Space pointing positioning method and device based on UWB

Abstract

The invention discloses a UWB-based spatial pointing positioning method and device, the device comprises a pointing device and a pointed device, the pointing device is provided with at least two pointing device UWB antennas arranged front and back and an IMU inertial navigation chip, the pointed device is at least provided with two UWB anchor points arranged at intervals, the UWB anchor points are provided with at least one UWB anchor point antenna, and the IMU inertial navigation chip is provided with at least one UWB anchor point antenna. A first azimuth angle # imgabs0 # is obtained through an IMU inertial navigation chip of the pointing device, and a second azimuth angle # imgabs1 # is obtained through calculation of a distance and a phase difference obtained through a DS-TWR distance measurement process through cooperation of a UWB antenna and a UWB anchor point antenna of the pointing device. And finally, fusing the first azimuth angle # imgabs2 # and the second azimuth angle # imgabs3 # by adopting a fusion algorithm so as to obtain an accurate pointing posture of the pointing device, and calculating coordinates of a projection point of the pointing device on the pointed device according to the pointing posture.

Description

Technical Field

[0001] The present invention relates to the field of interaction, and in particular to a UWB-based space pointing and positioning method and device. Background Art

[0002] Traditional TV screen interaction methods often only have the up, down, left, and right buttons on the remote control. In some scenarios where quick selection and input are required, such as when using a virtual keyboard, the input efficiency of the remote control is very low. Currently, there are some pointing remote controls on the market that use UWB technology, which can quickly move the cursor to the desired target, greatly improving the efficiency of interaction. However, existing products also have some defects: 1. The existing UWB directional remote control antennas on the market are arranged left and right, occupying a large horizontal area, resulting in the product being made into a remote control shape with a large volume. In addition, the head of the remote control will be slightly raised to place the antenna, affecting the appearance; 2. The existing UWB pointing remote control is usually used in front of the screen, but the pointing effect is not good at the side of the screen, which leads to the limitation of applicable scenarios. For example, in a meeting or teaching scenario, the speaker is often required to hold tools and stand at the side of the screen to do some annotation operations on the interface, which is difficult to meet with existing products. Summary of the invention

[0003] The main purpose of the present invention is to provide a UWB-based spatial pointing positioning method and device that has a normal usage range not only in front of the screen, but also meets the same accuracy requirements in usage scenarios on the sides of the screen, and can meet the use needs of various pointing devices including remote controls and pointer pens.

[0004] The present invention proposes a UWB-based spatial pointing positioning method and device, comprising a pointing device and a pointed device, wherein the pointing device is provided with at least two pointing device UWB antennas arranged front and back, and the pointed device is provided with at least two UWB anchor points arranged at intervals, and a spatial coordinate system based on the UWB anchor points is established through the two UWB anchor points; The pointing device performs DS-TWR ranging with the UWB anchor point respectively, and obtains the coordinates of the pointing device in the spatial coordinate system of the UWB anchor point , and obtaining a phase difference through the pointing device UWB antenna in the pointing device and ; The pointing device is provided with an IMU inertial navigation chip, and the angle between the pointing device and the horizontal plane can be obtained according to the IMU inertial navigation chip. And the first azimuth calculated by inertial navigation ; Through phase difference and and coordinates A gesture vector based on the pointing device can be calculated to obtain a second azimuth angle ; The fusion algorithm is used to calculate the first azimuth and the second azimuth The pointing gesture of the pointing device is obtained by fusion, and the coordinates of the projection point of the pointing device on the pointed device are calculated according to the pointing gesture.

[0005] Preferably, the IMU inertial navigation chip can obtain the attitude rotation matrix R of the pointing device through an attitude algorithm, and obtain a unit vector from the tail to the head according to the installation attitude of the IMU inertial navigation chip inside the pointing device. , and the unit vector Convert to unit vector in geodetic coordinate system , thereby obtaining the pointing device and the horizontal plane Angle , and the first azimuth calculated by inertial navigation .

[0006] Preferably, the endpoint coordinates of the attitude vector satisfying the signal phase difference relationship between the pointing device and the two UWB anchor points are calculated respectively, and the solution of the intersection of the two is taken as the endpoint coordinates of the attitude vector based on the pointing device. .

