is the vector component of the signal direction vector on the y-axis, z v is the vector component of the signal direction vector on the z-axis.

[0051] A second embodiment of the present invention provides a remote control system, comprising a remote controller, a screen, and a controller, wherein the controller is configured as follows:

[0052] Acquire gravity acceleration and angular velocity according to an inertial measurement unit sensor provided on the remote controller, and acquire an x-axis attitude angle and a y-axis attitude angle according to the gravity acceleration and angular velocity;

[0053] Acquire the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fuse them with the angular velocity of the inertial measurement unit sensor to acquire the z-axis attitude angle;

[0054] The pointing position of the remote control output signal on the screen is obtained according to the first position coordinates, the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle obtained by the ultra-wideband sensor arranged on the screen.

[0055] For example, in the remote control system provided in some embodiments of the present application, the controller is set on the remote control or the screen.

[0056] The third embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the remote control positioning method as described in the first embodiment is implemented.

[0057] A fourth embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the remote control positioning method as described in the first embodiment when executing the program.

[0058] The beneficial effects of the present invention are as follows:

[0059] In view of the existing problems, the present invention develops a remote control positioning method and a remote control system for a remote control screen, and respectively obtains accurate x-axis attitude angle, y-axis attitude angle and z-axis attitude angle through an inertial measurement unit sensor and an ultra-wideband sensor arranged on the remote control, and an ultra-wideband sensor arranged on the screen, and obtains the pointing position of the remote control output signal on the screen according to the three-axis attitude angle and the first position coordinates output by the ultra-wideband sensor arranged on the screen, thereby realizing accurate remote control positioning of the remote control screen, thereby making up for the problems existing in the prior art, being able to simplify the operation process of infrared remote controllers and Bluetooth remote controllers in the prior art, improving remote control accuracy, and having broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0061] Figure 1 A flow chart showing a remote control positioning method according to an embodiment of the present invention;

[0062] Figure 2 A schematic diagram showing the structure of a remote control system according to an embodiment of the present invention is shown;

[0063] Figure 3 A curve comparison diagram showing the attitude angle of the x-axis according to an embodiment of the present invention;

[0064] Figure 4 A schematic diagram showing a screen coordinate system and a remote controller coordinate system according to an embodiment of the present invention;

[0065] Figure 5 A schematic structural diagram of a computer device according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0066] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0067] In view of the problems existing in the prior art, an embodiment of the present invention provides a remote control positioning method for a remote control screen, such as Figure 1 As shown, including:

[0068] Acquire gravity acceleration and angular velocity according to an inertial measurement unit sensor provided on the remote controller, and acquire an x-axis attitude angle and a y-axis attitude angle according to the gravity acceleration and angular velocity;

[0069] Acquire the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fuse them with the angular velocity of the inertial measurement unit sensor to acquire the z-axis attitude angle;

[0070] The pointing position of the remote control output signal on the screen is obtained according to the first position coordinates, the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle obtained by the ultra-wideband sensor arranged on the screen.

[0071] In this embodiment, accurate x-axis attitude angle, y-axis attitude angle and z-axis attitude angle are respectively obtained by an inertial measurement unit sensor and an ultra-wideband sensor arranged on the remote control, and an ultra-wideband sensor arranged on the screen, and the pointing position of the remote control output signal on the screen is obtained according to the three-axis attitude angle and the first position coordinates output by the ultra-wideband sensor arranged on the screen, thereby achieving accurate remote control positioning of the remote control screen, which can simplify the operation process of the infrared remote control and Bluetooth remote control in the prior art and improve the remote control accuracy.

[0072] Specifically, in this embodiment, an inertial measurement unit sensor for detecting and measuring acceleration and rotational motion is set on the remote control, and the inertial measurement unit sensor (IMU) includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer is used to detect the acceleration signal of the object in the three independent axes of the carrier coordinate system, such as the acceleration relative to the x-axis, the acceleration relative to the y-axis, and the acceleration relative to the z-axis; the gyroscope is used to detect the angular velocity signal of the object relative to the navigation coordinate system, such as the angular velocity relative to the x-axis, the angular velocity relative to the y-axis, and the angular velocity relative to the z-axis; the inertial measurement unit sensor can measure the angular velocity and acceleration of the object in three-dimensional space, and thereby calculate the posture of the object. However, the gyroscope of the inertial measurement unit sensor has accuracy problems due to its drift, and it costs a lot to improve the accuracy of the gyroscope. In this embodiment, ultra-wideband sensors for high-precision positioning and distance measurement are respectively arranged on the remote control and the screen. The ultra-wideband sensor (Ultra Wideband, UWB) has a very wide signal bandwidth, and the frequency range covers the frequency band from hundreds of megahertz to several gigahertz. The UWB sensor usually includes modules such as a radio frequency front end, a digital signal processor, and a microcontroller. The radio frequency front end module is responsible for receiving and transmitting UWB signals, the digital signal processor module is responsible for processing the received signals, and the microcontroller module is responsible for controlling the operation of the entire chip; the ultra-wideband sensor uses nanosecond narrow pulse signals for positioning, and its time domain resolution is very high, which can achieve centimeter-level positioning accuracy. Compared with other positioning technologies such as WIFI technology, Bluetooth technology, RFID technology, etc., it has more accurate positioning performance.

