Directional determination method and related equipment

Abstract

The embodiment of the invention provides a direction determination method and related equipment, and relates to the field of communication. In the method, a first attitude parameter of the remote control equipment is acquired; the first attitude parameter is used for indicating a first attitude change trend of the remote control equipment relative to the controlled equipment in a first time period. Acquiring a second attitude parameter of the remote control equipment; the second attitude parameter is used for indicating a second attitude change trend of the remote control equipment in the first time period compared with the first moment. Wherein the first moment is earlier than the first time period. And when the first attitude change trend and the second attitude change trend are the same or similar, determining that the remote control equipment points to the controlled equipment. In the scheme, whether the remote control equipment points to the controlled equipment is determined by using the first attitude parameter and the second attitude parameter of the remote control equipment, and when the first attitude change trend and the second attitude change trend are determined to be the same or similar, the remote control equipment can be determined to point to the controlled equipment.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communications, and in particular to a direction determination method and related equipment. Background Art

[0002] Ultra Wide Band (UWB) technology is a wireless carrier communication technology that does not use a sinusoidal carrier but uses nanosecond non-sinusoidal narrow pulses to transmit data, so it occupies a wide spectrum range. UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is especially suitable for high-speed wireless access in dense multipath places such as indoors.

[0003] refer to Figure 1A , Figure 1A is a schematic diagram of a display system provided in an embodiment of the present application; the display system includes a display screen 101 and a remote control 102. The display screen 101 is provided with a UWB antenna assembly (not shown), and the remote control 102 is provided with a UWB antenna (not shown). The remote control 102 exchanges signals with the UWB antenna assembly of the display screen 101 through the UWB antenna, and can calculate the posture and position of the remote control 102 relative to the display screen 101, thereby calculating the specific position of the current pointing display screen, and displaying the cursor at the corresponding position. However, in some cases, it is impossible to distinguish whether the remote control 102 is facing the display screen 101 or facing away from the display screen 101, resulting in the cursor being displayed in both cases of facing the display screen 101 and facing away from the display screen 101. Summary of the invention

[0004] The present application provides a pointing determination method and related devices, which can determine whether a remote control device is pointing to a controlled device.

[0005] In a first aspect, a pointing determination method is provided, which can be executed by a pointing determination device or by a chip in the pointing determination device. The pointing determination device can be a remote control device or a controlled device, etc., and is not limited to this. The remote control device is used to control the controlled device.

[0006] The above-mentioned pointing determination method includes: obtaining a first posture parameter of the remote control device. The first posture parameter is used to indicate a first posture change trend of the remote control device relative to the controlled device within a first time period. Obtaining a second posture parameter of the remote control device. The second posture parameter is used to indicate a second posture change trend of the remote control device within the first time period compared to a first moment. The first moment is earlier than the first time period. When the first posture change trend and the second posture change trend are the same or similar, it is determined that the remote control device is pointing to the controlled device.

[0007] The first posture parameter may be understood as indicating an absolute posture change trend of the remote control device, and the second posture parameter may be understood as indicating a relative posture change trend of the remote control device.

[0008] It can be seen that in this solution, the first posture parameter and the second posture parameter of the remote control device are used to determine whether the remote control device is pointing to the controlled device. When it is determined that the first posture change trend and the second posture change trend are the same or similar, it can be determined that the remote control device is pointing to the controlled device. The above-mentioned pointing means that the head of the remote control device is facing the controlled device, that is, the remote control device is pointing directly at the controlled device.

[0009] In a possible implementation of the first aspect, after determining that the remote control device is pointing to the controlled device, the pointing determination method further includes: controlling the controlled device to perform the first operation based on a third posture parameter of the remote control device, the third posture parameter being used to indicate the posture of the remote control device relative to the controlled device at the current moment. The third posture parameter can be understood as being used to indicate the absolute posture of the remote control device at the current moment.

[0010] The first operation may be any operation, such as controlling the controlled device to display a cursor corresponding to the remote control device, controlling the controlled device to mute, controlling the controlled device to play music, controlling the controlled device to turn on or off, or controlling the controlled device to display a dragged interface, etc. The display position of the cursor is a projection position of the remote control device in the controlled device determined based on the third posture parameter.

[0011] In a possible implementation of the first aspect, the parameters used to characterize the similarity between the first posture change trend and the second posture change trend include at least one of the following: a first parameter used to characterize the magnitude of the correlation between the first posture parameter and the second posture parameter; a second parameter used to characterize the magnitude of the difference fluctuation between the first posture parameter and the second posture parameter; and a maximum difference value V2 between the first posture parameter and the second posture parameter.

[0012] The first parameter may be at least one of the following: convolution of the first posture parameter and the second posture parameter, linear correlation coefficient, chi-square test value or sum of products R. The second parameter may be at least one of the following: variance V1 or standard deviation of the first posture parameter and the second posture parameter.

[0013] Exemplarily, the sum of the products R is calculated as: R = ∑(dI(i)*dU(i)), where dI(i) = I(i)-I(1), i∈(2,n), dU(i) = U(i)-U(1), i∈(2,n). Assuming that the attitude parameters of the remote control device are collected at an acquisition frequency of p, one frame of data can be obtained each time the acquisition is performed. Therefore, 2n frames of data can be obtained, which are the first attitude parameter U(n) and the second attitude parameter I(n), respectively, n is greater than or equal to two, and the specific value of n can be set according to the actual situation.

[0014] Exemplarily, the variance V1 is calculated as: V1=var(dI(i)-dU(i)), i∈(2,n). var represents the variance.

[0015] Exemplarily, the maximum difference value V2 is calculated as: V2=max(dI(i)-dU(i)), i∈(2,n). max indicates finding the maximum value.

[0016] In a possible implementation of the first aspect, the first posture parameter includes at least one of the following: a quaternion, an azimuth angle, or a pitch angle, and the second posture parameter includes a parameter of the same type as the first posture parameter. The quaternion is composed of a real number and three complex numbers and is used to characterize the posture of the device.

[0017] In a possible implementation of the first aspect, the obtaining of the first attitude parameter of the remote control device specifically includes: obtaining a first direction finding signal received by a direction finding unit of the remote control device within a first time period. The direction finding unit includes at least one of the following: a star flash direction finding unit, an ultra-wideband direction finding unit, a Bluetooth direction finding unit, a wireless fidelity WiFi direction finding unit, a millimeter wave radar direction finding unit, or an ultrasonic direction finding unit. The first direction finding signal is transmitted by a direction finding base station. The first attitude parameter is determined based on the first direction finding signal.

[0018] In this solution, the first posture parameter can be determined based on the first direction finding signal received by the direction finding unit of the remote control device in the first time period.

[0019] In a possible implementation of the first aspect, the acquiring the first posture parameter of the remote control device specifically includes: receiving the first posture parameter sent by the controlled device.