[0007] Preferably, the fusion algorithm is a Kalman algorithm.

[0008] A device for a UWB-based spatial pointing and positioning method, the device comprising a pointed device, two UWB anchor points spaced apart on the pointed device, and a pointing device; The UWB anchor point includes an anchor point UWB baseband and at least one anchor point UWB antenna; The pointing device includes a pointing device UWB baseband, at least two pointing device UWB antennas arranged front to back, a Bluetooth SoC and an IMU inertial navigation chip.

[0009] Preferably, at least one of the UWB anchor points is provided with two anchor point UWB antennas, and when the UWB anchor point provided with the two anchor point UWB antennas performs DS-TWR ranging with the pointing device, the height of the pointing device in the spatial coordinate system based on the UWB anchor point can be calculated. .

[0010] Preferably, the pointing device is a remote controller or a pointer pen.

[0011] Preferably, the UWB anchor point is arranged in the pointed device.

[0012] Preferably, the UWB anchor point is an external device that can be clamped, set or fixed on the pointed device, and the external device can be located on both sides of the pointed device, on the upper edge of the pointed device, on the lower edge of the pointed device or on the periphery of the pointed device.

[0013] Preferably, an acceleration sensor ACC is provided in the UWB anchor point, and the acceleration sensor ACC can obtain the posture of the UWB anchor point when it is installed, so that the UWB anchor point can adjust its posture according to the antenna pattern when it is installed, so as to face the pointing device with a better orientation of the antenna pattern, so as to improve the system performance. In the process of adjusting the posture, the UWB anchor point can calculate the current posture angle in real time through the acceleration sensor ACC, so as to calculate the height of the pointing device in the spatial coordinate system based on the UWB anchor point. When compensation is given.

[0014] The beneficial effects of the UWB-based spatial pointing positioning method and device of the present invention are: Compared with the prior art design of using dual antennas on the front side of the pointing device, it can be applied to products such as long strips of pointers, and compared with the existing design, the appearance can be more beautiful, so it can be applied to more usage scenarios.

[0015] In addition to being able to be applied to new products, if an external device is installed, it can be applied to old display devices such as TVs and projectors, thereby empowering traditional products so that they have the same functions as new devices.

[0016] It has higher accuracy and is applicable to more scenarios. It can be adapted to usage scenarios such as closer-distance demonstrations, thus meeting the needs of more customers.

[0017] The azimuth is calculated by two methods, and the two calculated azimuths are fused by the Kalman algorithm, so that the final calculated azimuth is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A diagram showing the use status of the UWB-based spatial pointing and positioning method and device of the present invention; Figure 2 It is a structural schematic diagram of one embodiment of the UWB anchor point of the UWB-based spatial pointing and positioning method and device of the present invention; Figure 3 A schematic structural diagram of another embodiment of a UWB anchor point of a UWB-based spatial pointing and positioning method and device of the present invention; Figure 4 It is a schematic structural diagram of a pointing device of a UWB-based spatial pointing positioning method and device of the present invention; Numbers in the figure: 1. pointed device, 2. pointing device, 3. UWB anchor point, 21. UWB baseband of pointing device, 22. Bluetooth SoC, 23. IMU inertial navigation chip, 24. UWB antenna of pointing device, 31. UWB baseband of anchor point, 32. Acceleration sensor ACC, 33. UWB antenna of anchor point.

[0019] The realization of this object, functional features and advantages will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0021] Reference Figure 1 , Figure 2 and Figure 4 An embodiment of the UWB-based spatial pointing positioning method and device of the present invention is proposed: A UWB-based spatial pointing and positioning method and device, the device includes a pointed device 1, two UWB anchor points 3 arranged on both sides of the pointed device 1 and a pointing device 2, the UWB anchor point 3 includes an anchor point UWB baseband 31 and an anchor point UWB antenna 33, the pointing device 2 includes a pointing device UWB baseband 21, two pointing device UWB antennas 24 arranged front to back, a Bluetooth SoC 22 and an IMU inertial navigation chip 23.