[0073] In order to further illustrate the specific implementation of this embodiment, Figure 2 The specific process of remote control positioning by the remote control system shown in the figure is described. The remote control system includes a remote control, a screen and a controller. The screen is a display screen, which can be a TV screen and a conference screen set in a fixed place, or a display screen set in a mobile place such as a car or a train. The remote control is a remote control for remotely controlling the display screen, and the remote control outputs a signal to control the display screen; the controller is a control device that communicates with the screen and the remote control respectively, and can receive sensor signals sent by the screen and the remote control, and can send instructions to the screen and the remote control. Figure 2 As shown, in order to achieve the remote control output signal to any position of the screen, follow the steps below to perform remote control positioning:

[0074] Step 1: Obtain gravity acceleration and angular velocity according to an inertial measurement unit sensor disposed on the remote controller, and obtain an x-axis attitude angle and a y-axis attitude angle according to the gravity acceleration and angular velocity.

[0075] In this embodiment, firstly, accurate x-axis attitude angle and y-axis attitude angle are acquired according to the gravity acceleration and angular velocity output by the inertial measurement unit sensor arranged on the remote controller.

[0076] In an optional embodiment, the method specifically includes the following steps:

[0077] First, a first x-axis attitude angle and a first y-axis attitude angle are obtained according to the gravity acceleration.

[0078] In this embodiment, considering that there is no connection between the remote control and the screen, the user holds the remote control or places the remote control in a specific position, and the gravity acceleration of the remote control is obtained according to the inertial measurement unit installed on the remote control, and the first x-axis attitude angle and the first y-axis attitude angle are obtained according to the gravity acceleration.

[0079] Specifically include:

[0080]

[0081] [-sin(θ y ), sin(θ x )cos(θ y ), cos(θ x )cos(θ y )] T =[g x , g y , g z ] T (2)

[0082] θ1 x =arctan(g y / g z ) (3)

[0083] θ1 y =-arcsin(g x ) (4)

[0084] Among them, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z-axis, [0, 0, 1] is the gravitational acceleration when not rotated, a x is the gravitational acceleration on the x-axis, a y is the gravitational acceleration on the y-axis, a z is the gravitational acceleration on the z-axis, θ x is the x-axis attitude angle, θ y is the y-axis attitude angle, g x is the gravitational acceleration component of the x-axis, g y is the gravitational acceleration component on the y-axis, gz is the gravitational acceleration component of the z-axis, θ1 x is the first attitude angle of the x-axis, θ1 y is the first attitude angle of the y-axis.

[0085] In this embodiment, the acceleration signals output by the three uniaxial accelerometers of the inertial measurement unit sensor are used to obtain the first attitude angle of the x-axis and the first attitude angle of the y-axis. An accelerometer (Accelerometer or G-Sensor), also known as a gravity sensor, is used to measure the acceleration acting on an object to determine the position of the object in space and monitor the movement of the object.

[0086] Specifically, considering that when not rotating, the gravitational acceleration of the three axes is (0, 0, 1), after rotating in the order of Z, Y, and X axes, the acceleration change is transformed into (a x , a y , a z ), the three uniaxial accelerometers output acceleration signals a x , a y , a z , from unrotated to rotated to form formula 1:

[0087]

[0088] Among them, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z-axis, [0, 0, 1] is the gravitational acceleration when not rotated, a x is the gravitational acceleration on the x-axis, a y is the gravitational acceleration on the y-axis, a z is the gravitational acceleration on the z-axis.

[0089] Simplifying this formula, we can get formula 2:

[0090] [-sin(θ y ), sin(θ x )cos(θ y ), cos(θ x )cos(θ y )] T =[g x , g y , g z ] T

[0091] Among them, θ x is the x-axis attitude angle, θ y is the y-axis attitude angle, g x is the gravitational acceleration component of the x-axis, g yis the gravitational acceleration component on the y-axis, g z is the gravitational acceleration component on the z-axis.

[0092] Solving formula 2 yields formula 3 and formula 4:

[0093] θ1 x =arctan(g y / g z ), where θ1 x is the first attitude angle of the x-axis.

[0094] θ1 y =-arcsin(g x ), where θ1 y is the first attitude angle of the y-axis.

[0095] Therefore, the first x-axis attitude angle and the first y-axis attitude angle are obtained according to the acceleration signals output by the three single-axis accelerometers of the inertial measurement unit sensor. However, the attitude angle obtained according to the accelerometer has no drift, but has a problem of large noise.

[0096] It is worth noting that although the inertial measurement unit sensor outputs the acceleration of the z-axis, the first attitude angle of the z-axis cannot be obtained according to Formula 1.

