Method, control device and system for determining pointing position

Abstract

A method, control device and system for determining a pointing position are provided, the method is applied to the control device, the control device comprises a first attitude calibration unit and a second attitude calibration unit, in the method, the first attitude calibration unit is used to calibrate an attitude in a first time period, the attitude is an attitude of the control device relative to a third attitude calibration unit, and the second attitude calibration unit is used to calibrate an attitude in a second time period. The third attitude calibration unit is used for measuring the pose relation of the control equipment relative to the controlled equipment; determining the pointing position of the control equipment in the first time period according to the attitude calibrated by the first attitude calibration unit; using a second attitude calibration unit to calibrate the attitude in a second time period, wherein the calibration accuracy of the first attitude calibration unit in the second time period is lower than that in the first time period; and the pointing position of the control equipment in the second time period is determined according to the posture calibrated by the second posture calibration unit. Therefore, when the attitude calibrated by the first attitude calibration unit is inaccurate, the attitude is calibrated by the second attitude calibration unit, so that the pointing precision of the control equipment can be improved.

Description

Technical Field

[0001] The present application relates to the field of determining a pointing position, and more specifically, to a method, a control device and a system for determining a pointing position. Background Art

[0002] Taking the interaction between the pointing remote control and the large screen as an example, the pointing remote control achieves the remote control effect by controlling the movement of the cursor on the large screen, which can enhance the interactive experience between the user and the large screen. For example, the user can use the pointing remote control to play shooting games, fruit cutting games, etc. on the large screen.

[0003] However, the pointing accuracy of current pointing remote controls is not high. During the use of the pointing remote controls, the pointing accuracy of the pointing remote controls directly affects the interaction effect between the pointing remote controls and the pointed device. For example, when there is an obstruction between the pointing remote controls and the pointed device, the pointing accuracy of the pointing remote controls is easily affected, and it is easy for the pointing remote controls to be unable to flexibly control the pointed device, thus affecting the user experience. Summary of the invention

[0004] The present application provides a method, a control device and a system for determining a pointing position. Through the method, the control device and the system, a first attitude calibration unit and a second attitude calibration unit are configured in the control device, wherein the calibration result of the attitude by the second attitude calibration unit is not affected by conditions such as device occlusion and antenna polarization. When the attitude calibrated by the first attitude calibration unit is inaccurate, the attitude is calibrated by the second attitude calibration unit, which can improve the pointing accuracy of the control device and can improve the stability of the pointing accuracy of the control device.

[0005] In a first aspect, a method for determining a pointing position is provided, the method being applied to a control device, the control device comprising a first posture calibration unit and a second posture calibration unit, the method comprising: in a first time period, using the first posture calibration unit to calibrate the posture of the control device relative to a third posture calibration unit, the third posture calibration unit being used to measure the positional relationship of the control device relative to the controlled device; determining the pointing position of the control device in the first time period based on the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit; in a second time period, using the second posture calibration unit to calibrate the posture of the control device relative to the third posture calibration unit, wherein in the second time period, the accuracy of the calibration result of the first posture calibration unit is lower than the accuracy of the calibration result of the first posture calibration unit in the first time period; determining the pointing position of the control device in the second time period based on the posture of the control device calibrated by the second posture calibration unit relative to the third posture calibration unit.

[0006] In some embodiments, during the first period of time, the second posture calibration unit is not used for posture calibration.

[0007] In an embodiment of the present application, a first attitude calibration unit and a second attitude calibration unit are configured in the control device, wherein the calibration result of the attitude by the second attitude calibration unit is not affected by equipment occlusion and antenna polarization, and when the attitude calibrated by the first attitude calibration unit is inaccurate, the attitude is calibrated by the second attitude calibration unit, which can improve the pointing accuracy of the control device and improve the stability of the pointing accuracy of the control device.

[0008] In combination with the first aspect, in a possible implementation, the method also includes: in a third time period after the second time period, using the first posture calibration unit to calibrate the posture of the control device relative to the third posture calibration unit, wherein in the third time period, the accuracy of the calibration result of the first posture calibration unit is higher than the accuracy of the calibration result of the first posture calibration unit in the second time period.

[0009] In an embodiment of the present application, during the process of calibrating the posture by the second posture calibration unit, if it is detected that the accuracy of the posture calibrated by the first posture calibration unit changes from not meeting the requirements to meeting the requirements, the posture calibration using the first posture calibration unit is restored, thereby avoiding the reduction in the accuracy of the posture calibration result caused by long-term use of the second posture calibration unit, and can further improve the pointing accuracy of the control device, and can further improve the stability of the pointing accuracy of the control device.

[0010] In combination with the first aspect, in a possible implementation, the method also includes: in a fourth time period, calibrating the azimuth measured by the second posture calibration unit using the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit, wherein the fourth time period partially overlaps with the first time period or is within the first time period.

[0011] The azimuth angle measured by the second posture calibration unit is the azimuth angle of the control device measured by the second posture calibration unit relative to the third posture calibration unit.

[0012] In an embodiment of the present application, during the process of performing posture calibration using the first posture calibration unit, the posture calibration result of the first posture calibration unit can be used to perform real-time calibration on the second posture calibration unit. In this way, the accuracy of the posture result calibrated by the second posture calibration unit can be improved, and the stability of the pointing accuracy of the user when using the control device can be improved.

[0013] In combination with the first aspect, in a possible implementation, the method further includes: in the second time period, using the first posture calibration unit to measure the position of the control device relative to the third posture calibration unit.

[0014] In the embodiment of the present application, since the second posture calibration unit cannot measure the position of the control device relative to the third posture calibration unit, the first posture calibration unit and the second posture calibration unit can cooperate, with the first posture calibration unit measuring the position of the control device relative to the third posture calibration unit, and the second posture calibration unit calibrating the posture of the control device relative to the third posture calibration unit. In this way, the control device can determine the pointing position of the control device relative to the third posture calibration unit based on the position and posture.

[0015] In combination with the first aspect, in a possible implementation method, the control device calibrated using the first posture calibration unit is calibrated with respect to the azimuth measured by the second posture calibration unit according to the posture of the third posture calibration unit, including: when the difference between the azimuth measured by the second posture calibration unit and the azimuth measured by the first posture calibration unit is greater than a first difference, the control device calibrated using the first posture calibration unit is calibrated with respect to the posture of the third posture calibration unit for the azimuth measured by the second posture calibration unit; or when the variance of multiple azimuths continuously measured using the second posture calibration unit is greater than the first variance, the control device calibrated using the first posture calibration unit is calibrated with respect to the posture of the third posture calibration unit for the azimuth measured by the second posture calibration unit.

[0016] In an embodiment of the present application, during the process of using the first posture calibration unit to perform posture calibration, the second posture calibration unit does not need to be calibrated in real time. Instead, when it is determined that the second posture calibration unit needs to be calibrated, the posture calibration result of the first posture calibration unit will be used to calibrate it. In this way, the power consumption overhead of the device can be saved.

[0017] In combination with the first aspect, in a possible implementation, the use of the second posture calibration unit to calibrate the posture of the control device relative to the third posture calibration unit includes: using the second posture calibration unit to measure the azimuth angle of the control device relative to the third posture calibration unit; and using the azimuth angle to calibrate the posture of the control device relative to the third posture calibration unit.