[0020] In this solution, the first attitude parameter of the remote control device can also be directly obtained through the controlled device, wherein the controlled device obtains the first attitude parameter based on the above-mentioned first direction-finding signal.

[0021] In a possible implementation of the first aspect, the acquiring the second posture parameter of the remote control device specifically includes: acquiring the second posture parameter through an inertial direction finding unit of the remote control device.

[0022] In a second aspect, the present application provides a pointing determination device, the pointing determination device comprising an acquisition module and a determination module, wherein:

[0023] The acquisition module is used to acquire a first posture parameter of the remote control device. The first posture parameter is used to indicate a first posture change trend of the remote control device relative to the controlled device within a first time period.

[0024] The acquisition module is further used to acquire a second posture parameter of the remote control device. The second posture parameter is used to indicate a change trend of the second posture of the remote control device in a first time period compared to a first moment. The first moment is earlier than the first time period.

[0025] The determination module is used to determine that the remote control device is pointing to the controlled device when the first posture change trend and the second posture change trend are the same or similar.

[0026] In this solution, the pointing determination device uses the first posture parameter and the second posture parameter of the remote control device to determine whether the remote control device is pointing to the controlled device. When it is determined that the first posture change trend and the second posture change trend are the same or similar, it can be determined that the remote control device is pointing to the controlled device.

[0027] In a possible implementation of the second aspect, the orientation determination device further includes a control module.

[0028] The control module is used to control the controlled device to perform a first operation based on a third posture parameter of the remote control device after determining that the remote control device is pointing to the controlled device. The third posture parameter is used to indicate the posture of the remote control device relative to the controlled device at the current moment.

[0029] In a possible implementation of the second aspect, the parameters used to characterize the similarity between the first posture change trend and the second posture change trend include at least one of the following: a first parameter used to characterize the magnitude of the correlation between the first posture parameter and the second posture parameter; a second parameter used to characterize the magnitude of the difference fluctuation between the first posture parameter and the second posture parameter; and a maximum value of the difference between the first posture parameter and the second posture parameter.

[0030] In a possible implementation of the second aspect, the first posture parameter includes at least one of the following: a quaternion, an azimuth angle, or a pitch angle, and the second posture parameter includes a parameter of the same type as the first posture parameter.

[0031] In a possible implementation of the second aspect, the acquisition module is specifically used to acquire the first attitude parameter of the remote control device by: acquiring a first direction finding signal received by a direction finding unit of the remote control device within a first time period. The direction finding unit includes at least one of the following: a star flash direction finding unit, an ultra-wideband direction finding unit, a Bluetooth direction finding unit, a wireless fidelity WiFi direction finding unit, a millimeter wave radar direction finding unit, or an ultrasonic direction finding unit. The first direction finding signal is transmitted by a direction finding base station. The first attitude parameter is determined based on the first direction finding signal.

[0032] In a possible implementation of the second aspect, in terms of acquiring the first posture parameter of the remote control device, the acquisition module is specifically configured to: receive the first posture parameter sent by the controlled device.

[0033] In a possible implementation of the second aspect, the acquisition module is specifically used to acquire the second posture parameter of the remote control device by using an inertial direction finding unit of the remote control device.

[0034] In a third aspect, the present application also provides a pointing determination device, comprising a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to call the program code to execute the pointing determination method as described in the first aspect.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the pointing determination method as described in the first aspect.

[0036] In a fifth aspect, the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the pointing determination method described in the first aspect.

[0037] In a sixth aspect, the present application further provides a chip, comprising a processor and a data interface, wherein the processor reads instructions stored in a memory through the data interface to execute the pointing determination method described in the first aspect.

[0038] Optionally, as an implementation method, the chip may further include a memory, in which instructions are stored, and the processor is used to execute the instructions stored in the memory. When the instructions are executed, the processor is used to execute the pointing determination method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following is an introduction to the drawings used in the embodiments of the present application.

[0040] Figure 1Ais a schematic diagram of a display system provided in an embodiment of the present application;

[0041] Figure 1B is a schematic diagram of a remote control provided in an embodiment of the present application;

[0042] Figure 2 is a schematic diagram of a communication system provided in an embodiment of the present application;

[0043] Figure 3 is a flow chart of a method for determining a direction provided by an embodiment of the present application;

[0044] Figure 4A is a schematic diagram of a first posture parameter and a second posture parameter provided in an embodiment of the present application;

[0045] Figure 4B is a schematic diagram of another first posture parameter and a second posture parameter provided in an embodiment of the present application;

[0046] Figure 4C is a cursor display schematic diagram provided in an embodiment of the present application;

[0047] Figure 4D is a schematic diagram of a remote control device provided in an embodiment of the present application;

[0048] Figure 4E is a schematic diagram of a direction finding base station coordinate system provided in an embodiment of the present application;

[0049] Figure 4F is a schematic diagram of a remote control device coordinate system provided in an embodiment of the present application;

[0050] Figure 4G is a schematic diagram of a direction finding unit provided in an embodiment of the present application;

[0051] Figure 4H is a schematic diagram of another direction finding unit provided in an embodiment of the present application;

[0052] Fig. 4I is a schematic diagram of another direction finding unit provided in an embodiment of the present application;

[0053] Figure 4J is a schematic diagram of another direction finding unit provided in an embodiment of the present application;

[0054] Figure 4K is a waveform diagram of an azimuth angle provided in an embodiment of the present application;

[0055] Figure 4L is a schematic diagram of a determination control device provided in an embodiment of the present application;

[0056] Figure 5is a structural schematic diagram of a direction determination device provided in an embodiment of the present application;

[0057] Figure 6 It is a structural diagram of another direction determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0059] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0060] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "multiple" refers to two or more. "At least one of the following" or its similar expression refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are an "or" relationship. The serial numbers of the steps of the embodiments of the present application (such as step S1, step S21, etc.) are only for distinguishing different steps, and do not limit the order of execution between the steps.

[0061] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first device and the second device are only for the convenience of description, and do not represent the difference in structure, importance, etc. between the first device and the second device. In some embodiments, the first device and the second device can also be the same device.

[0062] In the above embodiments, the term "when..." can be interpreted as meaning "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modification, equivalent substitution, improvement, etc. made within the concept and principle of the present application shall be included in the protection scope of the present application.

[0063] refer to Figure 1A In some cases, the display system shown in FIG. 1 cannot distinguish whether the remote controller 102 is facing the display screen 101 or facing away from the display screen 101, resulting in the cursor being displayed in both the cases of facing the display screen 101 and facing away from the display screen 101. Figure 1B , Figure 1B 1 is a schematic diagram of a remote control provided in an embodiment of the present application; the UWB antenna 103 of the remote control 102 has no longitudinal freedom, that is, the two UWB antennas are arranged horizontally, resulting in the remote control 102 being unable to distinguish whether the UWB signal comes from the front or the back. In this way, when the remote control 102 is facing the display screen 101, the remote control 102 can receive the UWB signal A incident from the front and then display the cursor. When the remote control 102 is facing away from the display screen 101, the remote control 102 can also receive the UWB signal B incident from the back and then display the cursor, resulting in incorrect display of the cursor.