[0097] Second, obtaining a second attitude angle of the x-axis, a second attitude angle of the y-axis, and a second attitude angle of the z-axis according to the angular velocity.

[0098] In this embodiment, the angular velocities output by three single-axis gyroscopes of an inertial measurement unit sensor installed on the remote controller are used to respectively obtain the x-axis second attitude angle, the y-axis second attitude angle, and the z-axis second attitude angle of the remote controller.

[0099] Specifically, the angular velocities relative to the x-axis, y-axis, and z-axis are integrated to obtain the x-axis second attitude angle, the y-axis second attitude angle, and the z-axis second attitude angle, which are calculated using Formula 5:

[0100]

[0101] Among them, ω x is the angular velocity of the x-axis, ω y is the angular velocity of the y-axis, ω z is the angular velocity of the z-axis, θ2 x is the second attitude angle of the x-axis, θ2 y is the second attitude angle of the y-axis, θ2 z is the second attitude angle of the z-axis. However, although the attitude angle obtained by integrating the angular velocity measured by the gyroscope has low noise, it has a drift problem and can be regarded as a relative attitude angle.

[0102] Third, the x-axis attitude angle and the y-axis attitude angle are obtained by fusing the first x-axis attitude angle and the second x-axis attitude angle, and the first y-axis attitude angle and the second y-axis attitude angle.

[0103] In this embodiment, a fusion calculation is performed on the first attitude angle obtained by the accelerometer of the inertial measurement unit sensor and the second attitude angle obtained by the gyroscope of the inertial measurement unit sensor to obtain a relatively accurate attitude angle, that is, the first attitude angle obtained by the accelerometer without drift but with large noise is fused with the second attitude angle obtained by the gyroscope without noise but with drift to obtain a fused attitude angle with smaller drift and noise.

[0104] First, a first attitude angle difference between the x-axis and the y-axis is obtained according to the first x-axis attitude angle and the second x-axis attitude angle, and the first y-axis attitude angle and the second y-axis attitude angle.

[0105] In this embodiment, the first attitude angle without drift but with large noise is used as the reference, and the second attitude angle without noise but with drift is used as the relative attitude angle, and the difference between the two attitude angles is obtained by subtracting the two attitude angles:

[0106] (Δθ x , Δθ y )=(θ1 x ,θ1 y )-(θ2 x ,θ2 y )

[0107] Among them, Δθ x is the first attitude angle difference of the x-axis, Δθ y is the first attitude angle difference of the y-axis, θ1 x is the first attitude angle of the x-axis, θ1 y is the first attitude angle of the y-axis, θ2 x is the second attitude angle of the x-axis, θ2 y is the second attitude angle of the y-axis.

[0108] Secondly, the first attitude angle difference is used as a sliding window for filtering to obtain the first attitude angle difference mean, and the x-axis attitude angle and the y-axis attitude angle are obtained according to the first attitude angle difference mean, the x-axis first attitude angle and the x-axis second attitude angle, and the y-axis first attitude angle and the y-axis second attitude angle.

[0109] In this embodiment, the first attitude angle difference values ​​of the x-axis and y-axis are further used as a sliding window for mean filtering to obtain the first attitude angle difference mean. Use the first attitude angle difference mean to perform angle update to obtain the x-axis attitude angle and the y-axis attitude angle:

[0110]

[0111] Among them, θ x is the x-axis attitude angle, θ y is the y-axis attitude angle, is the mean value of the first attitude angle difference on the x-axis, Δθ y is the mean value of the first attitude angle difference on the y-axis, θ2 x is the second attitude angle of the x-axis, θ2 y is the second attitude angle of the y-axis.

[0112] So far, this embodiment obtains gravity acceleration and angular velocity according to the inertial measurement unit sensor arranged on the remote controller, and obtains the x-axis attitude angle and the y-axis attitude angle with small drift and noise according to the gravity acceleration and angular velocity.

[0113] Let's take a specific example to illustrate:

[0114] The gravity acceleration output by the inertial measurement unit sensor set on the remote control is: a x =-0.1274, a y =0.6338, a z =0.7192, unit: m / s; the output angular velocity is ω x =32.34,ω y =27.82,ω z =-8.48, unit: degree / second;

[0115] First, normalize the gravitational acceleration and output: a x =-0.1317,a y =0.6554,a z =0.7437, according to the normalized gravitational acceleration, the first attitude angle of the x-axis is 41.1°, and the first attitude angle of the y-axis is 7.57°.

[0116] Secondly, according to the angular velocity, the second posture angle of the x-axis is 1.617°, the second posture angle of the y-axis is 1.391°, and the second posture angle of the z-axis is 0.424°.