[0018] In some embodiments, the posture of the control device relative to the third posture calibration unit includes azimuth, pitch and roll angles, and the calibration method can be to directly use the azimuth measured by the second posture calibration unit as the azimuth of the control device relative to the third posture calibration unit.

[0019] In the embodiment of the present application, the second posture calibration unit calibrates the posture, which is essentially to calibrate the posture according to the azimuth angle of the control device relative to the third posture calibration unit measured by the second posture calibration unit.

[0020] In combination with the first aspect, in a possible implementation, the method further includes: in the second time period, simultaneously using the first posture calibration unit and the second posture calibration unit to calibrate the posture of the control device relative to the third posture calibration unit.

[0021] In an embodiment of the present application, during the process of using the second posture calibration unit to perform posture calibration, the first posture calibration unit can be used simultaneously to perform posture calibration. In this process, the posture calibration result of the second posture calibration unit is used to determine the pointing position of the control device, and the accuracy of the posture calibration result of the first posture calibration unit is judged, so that when the accuracy of the posture calibration result of the first posture calibration unit is restored, the posture calibration can be restored to the first posture calibration unit in a timely manner.

[0022] In combination with the first aspect, in a possible implementation manner, the control device is a remote controller.

[0023] Among them, the remote control can refer to any electronic device with a remote control function, such as a smart phone, a TV remote control, an air conditioner remote control, a light remote control, etc.

[0024] In combination with the first aspect, in a possible implementation, the controlled device is a smart controlled device in a whole-house smart environment or a smart office environment.

[0025] Among them, the controlled device can be, for example, a large-screen device, a lamp, an air conditioner, a smart speaker, an electric clothes rack, a smart tea bar machine, etc., or other devices with controlled functions, which is not limited in this application.

[0026] In combination with the first aspect, in a possible implementation manner, the first posture calibration unit is a UWB module, and the second posture calibration unit is a magnetometer.

[0027] In combination with the first aspect, in a possible implementation manner, the third posture calibration unit is a UWB module.

[0028] In a second aspect, a control device is provided, which includes a first posture calibration unit and a second posture calibration unit, and the control device also includes: one or more processors; one or more memories; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, and the one or more computer programs include instructions, which, when executed by the one or more processors, enable the control device to perform the following operations: in a first time period, use the first posture calibration unit to calibrate the posture of the control device relative to a third posture calibration unit, and the third posture calibration unit is used to measure the position relationship of the control device relative to the controlled device; according to the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit, determine the pointing position of the control device in the first time period; in a second time period, use the second posture calibration unit to calibrate the posture of the control device relative to the third posture calibration unit, wherein, in the second time period, the accuracy of the calibration result of the first posture calibration unit is lower than the accuracy of the calibration result of the first posture calibration unit in the first time period; according to the posture of the control device calibrated by the second posture calibration unit relative to the third posture calibration unit, determine the pointing position of the control device in the second time period.

[0029] In some embodiments, during the first period of time, the second posture calibration unit is not used for posture calibration.

[0030] In an embodiment of the present application, a first attitude calibration unit and a second attitude calibration unit are configured in the control device, wherein the calibration result of the attitude by the second attitude calibration unit is not affected by equipment occlusion and antenna polarization, and when the attitude calibrated by the first attitude calibration unit is inaccurate, the attitude is calibrated by the second attitude calibration unit, which can improve the pointing accuracy of the control device and improve the stability of the pointing accuracy of the control device.

[0031] In combination with the second aspect, in one possible implementation, when the instruction is executed by the one or more processors, the control device also performs the following operations: in a third time period after the second time period, using the first posture calibration unit to calibrate the posture of the control device relative to the third posture calibration unit, wherein, in the third time period, the accuracy of the calibration result of the first posture calibration unit is higher than the accuracy of the calibration result of the first posture calibration unit in the second time period.

[0032] In an embodiment of the present application, during the process of calibrating the posture by the second posture calibration unit, if it is detected that the accuracy of the posture calibrated by the first posture calibration unit changes from not meeting the requirements to meeting the requirements, the posture calibration using the first posture calibration unit is restored, thereby avoiding the reduction in the accuracy of the posture calibration result caused by long-term use of the second posture calibration unit, and can further improve the pointing accuracy of the control device, and can further improve the stability of the pointing accuracy of the control device.

[0033] In combination with the second aspect, in one possible implementation, the first posture calibration unit, when the instruction is executed by the one or more processors, causes the control device to also perform the following operations: in a fourth time period, the control device calibrated by the first posture calibration unit is calibrated with respect to the posture of the third posture calibration unit to calibrate the azimuth measured by the second posture calibration unit, wherein the fourth time period partially overlaps with the first time period or is within the first time period.

[0034] The azimuth angle measured by the second posture calibration unit is the azimuth angle of the control device measured by the second posture calibration unit relative to the third posture calibration unit.

[0035] In an embodiment of the present application, during the process of performing posture calibration using the first posture calibration unit, the posture calibration result of the first posture calibration unit can be used to perform real-time calibration on the second posture calibration unit. In this way, the accuracy of the posture result calibrated by the second posture calibration unit can be improved, and the stability of the pointing accuracy of the user when using the control device can be improved.

[0036] In combination with the second aspect, in a possible implementation, when the instruction is executed by the one or more processors, the control device further performs the following operation: in the second time period, measuring the position of the control device relative to the third posture calibration unit.

[0037] In the embodiment of the present application, since the second posture calibration unit cannot measure the position of the control device relative to the third posture calibration unit, the first posture calibration unit and the second posture calibration unit can cooperate, with the first posture calibration unit measuring the position of the control device relative to the third posture calibration unit, and the second posture calibration unit calibrating the posture of the control device relative to the third posture calibration unit. In this way, the control device can determine the pointing position of the control device relative to the third posture calibration unit based on the position and posture.

[0038] In combination with the second aspect, in one possible implementation, when the instruction is executed by the one or more processors, the control device further specifically performs the following operations: when the difference between the azimuth measured by the second posture calibration unit and the azimuth measured by the first posture calibration unit is greater than a first difference, the control device calibrated by the first posture calibration unit is calibrated with respect to the azimuth measured by the second posture calibration unit with respect to the posture of the third posture calibration unit; or when the variance of multiple azimuths continuously measured by the second posture calibration unit is greater than the first variance, the control device calibrated by the first posture calibration unit is calibrated with respect to the azimuth measured by the second posture calibration unit.

[0039] In an embodiment of the present application, during the process of using the first posture calibration unit to perform posture calibration, the second posture calibration unit does not need to be calibrated in real time. Instead, when it is determined that the second posture calibration unit needs to be calibrated, the posture calibration result of the first posture calibration unit will be used to calibrate it. In this way, the power consumption overhead of the device can be saved.

[0040] In combination with the second aspect, in one possible implementation, when the instruction is executed by the one or more processors, the control device further specifically performs the following operations: in the second time period, the first posture calibration unit and the second posture calibration unit are simultaneously used to calibrate the posture of the control device relative to the third posture calibration unit.

[0041] In an embodiment of the present application, during the process of using the second posture calibration unit to perform posture calibration, the first posture calibration unit can be used simultaneously to perform posture calibration. In this process, the posture calibration result of the second posture calibration unit is used to determine the pointing position of the control device, and the accuracy of the posture calibration result of the first posture calibration unit is judged, so that when the accuracy of the posture calibration result of the first posture calibration unit is restored, the posture calibration can be restored to the first posture calibration unit in a timely manner.