[0064] Therefore, an embodiment of the present application provides a pointing determination method, which can determine whether the remote control device is pointing at the controlled device. The above-mentioned pointing means that the head of the remote control device is facing the controlled device, that is, the remote control device is facing the controlled device. The pointing determination method of the embodiment of the present application can be used to distinguish whether the remote control device is facing the controlled device or facing away from the controlled device.

[0065] refer to Figure 2 , Figure 2 2 is a schematic diagram of a communication system provided in an embodiment of the present application. The pointing determination method in the embodiment of the present application can be applied to a communication system 200. The communication system 200 includes a remote control device 201 and a controlled device 202. The remote control device 201 is used to control the controlled device 202. The remote control device 201 and the controlled device 202 can perform wireless transmission, for example: the wireless transmission includes Bluetooth, infrared, mobile network, wireless local area network (Wireless Local Area Network, WLAN), NearLink, ultra-wideband UWB, wireless fidelity (WIreless Fidelity, WiFi), millimeter wave radar or ultrasonic transmission.

[0066] Exemplarily, the remote control device 201 includes a device with a remote control function, such as a remote controller, a vehicle key, a mobile phone, or a watch.

[0067] Exemplarily, the controlled device 202 includes vehicles, computers, drones, televisions, display screens, projectors, speakers, sweeping robots, home appliances such as lamps or air conditioners, remote-controlled toys, and other devices.

[0068] The pointing determination method of the embodiment of the present application can be executed by a pointing determination device, or by a chip in the pointing determination device. The above-mentioned pointing determination device can be a remote control device or a controlled device, etc., and this is not limited. In the following, the pointing determination method of the embodiment of the present application is described by taking the pointing determination device executing the pointing determination method of the embodiment of the present application as an example.

[0069] refer to Figure 3 , Figure 3 3 is a flow chart of a method for determining a direction provided by an embodiment of the present application. The method 300 for determining a direction includes the following steps:

[0070] 301. A pointing determination device obtains a first posture parameter of a remote control device.

[0071] Specifically, the first posture parameter is used to indicate a first posture change trend of the remote control device relative to the controlled device within a first time period. The first posture parameter can be understood as indicating an absolute posture change trend of the remote control device. Further, the first posture parameter is composed of multiple absolute posture parameters within the first time period.

[0072] 302. The pointing determination device obtains a second posture parameter of the remote control device.

[0073] Specifically, the second posture parameter is used to indicate the second posture change trend of the remote control device in the first time period compared to the first moment. The second posture parameter can be understood as indicating the relative posture change trend of the remote control device. Further, the second posture parameter is composed of multiple relative postures in the first time period.

[0074] The first moment is earlier than the first time period. Exemplarily, the first moment may be a moment when the remote control device is initialized or other moments earlier than the first time period.

[0075] 303. When the first posture change trend and the second posture change trend are the same or similar, the pointing determination device determines that the remote control device points to the controlled device.

[0076] In the pointing determination method of the embodiment of the present application, the first posture parameter and the second posture parameter of the remote control device are used to determine whether the remote control device is pointing to the controlled device. When it is determined that the first posture change trend and the second posture change trend are the same or similar, it can be determined that the remote control device is pointing to the controlled device. That is, the pointing determination device can distinguish the pointing direction of the remote control device, and the above-mentioned pointing direction includes pointing directly to the controlled device or facing away from the controlled device.

[0077] Exemplarily, the first posture change trend and the second posture change trend being the same can be understood as the similarity between the posture change trend indicated by the first posture parameter and the posture change trend indicated by the second posture parameter reaches 100% in the first time period. The first posture change trend and the second posture change trend being similar can be understood as the similarity between the posture change trend indicated by the first posture parameter and the posture change trend indicated by the second posture parameter exceeds a first threshold value in the first time period. The specific value of the first threshold value can be set according to actual conditions without any special limitation. Exemplarily, reference Figure 4A , Figure 4A is a schematic diagram of a first posture parameter and a second posture parameter provided by an embodiment of the present application, wherein the first posture parameter and the second posture parameter are respectively represented as line graphs, and a curve 401 corresponding to the first posture parameter and a curve 402 corresponding to the second posture parameter can be obtained. It can be seen that, Figure 4A The changing trends of the curve 401 and the curve 402 are similar. Figure 4B , Figure 4B is a schematic diagram of another first posture parameter and a second posture parameter provided in an embodiment of the present application; Figure 4B The changing trends of the middle curve 401 and the curve 402 are neither the same nor similar.

[0078] In one possible implementation, reference Figure 3 After the pointing determination device determines that the remote control device is pointing to the controlled device, the pointing determination method 300 further includes the following steps:

[0079] 304. The pointing determination device controls the controlled device to perform a first operation based on a third posture parameter of the remote control device.

[0080] Specifically, the third posture parameter is used to indicate the posture of the remote control device relative to the controlled device at the current moment. The third posture parameter can be understood as indicating the absolute posture of the remote control device at the current moment.

[0081] Among them, the above-mentioned first operation can be any operation, for example, controlling the controlled device to display the cursor corresponding to the remote control device, controlling the controlled device to mute, controlling the controlled device to play music, controlling the controlled device to turn on or off, or controlling the controlled device to display the dragged interface, etc.

[0082] The display position of the above-mentioned cursor is the projection position of the remote control device in the controlled device determined based on the third posture parameter. Specifically, exemplarily, when the direction-finding base station is set on the controlled device, the third posture parameter of the remote control device is equivalent to a vector, and the vector is projected to the controlled device (the size and resolution of the display screen of the controlled device are known), and the projection position of the remote control device in the controlled device can be determined by projection conversion. As another example, when the direction-finding base station is not set on the controlled device, it is necessary to obtain the position of the controlled device at this time, and the projection position of the remote control device in the controlled device can be determined based on the position and the third posture parameter of the remote control device. To achieve the effect of displaying the cursor only when the remote control device points to the controlled device, refer to Figure 4C , Figure 4C 4 is a cursor display schematic diagram provided by an embodiment of the present application; wherein, the controlled device 406 is taken as an example of a display screen, when the remote control device is in a first posture 403, the remote control device is facing the controlled device 406, and the controlled device 406 displays a cursor. When the remote control device is in a second posture 404, the remote control device is facing away from the controlled device 406, and the controlled device 406 does not display a cursor. When the remote control device is in a third posture 405, the remote control device is not pointing at the controlled device 406 (the direction of the remote control device deviates from the controlled device 406), and the controlled device 406 does not display a cursor.