[0117] Finally, the first attitude angle of the x-axis is 41.1° and the first attitude angle of the y-axis is 7.57° according to the gravitational acceleration, and the second attitude angle of the x-axis is 1.617° and the second attitude angle of the y-axis is 1.391° according to the angular velocity. The two are fused: first calculate the difference between the two, perform mean filtering based on the difference, and obtain the corrected x-axis attitude angle and the corrected y-axis attitude angle. Compared with the first attitude angle obtained according to the gravitational acceleration and the second attitude angle obtained according to the angular velocity, the corrected attitude angle drift and error are reduced to a certain extent.

[0118] like Figure 3 As shown, it is a comparison curve of the x-axis attitude angle obtained according to the gravity acceleration and angular velocity output by the inertial measurement unit sensor set on the remote control, the horizontal axis is the number of collection of multiple x-axis attitude angles, and the vertical axis is the angle of the x-axis attitude angle, wherein the blue curve is the reference curve of the x-axis attitude angle given by the inertial measurement unit sensor manufacturer, the red curve is the reference curve of the first x-axis attitude angle calculated according to the acceleration output by the inertial measurement unit sensor, the green curve is the reference curve of the second x-axis attitude angle calculated according to the angular velocity output by the inertial measurement unit sensor, and the purple curve is the reference curve of the x-axis attitude angle obtained by fusing the first x-axis attitude angle calculated according to the acceleration output by the inertial measurement unit sensor and the second x-axis attitude angle calculated according to the angular velocity. As can be seen from the figure, the red curve of the first x-axis attitude angle calculated directly according to the acceleration of the inertial measurement unit sensor has large noise, and the green curve of the second x-axis attitude angle obtained according to the angular velocity integration of the inertial measurement unit sensor has a large drift due to error accumulation. The purple curve of the x-axis attitude angle generated by the fusion of the two has a smaller drift after filtering, and responds more promptly than the blue reference curve given by the manufacturer, and can better track changes in acceleration. In actual applications, for example, in the scenario where the remote control of this embodiment is pointing and remotely controlling the screen, the pointing and remote control positioning of the remote control is smoother.

[0119] Step 2: Obtain the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fuse them with the angular velocity of the inertial measurement unit sensor to obtain the z-axis attitude angle.

[0120] In this embodiment, an ultra-wideband sensor is respectively provided on the screen and the remote controller, that is, an antenna array is respectively provided on the screen and the remote controller, so that the first position coordinate P of the remote controller relative to the screen is obtained at the screen end. c (x c ,y c ,z c ), obtain the second position coordinate P of the screen relative to the remote control on the remote control end d (x d ,y d ,z d ), obtain a first attitude angle of the z-axis according to the first position coordinate and the second position coordinate, and then obtain a second attitude angle of the z-axis in combination with the angular velocity of the inertial measurement unit sensor to obtain an accurate z-axis attitude angle.

[0121] First, a first z-axis attitude angle is obtained according to the received first position coordinates and second position coordinates, wherein the first position coordinates are the position coordinates output by the first ultra-wideband sensor set on the screen, that is, the position coordinates of the remote control relative to the screen, and the second position coordinates are the position coordinates output by the second ultra-wideband sensor set on the remote control, that is, the position coordinates of the screen relative to the remote control. Specifically, it includes:

[0122] a) Normalizing the first position coordinate and the second position coordinate to obtain a first normalized vector and a second normalized vector, forming Formula 6:

[0123] P nc =P c / ||P c ||, P nd =P d / ||P d ||;

[0124] Among them, P c is the first position coordinate, P nc is the first normalized vector, P d is the second position coordinate, P nd is the second normalized vector;

[0125] b) obtaining the first posture angle of the z-axis according to the equal lengths of the first normalized vector and the second normalized vector, forming formulas 7 to 10, including:

[0126]

[0127] θ1 z =arctan2(y c x 1 -x c y 1 , x c x 1 +y c y 1 ) (10)

[0128] Among them, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z axis, P nc is the first normalized vector, P nd is the second normalized vector, θ1 z is the first attitude angle of the z axis, x c is the x coordinate of the first position, y c is the y coordinate of the first position, P 1 is the middle vector, x 1 is the vector component of the middle vector on the x-axis, y1 is the vector component of the middle vector on the y-axis.

[0129] In this embodiment, if Figure 4 As shown, since the first position coordinate is based on the screen coordinate system and the second position coordinate is based on the remote control coordinate system, there is a rotation relationship between the two coordinate systems; that is, the first position coordinate and the second position coordinate are relative to different coordinate systems, and the distance from the remote control output signal to the screen is the same, and the lengths of the two vectors obtained by normalizing the first position coordinate and the second position coordinate are equal. For example, the remote control is rotated to a position parallel to the screen according to the attitude angle, thereby forming formula 7. After simplifying formulas 8 and 9, the first attitude angle θ1 of the z-axis of formula 10 is obtained. z .

[0130] It is worth noting that the first attitude angle of the z-axis obtained by the ultra-wideband sensor set on the screen and the remote control assumes that the screen is perpendicular to the ground, there is no pitch angle and rotation angle, and there is a yaw angle between the screen and the remote control, so the first attitude angle of the z-axis has large noise.