[0042] In combination with the second aspect, in a possible implementation manner, the control device is a remote controller.

[0043] Among them, the remote control can refer to any electronic device with a remote control function, such as a smart phone, a TV remote control, an air conditioner remote control, a light remote control, etc.

[0044] In combination with the second aspect, in a possible implementation, the controlled device is a smart controlled device in a whole-house smart environment or a smart office environment.

[0045] Among them, the controlled device can be, for example, a large-screen device, a lamp, an air conditioner, a smart speaker, an electric clothes rack, a smart tea bar machine, etc., or other devices with controlled functions, which is not limited in this application.

[0046] In combination with the second aspect, in a possible implementation manner, the first posture calibration unit is a UWB module, and the second posture calibration unit is a magnetometer.

[0047] In combination with the second aspect, in a possible implementation, the third posture calibration unit is a UWB module.

[0048] According to a third aspect, a system for determining a pointing position is provided, the system comprising a control device and a controlled device, wherein the control device is used to execute the method in the first aspect or any possible implementation of the first aspect; and the controlled device is used to make a first response according to the pointing position of the control device determined by the control device.

[0049] In a fourth aspect, an electronic device is provided, comprising a memory and a processor, wherein the memory is used to store computer program code, and the processor is used to execute the computer program code stored in the memory to implement the method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0050] In a fifth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method in the above-mentioned first aspect or any possible implementation manner of the first aspect is implemented.

[0051] In a sixth aspect, a chip is provided, in which instructions are stored. When the instructions are executed on a device, the chip executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0052] In a seventh aspect, a computer program product is provided, in which a computer program or instructions are stored. When the computer program or instructions are executed, the method in the above-mentioned first aspect or any possible implementation manner of the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0054] Figure 2 is a structural schematic diagram of another electronic device provided in an embodiment of the present application;

[0055] Figure 3 is a structural schematic diagram of another electronic device provided in an embodiment of the present application;

[0056] Figure 4 This is a schematic diagram of a usage scenario of a directional remote control provided in an embodiment of the present application;

[0057] Figure 5 It is a schematic diagram of a process of determining a pointing position of a pointing remote controller on a large-screen device provided in an embodiment of the present application;

[0058] Figure 6 is an interactive schematic diagram of a method for determining a pointing position provided in an embodiment of the present application;

[0059] Figure 7 It is a comparison diagram of the azimuth of the pointing device relative to the UWB coordinate system measured by the UWB base station and the azimuth of the pointing device relative to the UWB coordinate system measured by a calibrated magnetometer, provided in an embodiment of the present application;

[0060] Figure 8 It is a schematic diagram of the positional relationship between several large-screen devices and UWB base stations provided in the embodiments of the present application;

[0061] Fig. 9 is a schematic diagram of the arrangement of several first antenna arrays provided in an embodiment of the present application;

[0062] Fig.10 is a diagram of the arrangement state of a second antenna array on a remote control provided in an embodiment of the present application;

[0063] Fig.11 It is a spatial coordinate system established with a UWB base station as the coordinate origin provided in an embodiment of the present application;

[0064] Fig.12 It is a spatial coordinate system provided by an embodiment of the present application, which is established with the center of the remote control as the coordinate origin;

[0065] Fig.13 is a schematic diagram of an azimuth angle, a pitch angle, and a roll angle for measuring the attitude of a remote controller provided in an embodiment of the present application;

[0066] Fig.14 is a schematic diagram of an angle between the Y axis of a first coordinate system and the Y axis of a geographic coordinate system provided in an embodiment of the present application;

[0067] Fig.15 The three-axis magnetic output of a magnetometer provided in the embodiment of the present application is and by The transferred magnetic vector on the horizontal plane Schematic diagram of

[0068] Fig.16 A schematic diagram of a scenario in which the method for determining a pointing position provided by an embodiment of the present application can be applied;

[0069] Fig.17 is a comparison diagram of azimuth angle measurement values ​​of a magnetometer provided in an embodiment of the present application before and after calibration;

[0070] Fig.18 is another schematic diagram of a scenario to which the method for determining a pointing position provided by an embodiment of the present application can be applied;

[0071] Fig.19 It is a schematic flowchart of a method for determining a pointing position provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] The technical solution in the present application will be described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0073] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" or "multiple" refers to two or more than two.

[0074] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this embodiment, unless otherwise specified, "plurality" means two or more.

[0075] The terms used in the following embodiments are only for the purpose of describing specific embodiments, and are not intended to be used as limitations on the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one, two or more. The term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist; for example, A and / or B can represent: 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 objects associated before and after are in an "or" relationship.

[0076] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "one embodiment", "some embodiments", "another embodiment", "some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0077] The method provided in the embodiments of the present application can be applied to electronic devices such as mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), etc. The embodiments of the present application do not impose any restrictions on the specific types of electronic devices.

[0078] For example, Figure 1 1 shows a schematic diagram of the structure of an electronic device 100. The electronic device 100 may include a wireless communication module 110, an antenna 1, a processor 120, a speaker 130, a power management module 140, an internal memory 150, a display screen 160, and the like.

[0079] It is understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown in the figure (for example, it may also include an external memory interface, a battery, a frequency module, a sensor module, etc.), or combine certain components, or split certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0080] The wireless communication module 110 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the electronic device 100. The wireless communication module 110 can be one or more devices integrating at least one communication processing module. The wireless communication module 110 receives electromagnetic waves via the antenna 1, modulates the frequency of the electromagnetic wave signal and performs filtering, and sends the processed signal to the processor 120. The wireless communication module 110 can also receive the signal to be sent from the processor 120, modulate the frequency of the signal, amplify it, and convert it into electromagnetic waves for radiation through the antenna 1.

[0081] The processor 120 may include one or more processing units, for example, the processor 120 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0082] The controller may be the nerve center and command center of the electronic device 100. The controller may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0083] The processor 120 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 120 is a cache memory. The memory may store instructions or data that the processor 120 has just used or cyclically used. If the processor 120 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 120, and thus improves the efficiency of the system.

[0084] In some embodiments, the processor 120 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0085] Antenna 1 is used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve the utilization of antennas. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0086] The speaker 130 , also called a “loudspeaker”, is used to convert an audio electrical signal into a sound signal. The electronic device 100 can listen to music or listen to a hands-free call through the speaker 130 .

[0087] The power management module 140 is used to connect to the processor 120. The power management module 140 receives input from the battery and / or the charging management module to power the processor 120, the internal memory 150, the speaker 130, the display screen 160, and the wireless communication module 110. The power management module 140 can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module 140 can also be set in the processor 120. In other embodiments, the power management module 140 and the charging management module can also be set in the same device.

[0088] The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the wireless communication module 110, etc.

[0089] The internal memory 150 can be used to store computer executable program codes, which include instructions. The processor 120 executes various functional applications and data processing of the electronic device 100 by running the instructions stored in the internal memory 150. The internal memory 150 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system, at least one App required for a function (such as a sound playback function, an image playback function, etc.), etc. The data storage area can store data created during the use of the electronic device 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 150 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0090] The electronic device 100 implements the display function through a GPU, a display screen 160, and an application processor. The GPU is a microprocessor for image processing, which connects the display screen 160 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 120 may include one or more GPUs, which execute program instructions to generate or change display information.