[0083] For example, when the remote control device points to the controlled device, the remote control device works in the pointing mode. The cursor is displayed only when the remote control device points to the controlled device. The effect of the pointing mode is referenced to Figure 4C .

[0084] For example, when the remote control device is not pointing at the controlled device, the remote control device works in the air mouse mode. In the air mouse mode, the remote control device has no pointing effect, and the cursor is displayed no matter which direction it points to, so there is no need to distinguish between positive and negative directions.

[0085] Exemplarily, when the third posture parameter satisfies the preset condition, the pointing determination device controls the controlled device to perform a first operation. The first operation, for example, controls the controlled device to mute, controls the controlled device to play music, controls the controlled device to turn on or off, or controls the controlled device to display a dragged interface. Exemplarily, the preset condition is that the third posture parameter falls within a first range, and the first range can be set according to actual conditions. For example, when the third posture parameter is an absolute azimuth, the preset condition is that the absolute azimuth falls within the azimuth range. For another example, when the third posture parameter is an absolute azimuth and an absolute pitch angle, the preset condition is that the absolute azimuth falls within the azimuth range, and the absolute pitch angle falls within the pitch angle range. For details, please refer to the following Figure 4L Related records.

[0086] In a possible implementation, the first posture parameter includes at least one of the following: a quaternion, an azimuth angle, or a pitch angle, and the second posture parameter includes a parameter of the same type as the first posture parameter.

[0087] Among them, quaternion is composed of a real number and three complex numbers, which are used to represent the posture of the device. Specifically, quaternion is a simple hypercomplex number. Complex number is composed of real number plus imaginary unit i, where i 2 =-1. Similarly, quaternions are composed of real numbers plus three imaginary units i, j and k, and they have the following relationship: i 2 =j 2 =k 2 =-1,i 0 =j 0 =k 0 =1, each quaternion is a linear combination of 1, i, j and k, that is, quaternion can be generally expressed as a+bi+cj+dk, where a, b, c, d are real numbers. The geometric meaning of i, j and k themselves can be understood as a kind of rotation, where i rotation represents the rotation from the positive direction of the Z axis to the positive direction of the Y axis in the plane where the Z axis intersects with the Y axis, j rotation represents the rotation from the positive direction of the X axis to the positive direction of the Z axis in the plane where the X axis intersects with the Z axis, k rotation represents the rotation from the positive direction of the Y axis to the positive direction of the X axis in the plane where the Y axis intersects with the X axis, -i, -j, -k represent the reverse rotations of i, j, k rotations respectively.

[0088] Exemplarily, when the first posture parameter is a quaternion, the second posture parameter is a quaternion. In this case, the first posture parameter is an absolute quaternion, and the second posture parameter is a relative quaternion.

[0089] Exemplarily, when the first posture parameter is an azimuth, the second posture parameter is an azimuth. In this case, the first posture parameter is an absolute azimuth, and the second posture parameter is a relative azimuth.

[0090] Exemplarily, when the first attitude parameter is the pitch angle, the second attitude parameter is the pitch angle. In this case, the first attitude parameter is the absolute pitch angle, and the second attitude parameter is the relative pitch angle.

[0091] Exemplarily, when the first posture parameter is a quaternion and an azimuth, the second posture parameter is a quaternion and an azimuth. In this case, the first posture parameter is an absolute quaternion and an absolute azimuth, and the second posture parameter is a relative quaternion and a relative azimuth.

[0092] Exemplarily, when the first attitude parameter is a quaternion and a pitch angle, the second attitude parameter is a quaternion and a pitch angle. In this case, the first attitude parameter is an absolute quaternion and an absolute pitch angle, and the second attitude parameter is a relative quaternion and a relative pitch angle.

[0093] Exemplarily, when the first attitude parameter is an azimuth and a pitch angle, the second attitude parameter is an azimuth and a pitch angle. In this case, the first attitude parameter is an absolute azimuth and an absolute pitch angle, and the second attitude parameter is a relative azimuth and a relative pitch angle.

[0094] Exemplarily, when the first attitude parameter is a quaternion, an azimuth and a pitch angle, the second attitude parameter is a quaternion, an azimuth and a pitch angle. In this case, the first attitude parameter is an absolute quaternion, an absolute azimuth and an absolute pitch angle, and the second attitude parameter is a relative quaternion, a relative azimuth and a relative pitch angle.

[0095] Exemplarily, the absolute azimuth angle refers to the horizontal angle of the remote control device relative to the controlled device. The relative azimuth angle refers to the horizontal angle change of the remote control device in the first time period compared to the first moment. The absolute pitch angle refers to the vertical angle of the remote control device relative to the controlled device. The relative pitch angle refers to the vertical angle change of the remote control device in the first time period compared to the first moment.

[0096] In a possible implementation, the above step 301 specifically includes:

[0097] 311. The direction determining device obtains a first direction finding signal received by a direction finding unit of the remote control device within a first time period.

[0098] For example, reference Figure 4D , Figure 4D 4 is a schematic diagram of a remote control device provided in an embodiment of the present application, wherein the remote control device 407 includes a direction finding unit 408. The direction finding unit 408 includes at least one of the following: a star flash direction finding unit, an ultra-wideband UWB direction finding unit, a Bluetooth direction finding unit, a wireless fidelity WiFi direction finding unit, a millimeter wave radar direction finding unit, or an ultrasonic direction finding unit. The first direction finding signal is emitted by the controlled device. The remote control device 407 receives the first direction finding signal emitted by the direction finding base station through the direction finding unit 408. Accordingly, when the direction finding unit 408 is a UWB direction finding unit, the direction finding base station is a UWB base station, and the first direction finding signal is a UWB signal; when the direction finding unit 408 is a Bluetooth direction finding unit, the direction finding base station is a Bluetooth base station, and the first direction finding signal is a Bluetooth signal, and so on.

[0099] The direction finding base station may be arranged on a fixed object such as a wall or a partition, or the direction finding base station may be arranged on other intelligent devices, for example, the direction finding base station may be arranged on a controlled device.

[0100] 312. The orientation determination device determines a first attitude parameter based on the first orientation measurement signal.

[0101] In the embodiment of the present application, the orientation determination device may determine the first posture parameter based on the first direction finding signal received by the direction finding unit 408 within the first time period.

[0102] The following is an explanation of the definitions of azimuth and elevation angles:

[0103] First, establish the direction finding base station coordinate system. Figure 4E , Figure 4E is a schematic diagram of a direction finding base station coordinate system provided in an embodiment of the present application; illustratively, the direction finding base station 410 adopts a three-antenna structure, Figure 4E Two possible three-antenna configurations are shown in Figure 1, one is an L-shaped antenna structure and the other is a triangular antenna structure. Figure 4E The arrow 411 in FIG. 4 is perpendicular to the horizontal plane and points upward for installation. For example, the direction finding base station 410 can be installed on a wall or a partition, or can be integrated on other smart devices (such as a controlled device), such as the top of a large screen.