[0131] Secondly, the z-axis first attitude angle and the z-axis second attitude angle are fused to obtain the z-axis attitude angle.

[0132] In this embodiment, a relatively accurate z-axis attitude angle is obtained by fusing the first attitude angle of the z-axis with relatively large noise obtained by the ultra-wideband sensor provided on the screen and the remote controller with the second attitude angle of the z-axis with drift obtained by integrating the angular velocity output by the gyroscope of the inertial measurement unit sensor provided on the remote controller. Specifically, the attitude angle includes:

[0133] a) Obtaining a second attitude angle difference of the z-axis according to the first attitude angle of the z-axis and the second attitude angle of the z-axis. In this embodiment, the first attitude angle of the z-axis and the second attitude angle of the z-axis are subtracted to obtain:

[0134] Δθ z =θ1 z -θ2 z

[0135] Among them, Δθ z is the second attitude angle difference of the z-axis, θ1 z is the first attitude angle of the z-axis, θ2 z is the second attitude angle of the z-axis.

[0136] b) using the second attitude angle difference as a sliding window for filtering to obtain a second attitude angle difference mean, and obtaining the z-axis attitude angle according to the second attitude angle difference mean and the z-axis second attitude angle.

[0137] In this embodiment, the second posture angle difference Δθ of the z-axis isz Perform mean filtering as a sliding window to obtain the mean of the second attitude angle difference of the z-axis The z-axis attitude angle with smaller drift and noise is obtained according to the average of the second attitude angle differences of the z-axis:

[0138]

[0139] Among them, θ z is the attitude angle of the z-axis, is the mean value of the second attitude angle difference of the z-axis, θ2 z is the second attitude angle of the z-axis.

[0140] Step 3: Obtain the pointing position of the remote control output signal on the screen according to the first position coordinates, x-axis attitude angle, y-axis attitude angle and z-axis attitude angle obtained by the ultra-wideband sensor set on the screen.

[0141] In this embodiment, the first position coordinates of the remote controller relative to the screen and the three-axis attitude angle of the remote controller are fused, that is, the signal trajectory of the remote controller output signal pointing to the screen is formed according to the position coordinates and the direction vector, that is, the pointing remote control positioning of the remote controller output signal on the screen is realized. Specifically, the following steps are included:

[0142] First, a pre-set filter is used to perform a noise removal operation on the first position coordinates.

[0143] In this embodiment, in order to further reduce the noise of the first position coordinates, a filtering operation is performed on the first position coordinates, for example, a mean filter or a Kalman filter is used to perform a filtering operation on the first position coordinates.

[0144] Second, obtain the x-axis rotation matrix, y-axis rotation matrix and z-axis rotation matrix according to the x-axis attitude angle, y-axis attitude angle and z-axis attitude angle respectively to obtain the signal direction vector of the remote control output signal relative to the screen.

[0145] In this embodiment, the x-axis rotation matrix R is obtained based on the obtained accurate x-axis attitude angle, y-axis attitude angle and z-axis attitude angle with small drift and noise. x , y-axis rotation matrix R y and the z-axis rotation matrix R z . Calculate the signal direction vector of the remote control output signal in the y-axis direction to form formula 11:

[0146] v=R z R y R x [0, 1, 0] T

[0147] Wherein, v is the direction of the y-axis of the remote control output signal, R xis the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z-axis, [0, 1, 0] is the direction pointing to the y-axis.

[0148] At the same time, the three-axis straight line equation 12 for the remote control output signal to the screen is formed:

[0149]

[0150] Wherein, x is the equation of the straight line of the remote control output signal on the x-axis relative to the screen, y is the equation of the straight line of the remote control output signal on the y-axis relative to the screen, z is the equation of the straight line of the remote control output signal on the z-axis relative to the screen, x c is the x coordinate of the first position, y c is the y coordinate of the first position, z c is the z coordinate of the first position, m is a hyperparameter, x v is the vector component of the signal direction vector on the x-axis, y v is the vector component of the signal direction vector on the y-axis, z v is the vector component of the signal direction vector on the z-axis.

[0151] Third, the position coordinates of the pointing position of the remote control output signal on the screen are obtained according to the first position coordinates after noise removal and the signal direction vector.

[0152] In this embodiment, considering the position coordinates of the remote control output signal on the screen, the y-axis direction is 0 at this time, and the position coordinates of the pointing position of the remote control output signal on the screen are obtained according to the signal direction vector of the remote control output signal and the first position coordinates. Specifically including:

[0153] The position coordinates of the pointing position of the remote control output signal on the screen are obtained according to the first position coordinates after noise removal and the signal direction vector to form formula 13:

[0154]

[0155] Among them, x c is the x coordinate of the first position, y c is the y coordinate of the first position, z c is the z coordinate of the first position, x v is the vector component of the signal direction vector on the x-axis, y v is the vector component of the signal direction vector on the y-axis, z v is the vector component of the signal direction vector on the z-axis.