[0091] The display screen 160 is used to display images, videos, etc. The display screen 160 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the electronic device 100 may include 1 or N display screens 160, where N is a positive integer greater than 1.

[0092] The software system of the electronic device 100 may adopt a layered architecture, an event-driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture.

[0093] In some embodiments, the electronic device 100 may be a large-screen device, virtual reality (VR) glasses, etc.

[0094] In some embodiments, the electronic device 100 may be a smart controlled device in a whole-house smart environment or a smart office environment, such as a speaker device, a lamp, an air conditioner, etc. In some embodiments, the electronic device 100 does not include the display screen 160 .

[0095] For example, Figure 2 : shows a schematic diagram of the structure of the electronic device 200. The electronic device 200 may include a wireless communication module 210, an antenna 2, an antenna 3, an antenna 4, an antenna 5, an antenna 6, an ultra wide band (UWB) module 220, a processor 230, an internal memory 240, a power management module 250, a power supply 260, a sensor module 270, and the like.

[0096] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 200. In other embodiments of the present application, the electronic device 200 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0097] The wireless communication module 210 can provide solutions for wireless communication including WLAN (such as Wi-Fi network), BT, GNSS, FM, NFC, IR, etc. applied to the electronic device 200. The wireless communication module 210 can be one or more devices integrating at least one communication processing module. The wireless communication module 210 receives electromagnetic waves via the antenna 3, modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 230. The wireless communication module 210 can also receive the signal to be sent from the processor 230, modulate the frequency, amplify it, and convert it into electromagnetic waves for radiation through the antenna 3.

[0098] In some embodiments, the antenna 2, the antenna 3 and the wireless communication module 210 of the electronic device 200 are coupled, so that the electronic device 200 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long-term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS may include global positioning system (GPS), global navigation satellite system (GLONASS), Beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS) and / or satellite based augmentation system (SBAS).

[0099] The UWB module 220 can provide UWB communication, ranging and other solutions applied to UWB tag devices. When the electronic device 200 integrates a UWB transmitting antenna (such as antenna 4) and multiple UWB receiving antennas (such as antenna 5 and antenna 6), the posture measurement of the electronic device 200 can be achieved based on the UWB signal.

[0100] The processor 230 may include one or more processing units, for example, the processor 230 may include an application processor, a modem processor, a graphics processor, an ISP, a controller, a memory, a video codec, a DSP, a baseband processor, and / or an NPU, etc. Different processing units may be independent devices or integrated into one or more processors.

[0101] In some embodiments, the processor 230 is used to process the communication or ranging information output by the UWB module 220, and the processor 230 is also responsible for calculating the positioning result of the UWB tag.

[0102] The controller may be the nerve center and command center of the electronic device 200. The controller may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0103] The processor 230 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 230 is a cache memory. The memory may store instructions or data that the processor 230 has just used or cyclically used. If the processor 230 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 230, and thus improves the efficiency of the system.

[0104] In some embodiments, the processor 230 may include one or more interfaces. The interface may include an I2C interface, an I2S interface, a PCM interface, a UART interface, a MIPI, a GPIO interface, a SIM interface, and / or a USB interface, etc.

[0105] Antenna 2 and antenna 3 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 200 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve the utilization of antennas. For example, antenna 2 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0106] The internal memory 240 can be used to store computer executable program codes, which include instructions. The processor 230 executes various functional applications and data processing of the electronic device 200 by running the instructions stored in the internal memory 240. The internal memory 240 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system, at least one App required for a function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created during the use of the electronic device 200 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 240 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a UFS, etc.

[0107] The power management module 250 is used to connect to the processor 230. The power management module 250 receives input from the battery 260 and / or the charging management module to power the processor 230, the internal memory 240, the wireless communication module 210, the UWB module 220, and the sensor module 270. The power management module 250 can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module 250 can also be set in the processor 230. In some other embodiments, the power management module 250 and the charging management module can also be set in the same device.

[0108] The wireless communication function of the electronic device 200 can be implemented through antenna 2, antenna 3, antenna 4, antenna 5, antenna 6, wireless communication module 210, UWB module 220, modem processor and baseband processor.

[0109] The sensor module 270 may include a gyroscope sensor 271 , an acceleration sensor 272 , a geomagnetic sensor 273 (also called a magnetometer), and the like.

[0110] In some embodiments, the sensor module 270 may also include an angular accelerometer, a laser gyro sensor, and the like.

[0111] In some embodiments, the sensor module 270 is used to output the azimuth, pitch, and roll angle information of the UWB tag.

[0112] In some embodiments, the sensor module 270 may be referred to as an inertial measurement unit (IMU).

[0113] In some embodiments, the magnetometer is used to calibrate the azimuth, pitch, and roll information of the UWB tag when the output of the UWB module is inaccurate or when the UWB module is not available.

[0114] The software system of the electronic device 200 may adopt a layered architecture, an event-driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture.

[0115] In some embodiments, the electronic device 200 is a pointing device, for example, it may be a pointing remote control, a smart phone, or other electronic devices with a pointing control function.

[0116] For example, Figure 3 Schematic diagram of the structure of the electronic device 300 is shown. The electronic device 300 may include a wireless communication module 310, antenna 7, antenna 8, antenna 9, antenna 10, antenna 11, a UWB module 320, a processor 330, an internal memory 340, a drive motor 350, a power management module 360, a power supply 370, and the like.

[0117] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 300. In other embodiments of the present application, the electronic device 300 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0118] The wireless communication module 310 can provide solutions for wireless communication including WLAN (such as Wi-Fi network), BT, GNSS, FM, NFC, IR, etc. applied to the electronic device 300. The wireless communication module 310 can be one or more devices integrating at least one communication processing module. The wireless communication module 310 receives electromagnetic waves via the antenna 8, modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 330. The wireless communication module 310 can also receive the signal to be sent from the processor 330, modulate the frequency, amplify it, and convert it into electromagnetic waves for radiation through the antenna 8.

[0119] In some embodiments, the antenna 7, antenna 8 and wireless communication module 310 of the electronic device 300 are coupled, so that the electronic device 300 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS may include GPS, GLONASS, BDS, QZSS and / or SBAS.

[0120] The UWB module 320 can provide UWB communication, ranging and other solutions applied to the electronic device 300. It should be noted that the electronic device 300 can only be equipped with one UWB signal receiving antenna, and in this case, at least three electronic devices 300 are required to achieve three-dimensional positioning of the UWB tag. In another implementation scheme, the electronic device 300 can be equipped with multiple UWB signal receiving antennas, and the arrangement between the antennas needs to meet certain rules. In this implementation scheme, at least two UWB receiving antennas are required to achieve two-dimensional positioning of the UWB tag, and at least three UWB receiving antennas (such as antenna 9, antenna 10 and antenna 11) are required to achieve three-dimensional positioning of the tag. In addition, the electronic device 300 only needs to be equipped with one UWB transmitting antenna.

[0121] The processor 330 may include one or more processing units, for example, the processor 330 may include an application processor, a modem processor, a graphics processor, an ISP, a controller, a memory, a video codec, a DSP, a baseband processor, and / or an NPU, etc. Different processing units may be independent devices or integrated into one or more processors.

[0122] In some embodiments, the processor 330 is used to process the communication or ranging information output by the UWB module 220. The processor 230 is also responsible for calculating the positioning result of the UWB tag.