[0022] In this embodiment, the pointed device 1 is a TV, and two UWB anchor points 3 are set in the TV and the distance d between them is fixed. In addition to this solution, the pointed device 1 can also be a projector, and the UWB anchor points can be two external devices that can be clamped or fixed on both sides of the pointed device 1. The two external devices communicate with each other and obtain the distance d between them, and obtain the pointed surface based on the midline of the two, which is equivalent to the screen of the TV and the screen of the projector. The external device can be paired with the pointing device 2 by Bluetooth. The pointing device 2 obtains information such as the power of the external device through the Bluetooth connection.

[0023] The pointing device 2 performs DS-TWR ranging with the two UWB anchor points 3 respectively, and obtains the phase difference between the pointing device 2 and the two UWB anchor points 3 and And the distances r1 and r2. The coordinate system is established with the center of the pointed device 1, and the coordinates of the UWB anchor points 3 on the left and right sides are:

[0024] In this embodiment, the height of the pointing device 2 relative to the pointed device 1 in the use environment does not need to change greatly, otherwise the second embodiment of this patent is adopted. Therefore, since the height of the pointing device 2 is within a certain range most of the time, the height of the pointing device 2 is set to It is also set as a known condition, that is, a fixed value, according to the following formula:

[0025] And calculate the coordinates of pointing device 2 .

[0026] The pointing device 2 contains a 6-axis IMU inertial navigation chip 23, and the attitude rotation matrix R of the pointing device 2 can be obtained through the attitude algorithm. According to the installation attitude of the IMU inertial navigation chip 23 inside the pointing device 2, the local coordinate system is abstracted into a unit vector pointing from the tail to the head . Thus, the vector is converted to a vector in the geodetic coordinate system Therefore, the rolling state of the pointing device 2 can be ignored, and the pointing device 2 and the horizontal plane on which it is located can be obtained. Angle , and the first azimuth calculated by inertial navigation .

[0027] Since the first azimuth angle obtained by the pointing device 2 through inertial navigation will have a cumulative error, it is assumed that the attitude vector of the pointing device The end point coordinates are .in

[0028] The phase difference obtained according to DS-TWR ranging is: , the incident angle of the signal received by the pointing device from the left UWB anchor point 3 is:

[0029] in is the wavelength of the UWB signal, is the distance between the two pointing device UWB antennas 24 in front and behind the pointing device. Similarly, the triangle formed by the pointing device vector and the anchor point coordinates should also be calculated to obtain the same angle using the cosine theorem:

[0030] According to the above formula, the end point coordinates of the attitude vector of the pointing device 2 can be calculated: .

[0031] Since the above calculation results may have two solutions, the same algorithm is used to calculate the right UWB anchor point 3 to obtain , thereby eliminating the ambiguity based on the two results obtained, and obtaining the accurate endpoint coordinates of the attitude vector of the pointing device 2 , and the second azimuth angle of the pointing device 2 can be obtained by the formula ;

[0032]

[0033] Second azimuth of the pointing device calculated using UWB , and the first azimuth angle calculated by the inertial navigation system , the Kalman algorithm is used to fuse them, where The measurement jitter is large, but there is no cumulative error, and The measurement jitter is small, but there is a cumulative error. Combining the two ensures the stability and accuracy of the pointing device's attitude vector.

[0034] The pointing device 2 calculates the coordinates of the projection point on the screen through the posture vector, and feeds back the coordinates to the screen through Bluetooth or other communication means, and finally displays a cursor with an accurate position on the screen to complete the absolute pointing function.

[0035] Reference Figure 1 , Figure 3 and Figure 4 , another embodiment of the UWB-based spatial pointing positioning method and device of the present invention is proposed: A spatial pointing and positioning method and device based on UWB, the device includes a pointed device 1, two UWB anchor points 3 arranged on both sides of the pointed device 1 and a pointing device 2, the UWB anchor point 3 includes an anchor UWB baseband 31, two anchor UWB antennas 33 and an acceleration sensor ACC32, in actual use, one UWB anchor point 3 can adopt a single anchor UWB antenna 33, and the other UWB anchor point 3 can adopt a design of two anchor UWB antennas 33, and both adopt a dual-antenna design to obtain higher accuracy and better stability. The pointing device 2 includes a pointing device UWB baseband 21, two pointing device UWB antennas 24 arranged front and back, a Bluetooth SoC 22 and an IMU inertial navigation chip 23.