[0104] After the direction finding base station 410 is installed, the direction finding base station coordinate system (abbreviated as e system) can be established. The e system is based on the 0th antenna ( Figure 4E The center of the antenna 0) in the coordinate system is taken as the center O, and the X axis X e Parallel to the bottom edge of the base station and pointing to the left, e is the Y axis Y e Pointing to the direction of the front of the base station, e is the Z axis Z e Perpendicular to X e OY e Flat and upward, with X e Axis and Y e The axis satisfies the right-hand rule.

[0105] Next, establish the coordinate system of the remote control device. Figure 4F , Figure 4F 412. FIG. 4 is a schematic diagram of a remote control device coordinate system provided in an embodiment of the present application; the origin of the remote control device coordinate system (abbreviated as p system) is located at the center O of the remote control device 412, and the x-axis x of the p system is p Along the horizontal axis of the remote control device 412, p is the Y axis Y p Along the longitudinal axis of the remote control device 412, p is the Z axis Z p X perpendicular to the p system p OY p The plane faces outward and the coordinate axes of the remote control device conform to the right-hand rule.

[0106] Therefore, the attitude angle is determined by the rotation relationship between the P system and the E system, which is composed of the azimuth angle (also called heading angle) ψ, the pitch angle And the roll angle θ are composed of three Euler angles. Among them, for example, the pitch angle is Y in the p system p Axis and X in e-system e OY e The angle between the two planes is positive when the remote control device is tilted upward.p The axis is X in the e system e OY e Projection on the surface and Y e The angle between the axes is positive when the head of the remote control device is yawed to the right. p Axis and contains Y p The angle between the plumb planes of the axes is positive when the remote control device tilts to the right.

[0107] Exemplarily, when the direction finding unit 408 is a UWB direction finding unit, the UWB direction finding unit includes at least two UWB antennas. Figure 4G , Figure 4G It is a schematic diagram of a direction-finding unit provided in an embodiment of the present application; the UWB direction-finding unit includes a first UWB antenna 481, a second UWB antenna 482 and a third UWB antenna 483. In the embodiment of the present application, the first attitude parameter is the azimuth and the pitch angle. The first UWB antenna 481 and the second UWB antenna 482 are UWB antennas in the horizontal direction. The azimuth of the remote control device 407 can be determined according to the first direction-finding signal received by the first UWB antenna 481 and the second UWB antenna 482. The first UWB antenna 481 and the third UWB antenna 483 are UWB antennas in the vertical direction, wherein the third UWB antenna 483 is arranged directly below the first UWB antenna 481. The pitch angle of the remote control device 407 can be determined according to the first direction-finding signal received by the first UWB antenna 481 and the third UWB antenna 483. As another example, refer to Figure 4H , Figure 4H It is a schematic diagram of another direction-finding unit provided in an embodiment of the present application; wherein, the first UWB antenna 481 and the third UWB antenna 483 are UWB antennas in the vertical direction, and the difference is that the third UWB antenna 483 is arranged at the lower left of the first UWB antenna 481.

[0108] For example, reference Fig. 4I , Fig. 4I is a schematic diagram of another direction finding unit provided in an embodiment of the present application; in this embodiment, the first attitude parameter is a pitch angle, and the direction finding unit includes a first UWB antenna 481 and a third UWB antenna 483, which are UWB antennas in a vertical direction, wherein the third UWB antenna 483 is arranged directly below the first UWB antenna 481. The pitch angle of the remote control device 407 can be determined according to the first direction finding signal received by the first UWB antenna 481 and the third UWB antenna 483.

[0109] For example, reference Figure 4J , Figure 4J4 is a schematic diagram of another direction-finding unit provided in an embodiment of the present application; in this embodiment, the first attitude parameter is an azimuth, and the direction-finding unit includes a first UWB antenna 481 and a second UWB antenna 482, which are UWB antennas in the horizontal direction. The azimuth of the remote control device 407 can be determined according to the first direction-finding signal received by the first UWB antenna 481 and the second UWB antenna 482.

[0110] In a possible implementation, the above step 301 specifically includes:

[0111] 313. The pointing determination device receives a first posture parameter sent by the controlled device.

[0112] In the embodiment of the present application, the pointing determination device may also directly obtain the first attitude parameter of the remote control device through the controlled device, wherein the controlled device obtains the first attitude parameter based on the first direction finding signal. In the embodiment, the pointing determination device may be a remote control device.

[0113] Exemplarily, the controlled device obtains a first direction finding signal received by a direction finding unit of the remote control device, determines a first attitude parameter based on the first direction finding signal, and then sends the first attitude parameter to the direction determination device.

[0114] In a possible implementation, the above step 302 specifically includes:

[0115] The pointing determination device obtains the second attitude parameter through an inertial measurement unit (IMU) of the remote control device.

[0116] Specifically, refer to Figure 4D The remote control device includes an inertial orientation unit 409 , and the inertial orientation unit 409 can directly obtain the second posture parameter, and the pointing determination device obtains the second posture parameter through the inertial orientation unit 409 .

[0117] In a possible implementation, the parameter used to characterize the similarity between the first posture change trend and the second posture change trend includes at least one of the following:

[0118] A first parameter for characterizing the magnitude of the correlation between the first posture parameter and the second posture parameter;

[0119] A second parameter for characterizing the fluctuation magnitude of the difference between the first posture parameter and the second posture parameter;

[0120] The maximum value V2 of the difference between the first posture parameter and the second posture parameter.

[0121] Specifically, when the parameter characterizing the similarity is the first parameter, and the first parameter is greater than the second threshold, it can be considered that the similarity between the first posture change trend and the second posture change trend is greater than the first threshold. When the parameter characterizing the similarity is the second parameter, and the second parameter is less than the third threshold, it can be considered that the similarity is greater than the first threshold. When the parameter characterizing the similarity is the maximum difference, and the maximum difference is less than the fourth threshold, it can be considered that the similarity is greater than the first threshold. The second threshold, the third threshold, and the fourth threshold can be the same or different, and are set according to actual conditions.

[0122] Exemplarily, the first parameter may be at least one of the following: a convolution of the first posture parameter and the second posture parameter, a linear correlation coefficient, a chi-square test value, or a sum of products R.

[0123] The linear correlation coefficient is also called the Pearson correlation coefficient, which mainly measures the degree of linear correlation between two variables. For example, the linear correlation coefficient is calculated by the product difference method, which is also based on the deviation of the two variables from their respective mean values, and reflects the degree of correlation between the two variables by multiplying the two deviations.

[0124] The chi-square test is the degree of deviation between the actual observed values ​​and the theoretical inference values ​​of the statistical sample. The degree of deviation between the actual observed values ​​and the theoretical inference values ​​determines the size of the chi-square test value. If the chi-square test value is larger, the deviation between the actual observed values ​​and the theoretical inference values ​​is greater; conversely, the deviation between the two is smaller; if the two values ​​are completely equal, the chi-square test value is 0, indicating that the theoretical value is completely consistent.