[0123] The controller may be the nerve center and command center of the electronic device 300. The controller may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0124] The processor 330 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 330 is a cache memory. The memory may store instructions or data that the processor 330 has just used or cyclically used. If the processor 330 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 330, and thus improves the efficiency of the system.

[0125] In some embodiments, the processor 330 may include one or more interfaces. The interface may include an I2C interface, an I2S interface, a PCM interface, a UART interface, a MIPI, a GPIO interface, a SIM interface, and / or a USB interface, etc.

[0126] Antenna 7 and antenna 8 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 300 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve the utilization of antennas. For example, antenna 7 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0127] The internal memory 340 can be used to store computer executable program codes, which include instructions. The processor 330 executes various functional applications and data processing of the electronic device 300 by running the instructions stored in the internal memory 340. The internal memory 340 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system, an App required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created during the use of the electronic device 300 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 340 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a UFS, etc.

[0128] The power management module 360 ​​is used to connect to the processor 330. The power management module 360 ​​receives input from the battery 370 and / or the charging management module to power the processor 330, the internal memory 340, the wireless communication module 310, the UWB module 320, and the drive motor 350. The power management module 360 ​​can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module 360 ​​can also be set in the processor 330. In other embodiments, the power management module 360 ​​and the charging management module can also be set in the same device.

[0129] The wireless communication function of the electronic device 300 can be realized through antenna 7, antenna 8, antenna 9, antenna 10, antenna 11, wireless communication module 310, UWB module 320, modem processor and baseband processor.

[0130] The software system of the electronic device 300 may adopt a layered architecture, an event-driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture.

[0131] In some embodiments, the electronic device 300 is a UWB base station.

[0132] It should be understood that the technical solutions in the embodiments of the present application can be used in Android, IOS, Hongmeng and other systems.

[0133] The technical solution of the embodiment of the present application can be applied to devices with pointing functions, and electronic devices that can be controlled by pointing devices. For example, it can be applied to pointing remote controllers or other devices with pointing remote control functions, large-screen devices, speakers, lamps, etc. It can also be applied to other devices with pointing functions, electronic devices in future networks, or electronic devices in future-evolved public land mobile communication networks (PLMN), etc. The main application scenario can be the control scenario of the controlled device through the pointing control device, for example, the control of the large screen through the remote control. For example, the movement of the cursor on the large screen can be controlled by the pointing remote controller, thereby realizing shooting games, fruit-cutting games, painting, etc. on the large screen, or controlling smart devices through the remote controller to realize various smart functions, etc.

[0134] In order to more clearly understand the use scenario of the directional remote control, for example, Figure 4 Taking the interaction between a pointing remote control and a large-screen device as an example, the usage scenarios of the pointing remote control provided in the embodiments of the present application are introduced in detail.

[0135] like Figure 4 As shown, the cursor 420 displayed on the display screen of the large-screen device 400 can be controlled by the pointing remote control 410. The display position of the cursor 420 is the same as the position on the display screen pointed by the pointing remote control 410, that is, the cursor 420 is displayed at the position on the display screen where the pointing remote control 410 points.

[0136] like Figure 4 As shown in (a) in FIG. 1 , when the pointing remote controller 410 switches from pointing at position A in the display screen to pointing at position B in the display screen, the display position of the cursor 420 also switches from position A to position B; Figure 4 As shown in (b) in FIG. 8 , when the pointing remote controller 410 points to outside the display screen of the large-screen device 400 , no cursor is displayed on the display screen of the large-screen device 400 .

[0137] The user experience of the pointing remote control is similar to that of an infrared laser pen, and the pointing remote control can interact with the content displayed on the display screen by controlling the movement of the cursor on the display screen, thereby enhancing the interactive experience between the user and the large screen. For example, the user can use the pointing remote control to play shooting games, fruit cutting games, etc. on the large screen, which is more in line with the user's usage habits.

[0138] Among them, when the directional remote control determines the pointing position of the cursor on the large screen, it needs to rely on the UWB base station on the large screen side to obtain the distance between the directional remote control and the large screen and the posture of the directional remote control relative to the large screen, and then combine the size and resolution information of the large screen to calculate the pointing position of the cursor on the large screen.

[0139] However, the posture of the pointing remote control relative to the large screen obtained by the UWB base station on the large screen side is easily affected by external factors such as occlusion and antenna polarization, resulting in inaccurate posture of the pointing remote control relative to the large screen, which ultimately affects the pointing accuracy of the pointing remote control.

[0140] Through some tests, it was found that when there is no obstruction between the remote control and the large screen, the values ​​of multiple azimuth angles of the remote control relative to the large screen continuously obtained by the UWB base station on the large screen side are relatively concentrated, for example, the values ​​are all distributed in the range of (-60°, 60°), and the angle changes of the pointing trajectory of the remote control in the pointing process on the large screen are clear and obvious; when there is obstruction between the remote control and the large screen, the values ​​of multiple azimuth angles of the remote control relative to the large screen continuously obtained by the UWB base station on the large screen side have a large discreteness, and it is easy to have abnormal results with too large values, such as values ​​≥60° or ≤60°, and the angle changes of the pointing trajectory of the remote control in the pointing process on the large screen are not clear.

[0141] In view of this, an embodiment of the present application provides a method, a control device and a system for improving pointing accuracy. Through this method, the control device and the system, a magnetometer is introduced into a pointing remote control. When it is detected that the posture of the pointing remote control calibrated based on the UWB module is inaccurate, the magnetometer is used to calibrate the posture of the pointing remote control. Since the posture measured by the magnetometer is not affected by occlusion and antenna polarization, the pointing accuracy of the pointing remote control can be improved.

[0142] Moreover, in the process of using the UWB module for attitude calibration, the magnetometer can be calibrated using the attitude of the pointing remote control obtained based on the UWB module, which can improve the accuracy of the attitude calibration of the magnetometer, thereby further improving the pointing accuracy of the remote control, and improving the stability of the pointing accuracy of the remote control.

[0143] Among them, the magnetometer (magnetic, m-sensor), also known as geomagnetism, magnetic sensor, can be used to test the strength and direction of the magnetic field and measure the orientation information of the device. The magnetometer can measure the posture of the current device in the local geographic coordinate system, that is, the angle with the four directions of southeast, northwest and northeast.

[0144] It should be understood that in the embodiments of the present application, the pointing device is described as a pointing type remote control, but this does not constitute any limitation on the scope of application of the present application scheme, and the pointing device can be any control device with a pointing function.

[0145] Below, illustratively, in combination Figure 5 Taking the interaction between a pointing remote control and a large-screen device as an example, and taking a wireless positioning system including a UWB base station as an example, the process of determining the pointing position of a pointing remote control on a large-screen device provided in an embodiment of the present application is introduced.

[0146] S501: The UWB base station establishes a first coordinate system, where the first coordinate system is a spatial coordinate system established with the UWB base station as the coordinate origin.

[0147] In some embodiments, the UWB base station may be deployed on a wall in a room, on a large screen, or at other locations in the room.

[0148] S502: The UWB base station determines a first coordinate, which is a coordinate of the remote controller in a first coordinate system.

[0149] S503: The UWB base station sends the first coordinates to the remote controller.

[0150] In some embodiments, the UWB base station includes a UWB module, the remote control also includes a UWB module, and the UWB base station and the remote control communicate through their respective UWB modules, that is, the UWB module of the remote control receives the first coordinate sent by the UWB module of the UWB base station.