[0156] At this point, the present embodiment realizes the remote control positioning of the remote control output signal to any position of the screen. The present embodiment obtains accurate x-axis attitude angle, y-axis attitude angle and z-axis attitude angle respectively through the inertial measurement unit sensor and the ultra-wideband sensor arranged on the remote control, and the ultra-wideband sensor arranged on the screen, and obtains the pointing position of the remote control output signal on the screen according to the three-axis attitude angle and the first position coordinates output by the ultra-wideband sensor arranged on the screen, thereby realizing accurate remote control positioning of the remote control screen, which can simplify the operation process of the infrared remote control and the Bluetooth remote control in the prior art and improve the remote control accuracy.

[0157] Based on the above remote control positioning method, such as Figure 2 As shown, one embodiment of the present application further provides a remote control system, comprising a remote controller, a screen and a controller, wherein the controller is configured as follows:

[0158] Acquire gravity acceleration and angular velocity according to an inertial measurement unit sensor provided on the remote controller, and acquire an x-axis attitude angle and a y-axis attitude angle according to the gravity acceleration and angular velocity;

[0159] Acquire the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fuse them with the angular velocity of the inertial measurement unit sensor to acquire the z-axis attitude angle;

[0160] The pointing position of the remote control output signal on the screen is obtained according to the first position coordinates, the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle obtained by the ultra-wideband sensor arranged on the screen.

[0161] In this embodiment, the accurate x-axis attitude angle, y-axis attitude angle and z-axis attitude angle are obtained respectively by the inertial measurement unit sensor and the ultra-wideband sensor set on the remote control, and the ultra-wideband sensor set on the screen, and the pointing position of the remote control output signal on the screen is obtained according to the three-axis attitude angle and the first position coordinate output by the ultra-wideband sensor set on the screen, so as to realize the accurate remote control positioning of the remote control screen, simplify the operation process of the infrared remote control and the Bluetooth remote control in the prior art, and improve the remote control accuracy. The specific implementation of this embodiment refers to the above embodiment and will not be repeated here.

[0162] In an optional embodiment, the controller is arranged on the remote controller or the screen.

[0163] In this embodiment, the controller can be integrated at the remote control end, that is, the controller at the remote control end receives the output signal of the ultra-wideband sensor set on the screen, the output signal of the inertial measurement unit sensor set on the remote control, and the output signal of the ultra-wideband sensor, and realizes the remote control positioning of the remote control output signal to the specified position of the screen according to the output signal of each sensor according to the above remote control positioning method; the controller can also be integrated at the screen end, that is, the controller at the screen end receives the data signal of each sensor, and realizes the remote control positioning of the remote control output signal to the specified position of the screen. Those skilled in the art should set the controller according to the actual application requirements, with the remote control of the screen as the design principle, which will not be repeated here.

[0164] Another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements: obtaining gravity acceleration and angular velocity according to an inertial measurement unit sensor provided on a remote controller, and obtaining an x-axis attitude angle and a y-axis attitude angle according to the gravity acceleration and angular velocity;

[0165] Acquire the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fuse them with the angular velocity of the inertial measurement unit sensor to acquire the z-axis attitude angle;

[0166] The pointing position of the remote control output signal on the screen is obtained according to the first position coordinates, the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle obtained by the ultra-wideband sensor arranged on the screen.

[0167] In practical applications, the computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0168] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0169] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0170] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0171] like Figure 5 As shown, a structural schematic diagram of a computer device provided by another embodiment of the present invention. Figure 5 The computer device T12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0172] like Figure 5 As shown, the computer device T12 is in the form of a general-purpose computing device. The components of the computer device T12 may include, but are not limited to: one or more processors or processing units T16, a system memory T28, and a bus T18 connecting different system components (including the system memory T28 and the processing unit T16).

[0173] Bus T18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0174] The computer device T12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device T12, including volatile and non-volatile media, removable and non-removable media.

[0175] The system memory T28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) T30 and / or cache memory T32. The computer device T12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system T34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical medium) may be provided. In these cases, each drive may be connected to the bus T18 via one or more data medium interfaces. The memory T28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0176] A program / utility T40 having a set (at least one) of program modules T42 may be stored in, for example, memory T28, such program modules T42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules T42 typically perform the functions and / or methods of the embodiments described herein.

[0177] The computer device T12 may also communicate with one or more external devices T14 (e.g., keyboard, pointing device, display T24, etc.), one or more devices that enable a user to interact with the computer device T12, and / or any device that enables the computer device T12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed via an input / output (I / O) interface T22. Furthermore, the computer device T12 may also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN) and / or public network, such as the Internet) via a network adapter T20. Figure 5 As shown, the network adapter T20 communicates with other modules of the computer device T12 via the bus T18. Figure 5 Not shown, other hardware and / or software modules may be used in conjunction with computer device T12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0178] The processor unit T16 executes various functional applications and data processing by running programs stored in the system memory T28, such as implementing a remote control positioning method for a remote controller to remotely control a screen provided in an embodiment of the present invention.