[0125] Exemplarily, the second parameter may be at least one of the following: a variance V1 or a standard deviation of the first posture parameter and the second posture parameter. Variance in statistics refers to the average of the square values ​​of the difference between each sample value and the average of all sample values. The standard deviation is the arithmetic square root of the variance.

[0126] In the embodiment of the present application, it is assumed that the attitude parameters of the remote control device are collected at an acquisition frequency of p, and one frame of data can be obtained each time the acquisition is performed. Therefore, 2n frames of data can be obtained, which are the first attitude parameter U(n) and the second attitude parameter I(n), respectively. n is greater than or equal to two, and the specific value of n can be set according to the actual situation. The first attitude parameter U(n) includes the absolute attitude parameters of n remote control devices (such as azimuth, pitch angle, quaternion, etc.), and the second attitude parameter I(n) includes the relative attitude parameters of n remote control devices (such as azimuth, pitch angle, quaternion, etc.). The specific value of p can be set according to the actual situation.

[0127] Exemplarily, one way to calculate the sum of the above products R is: R = ∑(dI(i)*dU(i)), where dI(i) = I(i)-I(1), i∈(2,n), that is, the data other than the first data in the first posture parameter is subtracted from the first data, and n-1 dIs can be obtained. dU(i) = U(i)-U(1), i∈(2,n). Similarly, the data other than the first data in the second posture parameter is subtracted from the first data, and n-1 dUs can be obtained.

[0128] Exemplarily, a calculation method of the variance V1 is: V1=var(dI(i)-dU(i)), i∈(2,n). var represents the variance.

[0129] Exemplarily, a calculation method of the maximum difference value V2 is: V2=max(dI(i)-dU(i)), i∈(2,n). max indicates finding the maximum value.

[0130] The following takes the pointing determination device as a remote control device, the direction finding unit as a UWB direction finding unit, and the first attitude parameter and the second attitude parameter as azimuth as an example to illustrate the pointing determination method of the embodiment of the present application. The pointing determination method includes the following steps:

[0131] S1. Initialize and power on the UWB direction finding unit and the inertial direction finding unit of the remote control device. The UWB direction finding unit starts to measure the direction of the UWB signal, and the inertial direction finding unit starts to update the second azimuth of the remote control device.

[0132] Specifically, after the UWB direction finding unit is initialized, the remote control device uses the first direction finding signal received by the UWB direction finding unit to calculate the current first azimuth. The first direction finding signal is sent by the controlled device. After the inertial direction finding unit is initialized, the roll angle and pitch angle are initialized using the gravity direction, and the azimuth is initialized to 0°. After initialization, the inertial direction finding unit begins to obtain the second azimuth of the remote control device at each moment. The remote control device obtains the second azimuth measured by the inertial direction finding unit, and the remote control device records the first azimuth and the second azimuth at each moment after initialization. Reference Figure 4K , Figure 4K It is a waveform diagram of an azimuth angle provided in an embodiment of the present application; wherein the first azimuth angle corresponds to the first curve 413 , and the second azimuth angle corresponds to the second curve 414 .

[0133] Among them, the UWB direction finding unit and the inertial direction finding unit work based on the acquisition frequency p.

[0134] S2. After collecting n frames of first azimuth angles and second azimuth angles, start to make a judgment.

[0135] Specifically, assuming that the azimuth angle of the remote control device is collected at a collection frequency p, a frame of first azimuth angle and second azimuth angle can be obtained in each collection.

[0136] After collecting n frames of first azimuth and second azimuth, the judgment can be started. If the first judgment does not determine the pointing result, the Figure 4K As shown, after collecting k frames of data, the existing (nk) frames of data are combined to reassemble n frames of data for further judgment. The (nk) frames of data are the data with a later time in the original n frames of data.

[0137] S3. Determine whether the remote control device is pointing to the controlled device by using the first azimuth angle and the second azimuth angle.

[0138] Specifically, the collected first azimuth and second azimuth are represented by I(n) and U(n) respectively. First, the data is differenced, that is, the first data is subtracted from the remaining data, that is, dI(i)=I(i)-I(1), i∈(2,n); similarly, dU(i)=U(i)-U(1), i∈(2,n).

[0139] Assuming n is 4, the first azimuths are I(1), I(2), I(3), and I(4), and the second azimuths are U(1), U(2), U(3), and U(4). Their serial numbers correspond to the acquisition time, with the smaller serial number being the earlier acquisition time. Therefore,

[0140] dI(2)=I(2)-I(1);

[0141] dI(3)=I(3)-I(1);

[0142] dI(4)=I(4)-I(1).

[0143] And dU(2)=U(2)-U(1);

[0144] dU(3)=U(3)-U(1);

[0145] dU(4)=U(4)-U(1).

[0146] Then calculate the sum of products R, variance V1, and maximum difference V2 respectively.

[0147] R=(dI(2)-dU(2))+(dI(3)-dU(3))+(dI(4)-dU(4)). V1=var(dI(2)-dU(2), dI(3)-dU(3), (dI(4)-dU(4)).

[0148] V2=max(dI(2)-dU(2), dI(3)-dU(3), (dI(4)-dU(4))).

[0149] S4. When the above R, V1 and V2 all meet the conditions, it is determined that the remote control device is pointing to the controlled device, which satisfies the direct pointing condition, thereby entering the pointing mode; otherwise, it is considered that the pointing condition is not direct.

[0150] The following takes the example of a single direction finding base station to describe the process of determining the specific controlled device when there are two devices in front and behind on the pointing line of the remote control device:

[0151] refer to Figure 4L , Figure 4L 4 is a schematic diagram of determining a control device provided by an embodiment of the present application; taking the controlled device, remote control device and direction finding base station set in a house as an example. Among them, the direction finding base station 415 is set separately; the remote control device 417 is located on the line connecting the first controlled device 416 and the second controlled device 418. It is known that the current position of the remote control device 417 in the house coordinate system is [x h ,y h ,z h ], the azimuth of the remote control device 417 is ψ h , the pitch angle is When the current azimuth and target azimuth of the remote control device 417 , the current pitch angle and target pitch angle of the remote control device 417 simultaneously meet certain conditions, it can be determined that the controlled device that the remote control device 417 wants to control is the first controlled device 416 .

[0152] Specifically, the coordinates of the position of the first controlled device 416 in the house coordinate system are: The current position of the remote control device 417 is calculated according to the following formulas:

[0153]

[0154]

[0155]

[0156] The azimuth and elevation angles (i.e., target azimuth and target elevation angles) when the remote control device 417 points to the first controlled device 416 are:

[0157]

[0158]

[0159] Among them, atan() is the inverse tangent function and sign() is the sign function.