[0151] S504: The remote controller establishes a second coordinate system, where the second coordinate system is a spatial coordinate system with the center of the remote controller as the coordinate origin.

[0152] It can be understood that the above S501 to S504 have been executed after the UWB base station is installed, and the process can be understood as executing the following preparation operations of S505 to S510.

[0153] S505: The remote control determines the distance between the remote control and the large screen in real time according to the first coordinate and the position of the large screen in the first coordinate system, and determines the attitude angle of the remote control relative to the first coordinate system in real time according to the rotation relationship between the first coordinate system and the second coordinate system.

[0154] The attitude angle of the remote control relative to the first coordinate system is determined by the rotation relationship between the second coordinate system (carrier coordinate system) and the first coordinate system (UWB coordinate system, which can be referred to as e-system). The attitude angle of the remote control relative to the first coordinate system includes the azimuth angle ψ e , Pitch angle and roll angle θ e Three Euler angles.

[0155] The azimuth angle ψ of the remote controller relative to the first coordinate system e , Pitch angle and roll angle θ e , which will be described in detail in the subsequent embodiments.

[0156] S506: The remote controller calculates the current cursor coordinates according to the distance between the remote controller and the large screen and the attitude angle of the remote controller relative to the first coordinate system, and sends the current cursor coordinates to the large screen.

[0157] Among them, the position relationship of the remote control relative to the large-screen device can be determined according to the distance between the remote control and the large-screen device and the attitude angle of the remote control relative to the first coordinate system, and then the cursor coordinates can be determined.

[0158] S507: The large screen draws a cursor according to the current cursor coordinates and displays the cursor on the screen.

[0159] In this embodiment, the pointing device obtains the distance between the pointing device and the pointed device and the attitude angle (azimuth angle ψ ) of the pointing device relative to the first coordinate system based on the UWB base station. e , Pitch angle and roll angle θ e ), and then determine the pointing position of the pointing device on the pointed device according to the distance and the attitude angle.

[0160] When there is an obstruction between the pointing device and the pointed device, or when the antenna polarization of the pointing device, the pointed device or the UWB base station occurs, it is easy to cause the pointing device to lose the azimuth angle ψ obtained based on the UWB base station. e Inaccuracy will eventually affect the pointing accuracy of the pointing device.

[0161] For example, Figure 6 FIG. 6 is an interactive diagram of a method 600 for determining a pointing position provided by an embodiment of the present application. Figure 6 As shown, the method 600 includes:

[0162] S601 to S605 and Figure 5 S501 to S505 described in the illustrated embodiment are the same and will not be described again for the sake of brevity.

[0163] S606: When the current moment is the i-th moment, if the multiple attitude angles relative to the first coordinate system determined by the remote control in the first time period before the i-th moment meet condition 1, the remote control calibrates the magnetometer according to at least three of the multiple attitude angles relative to the first coordinate system determined in the first time period before the i-th moment, where i is a positive integer greater than or equal to 3.

[0164] The pointing device is provided with a first positioning module, the pointed device is provided with a second positioning module, the coordinate system established with the first positioning module as the center is the second coordinate system, and the coordinate system established with the second positioning module as the center is the first coordinate system. The attitude angle of the pointing device relative to the first coordinate system includes the azimuth angle ψ of the pointing device relative to the first coordinate system e , the pitch angle of the pointing device relative to the first coordinate system and the rolling angle θ of the pointing device relative to the first coordinate system e .

[0165] The first positioning module may, for example, include one or more of a UWB module, an ultrasonic module, a multi-antenna millimeter-wave radar positioning module, a three-dimensional electromagnetic coil positioning module, and a three-dimensional ultrasonic positioning module; the second positioning module may, for example, include one or more of a UWB module, an ultrasonic module, a multi-antenna millimeter-wave radar positioning module, a three-dimensional electromagnetic coil positioning module, and a three-dimensional ultrasonic positioning module.

[0166] In some embodiments, a plurality of attitude angles relative to the first coordinate system within a first time period before the i-th moment determined by the remote control satisfy condition 1, which may include: a plurality of azimuth angles included in the plurality of attitude angles are within the range of [first azimuth angle, second azimuth angle], for example, the first azimuth angle may be -20°, and the second azimuth angle may be 20°; and the number of the plurality of azimuth angles is greater than or equal to 3, for example, the number of the plurality of attitude angles may be 15.

[0167] In some embodiments, a plurality of attitude angles relative to a first coordinate system within a first time period before the i-th moment determined by the remote control satisfy condition 1, and may also include: a variance of a plurality of azimuth angles included in the plurality of attitude angles is less than or equal to a first variance; and the number of the plurality of azimuth angles is greater than or equal to 3, for example, the number of the plurality of attitude angles may be 15.

[0168] In one example, the remote controller starts from the first moment and determines at each moment the distance between the remote controller and the large screen and the attitude angle (azimuth angle ψ of the remote controller relative to the first coordinate system) corresponding to the moment. e , Pitch angle and roll angle θ e ), and further determine the pointing position of the remote control on the large screen corresponding to the moment; if in the first period before the i-th moment, the multiple attitude angles corresponding to the multiple moments determined by the remote control relative to the first coordinate system meet condition 1, then the remote control can be based on the azimuth angle corresponding to the i-th moment among the multiple azimuth angles included in the multiple attitude angles The azimuth corresponding to the i-1th moment and the azimuth corresponding to the i-2th moment Calibrate the magnetometer.

[0169] Taking i=3 as an example, the remote control The process of calibrating the magnetometer is as follows:

[0170] (1) Obtain the three-axis magnetic output of the magnetometer corresponding to the first moment in the second coordinate system (system b) According to the rotation relationship between the second coordinate system and the first coordinate system, the three-axis magnetic output of the magnetometer in the first coordinate system corresponding to the first moment is obtained. Similarly, obtain the three-axis magnetic output of the magnetometer in the first coordinate system corresponding to the second moment Get the three-axis magnetic output of the magnetometer in the first coordinate system corresponding to the third moment

[0171] (2) Using the pitch angle and roll angle Will Transferred to a magnetic vector on the horizontal plane Using the pitch angle and roll angle Will Transferred to a magnetic vector on the horizontal plane Using the pitch angle and roll angle Will Transferred to a magnetic vector on the horizontal plane

[0172] Among them, the pitch angle and roll angle It is the pitch angle and roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the first moment; the pitch angle and roll angle It is the pitch angle and roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the second moment; the pitch angle and roll angle It is the pitch angle and roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the third moment. The pitch angle and roll angle can be measured by an accelerometer and a gyroscope.

[0173] It can be understood that since the Z axes of the first coordinate system and the geographic coordinate system coincide, it can be considered that the pitch angle and roll angle of the pointing device relative to the first coordinate system are equal to the pitch angle and roll angle of the pointing device relative to the geographic coordinate system.

[0174] In one example, the first azimuth angle is -20° and the second azimuth angle is 20°.

[0175] (3) Utilization of pointing equipment Calibrate the magnetometer.

[0176] In some embodiments, the process of calibrating the magnetometer by the pointing device may be: the pointing device calibrates the magnetometer according to The value of and The magnetometer calibration is completed.