[0036] In this embodiment, the pointed device 1 is a TV, and two UWB anchor points 3 are set in the TV and the distance d between them is fixed. In addition to this solution, the pointed device 1 can also be a projector, and the UWB anchor points 3 can be two external devices that can be clamped or fixed on both sides of the pointed device 1. The two external devices communicate with each other and obtain the distance d between them, and obtain the pointed surface based on the midline of the two, which is equivalent to the screen of the TV and the screen of the projector. The external device can be paired with the pointing device 2 by Bluetooth. The pointing device 2 obtains information such as the power of the external device through the Bluetooth connection.

[0037] In addition, for the UWB anchor point 3 that exists as an external device, the acceleration sensor ACC32 can obtain the posture of itself when it is installed, so that the UWB anchor point 3 can adjust its posture according to the antenna pattern when it is installed, so as to face the pointing device 2 with a better direction of the antenna pattern, so as to improve the system performance. In the process of adjusting the posture, the UWB anchor point 3 can calculate the current posture angle in real time through the acceleration sensor ACC32, so as to calculate the height of the pointing device in the spatial coordinate system based on the UWB anchor point. When compensation is given.

[0038] The pointing device 2 performs DS-TWR ranging with the UWB anchor point 3 respectively, and obtains the phase difference between the pointing device 2 and the two UWB anchor points 3 and And the distances r1 and r2. Since the dual antenna design is adopted in this embodiment, the UWB anchor point 3 can also receive the pointing device 2. .

[0039] The coordinate system is established with the center of the pointed device 1, and the coordinates of the UWB anchor points on the left and right sides are:

[0040] And according to the following formula:

[0041] in is the antenna spacing between two anchor UWB antennas 33 on a single UWB anchor point. The coordinates of the pointing device 2 are calculated using the above formula: .

[0042] The pointing device contains a 6-axis IMU inertial navigation chip 23, and the attitude rotation matrix R of the remote control can be obtained through the attitude algorithm. According to the installation attitude of the IMU inertial navigation chip 23 inside the pointing device 2, the local coordinate system is abstracted into a unit vector pointing from the tail to the head . Thus, the vector is converted to a vector in the geodetic coordinate system Therefore, the rolling state of the pointing device 2 can be ignored, and the pointing device 2 and the horizontal plane on which it is located can be obtained. Angle , and the first azimuth calculated by inertial navigation .

[0043] Since the first azimuth angle obtained by the pointing device 2 through inertial navigation will have a cumulative error, it is assumed that the attitude vector of the pointing device 2 The end point coordinates are .in

[0044] The phase difference obtained according to DS-TWR ranging is: , the incident angle of the signal received by the pointing device 2 from the left UWB anchor point 3 is:

[0045] in is the wavelength of the UWB signal, is the distance between the two pointing device UWB antennas 24 in front and behind the pointing device 2. Similarly, the triangle formed by the pointing device vector and the anchor point coordinates should also be calculated to obtain the same angle using the cosine theorem:

[0046] According to the above formula, the end point coordinates of the attitude vector of the pointing device 2 can be calculated: .

[0047] Since the above calculation results may have two solutions, the same algorithm is used to calculate the right UWB anchor point 3 to obtain , thereby eliminating the ambiguity based on the two results obtained, and obtaining the accurate endpoint coordinates of the attitude vector of the pointing device 2 , and the second azimuth angle of the pointing device 2 can be obtained by the formula ;

[0048]

[0049] The second azimuth angle of the pointing device 2 calculated using UWB , and the first azimuth angle calculated by the inertial navigation system , the Kalman algorithm is used to fuse them, where The measurement jitter is large, but there is no cumulative error, and The measurement jitter is small, but there is a cumulative error. Combining the two ensures the stability and accuracy of the pointing device's attitude vector.