[0160] The azimuth angle ψ at this time can be determined by using the method of the embodiment of the present application. h , Pitch angle Is it the angle when the remote control device 417 points to the first controlled device 416, or the angle when the remote control device 417 faces away from the first controlled device 416. When determining the azimuth angle ψ of the remote control device 417 at this time h , Pitch angle is the angle when the remote control device 417 points to the first controlled device 416, calculate the current azimuth angle ψ of the remote control device 417 h , Pitch angle and target azimuth Target pitch angle The difference:

[0161]

[0162]

[0163] when and When certain conditions are met at the same time, it is determined that the remote control device 417 is directed to the first controlled device 416, that is, the remote control device 417 is to control the first controlled device 416, not the second controlled device 418. The above certain conditions can be is less than the fifth threshold and The specific values ​​of the fifth threshold and the sixth threshold can be set according to actual conditions. is less than the fifth threshold value, it can be understood that the current azimuth falls within the azimuth range, and Being smaller than the sixth threshold value may be understood as the current pitch angle falling within the pitch angle range.

[0164] The step numbers in the above text are only used to distinguish different steps and do not limit the order in which the steps are executed.

[0165] It should be noted that in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced mutually, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0166] The method of the embodiment of the present application is described in detail above, and the device provided by the embodiment of the present application is introduced below.

[0167] Figure 5 A schematic diagram of a possible device structure provided in an embodiment of the present application. Figure 5 The pointing determination device shown can be used to implement the functions of the above-mentioned pointing determination method embodiment, and thus can also achieve the beneficial effects of the above-mentioned pointing determination method embodiment. In the embodiment of the present application, the pointing determination device can be an electronic device, or a module (such as a chip) applied to an electronic device.

[0168] like Figure 5 As shown, the pointing determination device 500 includes an acquisition module 501 and a determination module 502. The pointing determination device 500 is used to implement the above Figure 3 Alternatively, the pointing determination device 500 may include a device for implementing the above-mentioned Figure 3 The module for any function or operation in the pointing determination method embodiment shown in the figure may be implemented in whole or in part by software, hardware, firmware or any combination thereof.

[0169] When the pointing determination device 500 is used to implement Figure 3 When the functions in the method embodiment shown are performed, the acquisition module 501 is used to acquire a first posture parameter of the remote control device. The first posture parameter is used to indicate a first posture change trend of the remote control device relative to the controlled device within a first time period. The acquisition module 501 is also used to acquire a second posture parameter of the remote control device. The second posture parameter is used to indicate a second posture change trend of the remote control device within the first time period compared to the first moment. The first moment is earlier than the first time period. The determination module 502 is used to determine that the remote control device is pointing to the controlled device when the first posture change trend and the second posture change trend are the same or similar.

[0170] In the embodiment of the present application, the pointing determination device 500 uses the first posture parameter and the second posture parameter of the remote control device to determine whether the remote control device is pointing to the controlled device. When it is determined that the first posture change trend and the second posture change trend are the same or similar, it can be determined that the remote control device is pointing to the controlled device.

[0171] In a possible implementation manner, the orientation determination device 500 further includes a control module 503 .

[0172] The control module 503 is used to control the controlled device to perform a first operation based on a third posture parameter of the remote control device after determining that the remote control device is pointing to the controlled device. The third posture parameter is used to indicate the posture of the remote control device relative to the controlled device at the current moment.

[0173] Among them, the above-mentioned first operation can be any operation, for example, controlling the controlled device to display the cursor corresponding to the remote control device, controlling the controlled device to mute, controlling the controlled device to play music, controlling the controlled device to turn on or off, or controlling the controlled device to display the dragged interface, etc.

[0174] In a possible implementation, the parameter used to characterize the similarity between the first posture change trend and the second posture change trend includes at least one of the following:

[0175] A first parameter for characterizing the magnitude of the correlation between the first posture parameter and the second posture parameter;

[0176] A second parameter for characterizing the fluctuation magnitude of the difference between the first posture parameter and the second posture parameter;

[0177] The maximum value of the difference between the first posture parameter and the second posture parameter.

[0178] Exemplarily, the first parameter may be at least one of the following: a convolution of the first posture parameter and the second posture parameter, a linear correlation coefficient, a chi-square test value, or a sum of products R.

[0179] Exemplarily, the second parameter may be at least one of the following: a variance V1 or a standard deviation of the first posture parameter and the second posture parameter.

[0180] In a possible implementation, the first posture parameter includes at least one of the following: a quaternion, an azimuth angle, or a pitch angle, and the second posture parameter includes a parameter of the same type as the first posture parameter.

[0181] In a possible implementation manner, the acquisition module 501 is specifically used to acquire the first posture parameter of the remote control device:

[0182] Acquire a first direction finding signal received by a direction finding unit of the remote control device within a first time period. The direction finding unit includes at least one of the following: a star flash direction finding unit, an ultra-wideband direction finding unit, a Bluetooth direction finding unit, a wireless fidelity WiFi direction finding unit, a millimeter wave radar direction finding unit, or an ultrasonic direction finding unit. The first direction finding signal is transmitted by a direction finding base station.

[0183] A first attitude parameter is determined based on the first direction-finding signal.

[0184] In a possible implementation manner, in terms of acquiring the first posture parameter of the remote control device, the acquisition module 501 is specifically configured to: receive the first posture parameter sent by the controlled device.

[0185] In a possible implementation manner, the acquisition module 501 is specifically configured to acquire the second attitude parameter of the remote control device by using an inertial direction finding unit of the remote control device.

[0186] For the introduction of the above modules, please refer to the description of the above embodiments, which will not be repeated here.

[0187] refer to Figure 6 , Figure 6 600 includes a memory 601, a processor 602, a communication interface 604, and a bus 603. The memory 601, the processor 602, and the communication interface 604 are connected to each other through the bus 603.

[0188] Optionally, the above-mentioned pointing determination device 600 also includes a display (not shown), and the display is connected to the memory 601, the processor 602, and the communication interface 604 through the bus 603. The display is used to output images. Optionally, the above-mentioned pointing determination device also includes an output module (not shown), and the output module is connected to the memory 601, the processor 602, and the communication interface 604 through the bus 603, and the output module is used to output audio. The output module can be a speaker. Exemplarily, when the pointing determination device 600 determines that the remote control device is pointing to the controlled device, audio output can be performed through the output module.

[0189] The memory 601 may be a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The memory 601 may store a program. When the program stored in the memory 601 is executed by the processor 602, the processor 602 and the communication interface 604 are used to execute the various steps of the direction determination method of any embodiment of the present application.

[0190] The processor 602 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), a graphics processing unit (GPU), or one or more integrated circuits for executing related programs to implement the embodiments of the present application. Figure 5 The functions that the units in the pointing determination device shown need to perform, or the pointing determination method of any embodiment of the present application.