[0177] in, and It is the center offset of the hard magnetic interference circle of the magnetometer; It is the angle between the Y axis of the first coordinate system and the Y axis of the geographic coordinate system.

[0178] S607: The remote controller determines the cursor coordinates at the ith moment according to the distance of the remote controller relative to the large screen corresponding to the ith moment and the attitude angle of the remote controller relative to the first coordinate system.

[0179] S608: The remote controller sends the cursor coordinates at the i-th moment to the large screen.

[0180] S609: The large screen draws the cursor at the i-th moment according to the cursor coordinates at the i-th moment, and displays the cursor at the i-th moment on the screen.

[0181] Among them, the interpretation of S607 to S609 is Figure 5 The explanations of S506 and S507 in the illustrated embodiment are similar and will not be repeated here for the sake of brevity.

[0182] S610: When the current moment is the i+1th moment, the remote controller determines whether the multiple attitude angles relative to the first coordinate system determined in the first period before the i+1th moment meet condition 1. If so, the remote controller executes S611, and if not, the remote controller executes S612.

[0183] S611: When the magnetometer needs to be recalibrated, the remote controller calibrates the magnetometer according to at least three attitude angles of the plurality of attitude angles relative to the first coordinate system determined in a first period before the (i+1)th moment, and further executes S613.

[0184] In some embodiments, the criteria for determining whether the magnetometer needs to be recalibrated may include:

[0185] The remote control obtains the azimuth of the remote control relative to the first coordinate system at the same time through the magnetometer and the UWB base station respectively, and compares whether the difference between the two obtained azimuths is greater than the first difference. When the value of the azimuth relative to the first coordinate system obtained through the UWB base station has no obvious fluctuation, and the difference between the two obtained azimuths is greater than the first difference, it is determined that the magnetometer needs to be recalibrated.

[0186] In some examples, the first difference may be any angle value less than or equal to 3°.

[0187] In some embodiments, the criteria for determining whether the magnetometer needs to be recalibrated may also include:

[0188] When the remote control is not shaken significantly, the azimuth measured by the magnetometer shows an abnormal angular change (for example, the difference between two consecutive azimuth measurements is greater than the second difference), wherein whether the remote control has been shaken significantly can be determined by monitoring whether the magnetic field scalar has a sudden change, and / or, can be determined by a gyroscope sensor in the remote control.

[0189] In some embodiments, the magnetometer may also be recalibrated when any one or more of the following conditions occur:

[0190] By monitoring the magnetic field scalar, it is detected that the local magnetic field has changed suddenly (such as strong magnetic interference suddenly approaches the remote control), the use position of the remote control has changed significantly, or the angle at which the remote control is pointed exceeds the calibrated angle range.

[0191] Among them, further explanations about this step are similar to those about S606 and will not be repeated here for the sake of brevity.

[0192] S612: The remote controller uses a magnetometer to calibrate the attitude angle of the remote controller corresponding to the (i+1)th moment relative to the first coordinate system, and further executes S613.

[0193] Taking i=3 as an example, the azimuth of the pointing device relative to the first coordinate system corresponding to the fourth moment determined by the pointing device based on the wireless positioning system is The process of calibrating the attitude angle of the remote controller corresponding to the i+1th moment relative to the first coordinate system by using the magnetometer can be as follows:

[0194] (1) Obtain the three-axis magnetic output of the magnetometer in the second coordinate system corresponding to the fourth moment According to the rotation relationship between the second coordinate system and the first coordinate system, the three-axis magnetic output of the magnetometer in the first coordinate system corresponding to the fourth moment is obtained.

[0195] (2) Using the pitch angle and roll angle Will Transferred to a magnetic vector on the horizontal plane

[0196] Among them, the pitch angle and roll angle It is the pitch angle and roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the fourth moment.

[0197] (3) According to the above and The value of determines the azimuth of the pointing device corresponding to the fourth moment measured by the magnetometer relative to the first coordinate system

[0198] In some embodiments, when When condition 1 is met (for example, greater than or equal to the first azimuth angle, and less than or equal to the second azimuth angle), it can be considered The value of is accurate, that is Can be used for calibration

[0199] (4) Use calibration

[0200] In some embodiments, using calibration Specifically, it can be used replace That is, the pointing device And the distance between the pointing device and the pointed device corresponding to the fourth moment determines the pointing position of the pointing device on the pointed device corresponding to the fourth moment.

[0201] S613: The remote controller determines the cursor coordinates at the i+1th moment according to the distance of the remote controller relative to the large screen corresponding to the i+1th moment and the attitude angle of the remote controller relative to the first coordinate system corresponding to the i+1th moment.

[0202] It should be understood that after the remote controller calibrates the attitude angle of the remote controller corresponding to the i+1th moment relative to the first coordinate system through the steps described in S612, the remote controller is calibrated according to the distance of the remote controller corresponding to the i+1th moment relative to the large screen and the attitude angle of the remote controller corresponding to the i+1th moment relative to the first coordinate system after calibration (the calibrated azimuth angle Pitch Angle and roll angle )Determine the cursor coordinates at the i+1th moment.

[0203] S614: The remote controller sends the cursor coordinates at the i+1th moment to the large screen.

[0204] S615: The large screen draws the cursor at the i+1th moment according to the cursor coordinates at the i+1th moment, and displays the cursor at the i+1th moment on the screen.

[0205] Among them, the interpretation of S613 to S615 is Figure 5The explanations of S506 and S507 in the illustrated embodiment are similar and will not be repeated here for the sake of brevity.

[0206] That is, the pointing device uses the wireless positioning system to determine in real time the distance between the pointing device and the pointed device and the attitude angle of the pointing device relative to the first coordinate system; the pointing device determines in real time the pointing position of the pointing device on the pointed device according to the distance between the pointing device and the pointed device and the attitude angle of the pointing device relative to the first coordinate system. In the process of determining the pointing position using the wireless positioning system, the pointing device calibrates the magnetometer in real time according to the attitude angle of the pointing device relative to the first coordinate system; and when the accuracy of the pointing position determined using the wireless positioning system does not meet the requirements, the pointing device uses the magnetometer to calibrate the azimuth of the pointing device relative to the first coordinate system in real time.

[0207] In this embodiment, a magnetometer is introduced in the remote control. In the process of using the UWB base station to determine the pointing position, the magnetometer is calibrated in real time using the posture of the remote control obtained based on the UWB base station. When it is detected that the posture of the remote control obtained based on the UWB base station is inaccurate, the posture of the remote control obtained by the magnetometer is used to calibrate it, thereby improving the accuracy of the posture of the remote control, and then improving the pointing accuracy of the remote control. This ensures that the pointing accuracy of the remote control is not affected by the obstruction of the remote control and / or the UWB base station or the polarization of the antenna.

[0208] Furthermore, considering that the magnetometer itself is easily interfered by surrounding metal objects, in this embodiment, in the process of using the wireless positioning system to determine the pointing position, the magnetometer can be calibrated in real time using the posture of the remote control obtained based on the wireless positioning system, and the automatic calibration of the magnetometer can be completed quickly without the user noticing. Compared with traditional magnetometer calibration methods (such as the 8-figure calibration method or the ten-face calibration method, etc.), manual calibration by the user is not required, which also makes it possible to use the magnetometer in the use scenario of pointing remote controls.