[0179] In view of the existing problems, the present invention develops a remote control positioning method and a remote control system for a remote control screen, and respectively obtains accurate x-axis attitude angle, y-axis attitude angle and z-axis attitude angle through an inertial measurement unit sensor and an ultra-wideband sensor arranged on the remote control, and an ultra-wideband sensor arranged on the screen, and obtains the pointing position of the remote control output signal on the screen according to the three-axis attitude angle and the first position coordinates output by the ultra-wideband sensor arranged on the screen, thereby realizing accurate remote control positioning of the remote control screen, thereby making up for the problems existing in the prior art, being able to simplify the operation process of infrared remote controllers and Bluetooth remote controllers in the prior art, improving remote control accuracy, and having broad application prospects.

[0180] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A remote control positioning method for a remote control screen, characterized in that: include: Acquire gravity acceleration and angular velocity according to an inertial measurement unit sensor provided on the remote controller, and acquire an x-axis attitude angle and a y-axis attitude angle according to the gravity acceleration and angular velocity; Acquire the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fuse them with the angular velocity of the inertial measurement unit sensor to acquire the z-axis attitude angle; The pointing position of the remote control output signal on the screen is obtained according to the first position coordinates, the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle obtained by the ultra-wideband sensor arranged on the screen.

2. The remote control positioning method according to claim 1, characterized in that: The step of acquiring the gravitational acceleration and the angular velocity according to the inertial measurement unit sensor disposed on the remote controller, and acquiring the x-axis attitude angle and the y-axis attitude angle according to the gravitational acceleration and the angular velocity further comprises: Acquire a first x-axis attitude angle and a first y-axis attitude angle according to the gravitational acceleration; Acquire a second attitude angle of the x-axis, a second attitude angle of the y-axis, and a second attitude angle of the z-axis according to the angular velocity; The x-axis attitude angle and the y-axis attitude angle are obtained by fusing the first x-axis attitude angle and the second x-axis attitude angle, and the first y-axis attitude angle and the second y-axis attitude angle.

3. The remote control positioning method according to claim 2, characterized in that: The acquiring of the first x-axis attitude angle and the first y-axis attitude angle according to the gravity acceleration further comprises: [-sin(θ y ),sin(θ x )cos(θ y ),cos(θ x )cos(θ y )] T =[g x ,g y ,g z ] T (2) θ1 x =arctan(g y / g z ) (3) θ1 y =-arcsin(g x ) (4) Among them, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z-axis, [0,0,1] is the gravitational acceleration when not rotated, a x is the gravitational acceleration on the x-axis, a y is the gravitational acceleration on the y-axis, a z is the gravitational acceleration on the z-axis, θ x is the x-axis attitude angle, θ y is the y-axis attitude angle, g x is the gravitational acceleration component of the x-axis, g y is the gravitational acceleration component on the y-axis, g z is the gravitational acceleration component of the z-axis, θ1 x is the first attitude angle of the x-axis, θ1 y is the first attitude angle of the y-axis; The acquiring of the second x-axis attitude angle, the second y-axis attitude angle and the second z-axis attitude angle according to the angular velocity further comprises: The angular velocities relative to the x-axis, y-axis, and z-axis are respectively integrated to obtain the x-axis second attitude angle, the y-axis second attitude angle, and the z-axis second attitude angle: Among them, ω x is the angular velocity of the x-axis, ω y is the angular velocity of the y-axis, ω z is the angular velocity of the z-axis, θ2 x is the second attitude angle of the x-axis, θ2 y is the second attitude angle of the y-axis, θ2 z is the second attitude angle of the z-axis.

4. The remote control positioning method according to claim 3, characterized in that: The step of fusing the first x-axis attitude angle and the second x-axis attitude angle, and the first y-axis attitude angle and the second y-axis attitude angle to obtain the x-axis attitude angle and the y-axis attitude angle further comprises: Obtaining a first attitude angle difference between the x-axis and the y-axis according to the x-axis first attitude angle and the x-axis second attitude angle, and the y-axis first attitude angle and the y-axis second attitude angle; The first attitude angle difference is used as a sliding window for filtering to obtain a first attitude angle difference mean, and the x-axis attitude angle and the y-axis attitude angle are obtained according to the first attitude angle difference mean, the x-axis first attitude angle and the x-axis second attitude angle, and the y-axis first attitude angle and the y-axis second attitude angle.

5. The remote control positioning method according to claim 2, characterized in that: The step of acquiring the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fusing the first position coordinate and the second position coordinate with the angular velocity of the inertial measurement unit sensor to acquire the z-axis attitude angle further comprises: Acquire a first z-axis attitude angle according to the received first position coordinates and second position coordinates, wherein the first position coordinates are position coordinates output by a first ultra-wideband sensor arranged on the screen, and the second position coordinates are position coordinates output by a second ultra-wideband sensor arranged on the remote controller; The z-axis first attitude angle and the z-axis second attitude angle are integrated to obtain the z-axis attitude angle.