[0191] The processor 602 may also be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the pointing determination method of any embodiment of the present application may be completed by an integrated logic circuit of hardware in the processor 602 or instructions in software form. The above-mentioned processor 602 may also be a general-purpose processor, a digital signal processor (Digital Signal Processing, DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the pointing determination method in conjunction with any embodiment of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 601, and the processor 602 reads the information in the memory 601 and completes the method in the embodiment of the present application in conjunction with its hardware. Figure 5 The functions required to be performed by the units included in the shown pointing determination device, or the pointing determination method of any embodiment of the present application.

[0192] The communication interface 604 uses a transceiver such as but not limited to a transceiver to implement communication between the orientation determination device 600 and other devices or a communication network. For example, the first posture parameter or the second posture parameter can be obtained through the communication interface 604.

[0193] The bus 603 may include a path for transmitting information between various components of the direction determination device 600 (eg, the memory 601 , the processor 602 , and the communication interface 604 ).

[0194] It should be noted that although Figure 6 The pointing determination device 600 shown only shows a memory 601, a processor 602, a bus 603, and a communication interface 604. However, in the specific implementation process, those skilled in the art should understand that the pointing determination device 600 also includes other devices necessary for normal operation. At the same time, according to specific needs, those skilled in the art should understand that the pointing determination device 600 may also include hardware devices for implementing other additional functions. In addition, those skilled in the art should understand that the pointing determination device 600 may also include only the devices necessary for implementing the embodiments of the present application, and does not necessarily include Figure 6 All devices shown in .

[0195] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0196] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0198] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The available medium can be a read-only memory (ROM), or a random access memory (RAM), or a magnetic medium, such as a floppy disk, a hard disk, a tape, a disk, or an optical medium, such as a digital versatile disc (DVD), or a semiconductor medium, such as a solid state drive (SSD), etc.

[0199] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining a direction, characterized in that: include: Acquire a first posture parameter of the remote control device, where the first posture parameter is used to indicate a first posture change trend of the remote control device relative to the controlled device within a first time period; Acquire a second posture parameter of the remote control device, where the second posture parameter is used to indicate a second posture change trend of the remote control device in the first time period compared to a first moment, where the first moment is earlier than the first time period; When the first posture change trend is the same as or similar to the second posture change trend, it is determined that the remote control device is pointing to the controlled device.

2. The method according to claim 1, characterized in that After determining that the remote control device is pointing to the controlled device, the method further includes: Based on a third posture parameter of the remote control device, the controlled device is controlled to perform a first operation, wherein the third posture parameter is used to indicate a posture of the remote control device relative to the controlled device at a current moment.

3. The method according to claim 1 or 2, characterized in that: The parameter used to characterize the similarity between the first posture change trend and the second posture change trend includes at least one of the following: A first parameter for characterizing the magnitude of the correlation between the first posture parameter and the second posture parameter; A second parameter for characterizing a fluctuation magnitude of a difference between the first posture parameter and the second posture parameter; The maximum value of the difference between the first posture parameter and the second posture parameter.

4. The method according to any one of claims 1 to 3, characterized in that: The first posture parameter includes at least one of the following: a quaternion, an azimuth angle, or a pitch angle, and the second posture parameter includes a parameter of the same type as the first posture parameter.

5. The method according to any one of claims 1 to 4, characterized in that: The step of obtaining a first posture parameter of the remote control device includes: Acquire a first direction finding signal received by a direction finding unit of the remote control device within the first time period, wherein the direction finding unit includes at least one of the following: a star flash direction finding unit, an ultra-wideband direction finding unit, a Bluetooth direction finding unit, a wireless fidelity WiFi direction finding unit, a millimeter wave radar direction finding unit, or an ultrasonic direction finding unit; the first direction finding signal is transmitted by a direction finding base station; The first attitude parameter is determined based on the first direction finding signal.

6. The method according to any one of claims 1 to 4, characterized in that: The step of obtaining a first posture parameter of the remote control device includes: Receive the first posture parameter sent by the controlled device.

7. The method according to any one of claims 1 to 6, characterized in that: The obtaining of a second posture parameter of the remote control device includes: The second posture parameter is obtained by an inertial direction finding unit of the remote control device.

8. A pointing determination device, characterized in that: The device comprises: An acquisition module, used for acquiring a first posture parameter of the remote control device, where the first posture parameter is used for indicating a first posture change trend of the remote control device relative to the controlled device within a first time period; The acquisition module is further used to acquire a second posture parameter of the remote control device, where the second posture parameter is used to indicate a second posture change trend of the remote control device in the first time period compared to a first moment, where the first moment is earlier than the first time period; A determination module is used to determine that the remote control device is pointing to the controlled device when the first posture change trend is the same or similar to the second posture change trend.

9. The device according to claim 8, characterized in that The device also includes: The control module is used to control the controlled device to perform a first operation based on a third posture parameter of the remote control device after determining that the remote control device is pointing to the controlled device, wherein the third posture parameter is used to indicate the posture of the remote control device relative to the controlled device at a current moment.

10. The device according to claim 8 or 9, characterized in that The parameter used to characterize the similarity between the first posture change trend and the second posture change trend includes at least one of the following: A first parameter for characterizing the magnitude of the correlation between the first posture parameter and the second posture parameter; A second parameter for characterizing a fluctuation magnitude of a difference between the first posture parameter and the second posture parameter; The maximum value of the difference between the first posture parameter and the second posture parameter.

11. The device according to any one of claims 8 to 10, characterized in that The first posture parameter includes at least one of the following: a quaternion, an azimuth angle, or a pitch angle, and the second posture parameter includes a parameter of the same type as the first posture parameter.

12. The device according to any one of claims 8 to 11, characterized in that In terms of acquiring the first posture parameter of the remote control device, the acquisition module is specifically used to: Acquire a first direction finding signal received by a direction finding unit of the remote control device within the first time period, wherein the direction finding unit includes at least one of the following: a star flash direction finding unit, an ultra-wideband direction finding unit, a Bluetooth direction finding unit, a wireless fidelity WiFi direction finding unit, a millimeter wave radar direction finding unit, or an ultrasonic direction finding unit; the first direction finding signal is transmitted by the direction finding base station; The first attitude parameter is determined based on the first direction finding signal.

13. The device according to any one of claims 8 to 11, characterized in that In terms of acquiring the first posture parameter of the remote control device, the acquisition module is specifically used to: Receive the first posture parameter sent by the controlled device.

14. The device according to any one of claims 8 to 13, characterized in that In terms of acquiring the second posture parameter of the remote control device, the acquisition module is specifically used to: The second posture parameter is obtained by an inertial direction finding unit of the remote control device.

15. A pointing determination device, characterized in that: It comprises a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to call the program code to execute the pointing determination method according to any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the pointing determination method according to any one of claims 1 to 7.

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