[0050] The pointing device 2 calculates the coordinates of the projection point on the screen through the posture vector, and feeds back the coordinates to the screen through Bluetooth or other communication means, and finally displays a cursor with an accurate position on the screen to complete the absolute pointing function.

[0051] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A spatial pointing positioning method based on UWB, characterized in that: The device comprises a pointing device and a pointed device, wherein the pointing device is provided with at least two pointing device UWB antennas arranged front to back, the pointed device is provided with at least two UWB anchor points arranged at intervals, and a spatial coordinate system based on the UWB anchor points is established through the two UWB anchor points; The pointing device performs DS-TWR ranging with the UWB anchor point respectively, and obtains the coordinates of the pointing device in the spatial coordinate system of the UWB anchor point , and obtaining a phase difference through the pointing device UWB antenna in the pointing device and ; The pointing device is provided with an IMU inertial navigation chip, and the angle between the pointing device and the horizontal plane can be obtained according to the IMU inertial navigation chip. And the first azimuth calculated by inertial navigation ; Through phase difference and and coordinates A gesture vector based on the pointing device can be calculated to obtain a second azimuth angle ; The fusion algorithm is used to calculate the first azimuth and the second azimuth The pointing gesture of the pointing device is obtained by fusion, and the coordinates of the projection point of the pointing device on the pointed device are calculated according to the pointing gesture.

2. The UWB-based spatial pointing and positioning method according to claim 1, characterized in that: The IMU inertial navigation chip can obtain the attitude rotation matrix R of the pointing device through the attitude algorithm, and obtain a unit vector from the tail to the head according to the installation attitude of the IMU inertial navigation chip inside the pointing device. , and the unit vector Convert to unit vector in geodetic coordinate system , thereby obtaining the pointing device and the horizontal plane Angle , and the first azimuth calculated by inertial navigation .

3. The UWB-based spatial pointing and positioning method according to claim 1, characterized in that: Calculate the endpoint coordinates of the attitude vector between the pointing device and the two UWB anchor points that satisfies the signal phase difference relationship, and take the solution of the intersection of the two as the endpoint coordinates of the attitude vector based on the pointing device .

4. The UWB-based spatial pointing and positioning method according to claim 3, characterized in that: The fusion algorithm is the Kalman algorithm.

5. A device for a spatial pointing positioning method based on UWB, characterized in that: The device comprises a pointed device, two UWB anchor points arranged at intervals on the pointed device, and a pointing device; The UWB anchor point includes an anchor point UWB baseband and at least one anchor point UWB antenna; The pointing device includes a pointing device UWB baseband, at least two pointing device UWB antennas arranged front to back, a Bluetooth SoC and an IMU inertial navigation chip.

6. The device for the UWB-based spatial pointing positioning method according to claim 5, characterized in that: At least one of the UWB anchor points is provided with two anchor point UWB antennas, and when the UWB anchor point provided with the two anchor point UWB antennas performs DS-TWR ranging with the pointing device, the height of the pointing device in the spatial coordinate system based on the UWB anchor point can be calculated. .

7. The device for the UWB-based spatial pointing positioning method according to claim 5, characterized in that: The pointing device is a remote controller or a pointer pen.

8. The device of the UWB-based spatial pointing positioning method according to claim 5, characterized in that: The UWB anchor point is arranged in the pointed device.

9. The device for the UWB-based spatial pointing positioning method according to claim 5, characterized in that: The UWB anchor point is an external device that can be clamped, set or fixed on the pointed device. The external device can be located on both sides of the pointed device, on the upper edge of the pointed device, on the lower edge of the pointed device or on the periphery of the pointed device.

10. The device for the UWB-based spatial pointing positioning method according to claim 9, characterized in that: The UWB anchor point is provided with an acceleration sensor ACC, through which the posture of the UWB anchor point when installed can be obtained, so that the UWB anchor point can adjust its posture according to the antenna pattern when installed, so as to face the pointing device with a better orientation of the antenna pattern, so as to improve the system performance. In the process of adjusting the posture, the UWB anchor point can calculate the current posture angle in real time through the acceleration sensor ACC, so as to calculate the height of the pointing device in the spatial coordinate system based on the UWB anchor point. When compensation is given.

Images