6. The remote control positioning method according to claim 5, characterized in that: The step of obtaining the first z-axis attitude angle according to the received first position coordinates and the second position coordinates further comprises: Normalize the first position coordinates and the second position coordinates to obtain a first normalized vector and a second normalized vector: P nc =P c / ||P c ||,P nd =P d / ||P d ||; (6) Among them, P c is the first position coordinate, P nc is the first normalized vector, P d is the second position coordinate, P nd is the second normalized vector; Acquiring the first posture angle of the z-axis according to the equal lengths of the first normalized vector and the second normalized vector includes: θ1 z =arctan2(y c x1-x c y1,x c x1+y c y1) (10) Among them, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z axis, P nc is the first normalized vector, P nd is the second normalized vector, θ1 z is the first attitude angle of the z axis, x c is the x coordinate of the first position, y c is the y coordinate of the first position coordinate, P1 is the intermediate vector, x1 is the vector component of the intermediate vector on the x-axis, and y1 is the vector component of the intermediate vector on the y-axis; The fusing the first z-axis attitude angle and the second z-axis attitude angle to obtain the z-axis attitude angle further comprises: Acquire a second attitude angle difference of the z-axis according to the first attitude angle of the z-axis and the second attitude angle of the z-axis; The second attitude angle difference is used as a sliding window for filtering to obtain a second attitude angle difference mean, and the z-axis attitude angle is obtained according to the second attitude angle difference mean and the z-axis second attitude angle.

7. The remote control positioning method according to claim 2, characterized in that: The step of obtaining the pointing position of the remote control output signal on the screen according to the first position coordinates, x-axis attitude angle, y-axis attitude angle and z-axis attitude angle obtained by the ultra-wideband sensor disposed on the screen further comprises: Performing a noise removal operation on the first position coordinates using a preset filter; Obtaining an x-axis rotation matrix, a y-axis rotation matrix, and a z-axis rotation matrix according to the x-axis attitude angle, the y-axis attitude angle, and the z-axis attitude angle, respectively, to obtain a signal direction vector of the remote control output signal relative to the screen; The position coordinates of the pointing position of the remote control output signal on the screen are obtained according to the first position coordinates after noise removal and the signal direction vector.

8. The remote control positioning method according to claim 7, characterized in that: The step of obtaining an x-axis rotation matrix, a y-axis rotation matrix and a z-axis rotation matrix according to the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle respectively to obtain a signal direction vector of the remote control output signal relative to the screen further comprises: v=R z R y R x [0,1,0] T (11) Wherein, v is the direction of the y-axis of the remote control output signal, R x is the rotation matrix around the x-axis, R y is the rotation matrix around the y axis, R z is the rotation matrix around the z-axis, [0,1,0] is the direction pointing to the y-axis; x is the straight line equation of the remote control output signal on the x-axis relative to the screen, y is the straight line equation of the remote control output signal on the y-axis relative to the screen, z is the straight line equation of the remote control output signal on the z-axis relative to the screen, x c is the x coordinate of the first position, y c is the y coordinate of the first position, z c is the z coordinate of the first position, m is a hyperparameter, x v is the vector component of the signal direction vector on the x-axis, y v is the vector component of the signal direction vector on the y-axis, z v is the vector component of the signal direction vector on the z-axis; The position coordinates of the pointing position of the remote control output signal on the screen are obtained according to the first position coordinates after noise removal and the signal direction vector: When y=0, Among them, x c is the x coordinate of the first position, y c is the y coordinate of the first position, z c is the z coordinate of the first position, x v is the vector component of the signal direction vector on the x-axis, y v is the vector component of the signal direction vector on the y-axis, z v is the vector component of the signal direction vector on the z-axis.

9. A remote control system, characterized in that: The invention comprises a remote controller, a screen and a controller, wherein the controller is configured as follows: Acquire gravity acceleration and angular velocity according to an inertial measurement unit sensor provided on the remote controller, and acquire an x-axis attitude angle and a y-axis attitude angle according to the gravity acceleration and angular velocity; Acquire the first position coordinate and the second position coordinate according to the ultra-wideband sensors respectively arranged on the screen and the remote controller, and fuse them with the angular velocity of the inertial measurement unit sensor to acquire the z-axis attitude angle; The pointing position of the remote control output signal on the screen is obtained according to the first position coordinates, the x-axis attitude angle, the y-axis attitude angle and the z-axis attitude angle obtained by the ultra-wideband sensor arranged on the screen.

10. The remote control system according to claim 9, characterized in that: The controller is arranged on the remote controller or the screen.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the remote control positioning method as described in any one of claims 1 to 8 is implemented.

12. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the remote control positioning method according to any one of claims 1 to 8 is implemented.

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