[0209] For example, Figure 7 A comparison diagram of the azimuth of the pointing device relative to the first coordinate system measured by a UWB base station and the azimuth of the pointing device relative to the first coordinate system measured by a calibrated magnetometer is shown.

[0210] like Figure 7As shown, when the UWB base station and the remote control are unobstructed, the azimuth of the pointing device relative to the first coordinate system measured based on the UWB base station and the azimuth of the pointing device relative to the first coordinate system measured by the calibrated magnetometer are both concentrated and regularly distributed, and the errors of the azimuths obtained by the two methods are very small. That is to say, when the UWB base station and the remote control are unobstructed, the azimuth of the pointing device relative to the first coordinate system measured based on the UWB base station and the azimuth of the pointing device relative to the first coordinate system measured by the calibrated magnetometer are both highly accurate.

[0211] When the UWB base station and / or the remote control is blocked, the azimuth of the pointing device relative to the first coordinate system measured by the calibrated magnetometer is concentrated and regular; however, the azimuth of the pointing device relative to the first coordinate system measured based on the UWB base station fluctuates greatly, is not concentrated and regular, has many abnormal values, and the errors of the azimuths obtained by these two methods are large. That is to say, when the UWB base station and / or the remote control is blocked, the accuracy of the azimuth of the pointing device relative to the first coordinate system measured based on the UWB base station is low, and the accuracy of the azimuth of the pointing device relative to the first coordinate system measured by the calibrated magnetometer is higher.

[0212] Therefore, when an abnormal azimuth angle of the pointing device relative to the first coordinate system measured based on the UWB base station is detected, it is automatically switched to the azimuth angle of the pointing device relative to the first coordinate system measured using a calibrated magnetometer. This can improve the pointing accuracy of the pointing device and ensure that the pointing accuracy of the pointing device is not affected by factors such as occlusion and antenna polarization.

[0213] In some embodiments, when it is detected that the UWB base station and / or the remote controller is blocked, the azimuth of the pointing device relative to the first coordinate system measured by a calibrated magnetometer may be automatically switched to be used.

[0214] In order to clearly understand the positional relationship between the UWB base station on the side of the pointed device and the pointed device, for example, taking the interaction between the remote control and the large-screen device as an example, Figure 8 A schematic diagram showing the positional relationship between several large-screen devices and UWB base stations is shown, that is, a diagram showing the arrangement status of the first antenna array 800 of the UWB base station on the large-screen device 810 .

[0215] like Figure 8 As shown, the first antenna array 800 can be set at any position on the large-screen device 810. For example, the first antenna array 800 can be set outside the large-screen device 810, for example, on the upper frame of the large-screen device 810 (such as Figure 8 ), and can also be set at a diagonal position of the large screen device 810 (such as Figure 8As shown in (b) and Figure 8 As shown in (c) in the figure), it can also be set at any position of the left frame, right frame, bottom frame, etc. of the large-screen device 810, and can also be integrated inside the large-screen device 810; or it can also be set on an object that is kept at a certain distance from the large-screen device 810. The "object" can be an independent device, such as a desk, a stand, etc. The large-screen device 810 and the first antenna array 800 can be placed on different stands that are kept at a certain distance; of course, the first antenna array 800 can also be set inside the electronic device, and the first antenna array 800 can also be set at any position in the room where the large-screen device 810 is located. This embodiment does not limit this.

[0216] The first antenna array 800 includes at least three first antenna units, which may be a first antenna 121, a second antenna 122 and a third antenna 123 respectively. The second antenna 122 is located on one side of the first antenna 121 in the first direction X, and the third antenna 123 is located on one side of the first antenna 121 in the second direction Y.

[0217] The first antenna 121 can realize signal transmission or reception, and the origin of a three-dimensional coordinate system can be defined through the first antenna 121.

[0218] In one embodiment, the first antenna 121 serves as the origin of the three-dimensional coordinate system, the first direction is the x-axis direction of the three-dimensional coordinate system, the second direction is the y-axis direction of the three-dimensional coordinate system, the second antenna 122 is located on the x-axis, and the third antenna 123 is located on the y-axis, so that the first antenna 121, the second antenna 122 and the third antenna 123 are arranged in an "L" shape. The distance L between the second antenna 122 and the first antenna 121, and the distance L between the third antenna 123 and the first antenna 121 are all less than or equal to the wavelength λ of the first signal. Among them, the first signal is the first signal sent by the second antenna array received by the first antenna array 800, and the second antenna array is the antenna array set on the remote control.

[0219] For example, Fig. 9 Schematic diagrams showing the arrangements of several first antenna arrays 800 provided in embodiments of the present application.

[0220] Fig. 9 (a) shows a schematic diagram of the arrangement of a first antenna array 800, such as Fig. 9 As shown in (a), the number of the first antenna units 120a is three, and the three first antenna units 120a are arranged in an "L" shape.

[0221] Fig. 9 (b) shows another schematic diagram of the arrangement of the first antenna array 800, such as Fig. 9As shown in (b) thereof, the number of the first antenna units 120a is four, and the four first antenna units 120a are arranged in a "square" shape.

[0222] Fig. 9 (c) of shows a schematic layout diagram of another first antenna array 800. As Fig. 9 shown in (c) thereof, the number of the first antenna units 120a is three, and the three first antenna units 120a are arranged in a "pin" shape.

[0223] Fig. 9 (d) of shows a schematic layout diagram of another first antenna array 800. As Fig. 9 shown in (d) thereof, the number of the first antenna units 120a is three, and the three first antenna units 120a are arranged in an "L" shape.

[0224] Among various layout forms of at least three first antenna units 120a, there are at least two antennas distributed in the first direction X and the second direction Y respectively, and the first direction X is perpendicular to the second direction Y. Wherein, the first direction X can be used as the horizontal axis of the three-dimensional coordinate system, the second direction Y can be used as the vertical axis of the three-dimensional coordinate system, and there can be a set geometric relationship between the plane formed by the first direction X and the second direction Y and the display interface of the large screen device 810, so as to facilitate the calculation of the coordinates of the second antenna array.

[0225] Exemplarily, Fig.10 shows a layout state diagram of a second antenna array provided in an embodiment of the present application on a remote control.

[0226] Referring to Fig.10 (a) of, the second antenna array arranged on the remote control 1010 may include two second antenna units, and the two second antenna units may be the fourth antenna 221 and the fifth antenna 222 respectively. The fifth antenna 222 is located on one side of the fourth antenna 221 in the third direction. Wherein, the fourth antenna 221 is a transceiver integrated antenna, and the fifth antenna 222 is a horizontal receiving antenna. The second antenna units in the second antenna array can be used to receive the second signal sent by the first antenna array 800.

[0227] Referring to Fig.10 (b) of, the second antenna array arranged on the remote control 1020 may include one second antenna unit, and one second antenna unit may be the fourth antenna 221. The fourth antenna 221 is a transceiver integrated antenna. The second antenna units in the second antenna array can be used to receive the second signal sent by the first antenna array 800.

[0228] In some embodiments, the second antenna array may include at least three second antenna units, and the at least three second antenna units may be the fourth antenna 221, the fifth antenna 222 and the sixth antenna 223, respectively. The fifth antenna 222 is located on one side of the fourth antenna 221 in the third direction, and the sixth antenna 223 is located on one side of the fourth antenna 221 in the fourth direction, so that the fourth antenna 221, the fifth antenna 222 and the sixth antenna 223 form an "L"-shaped structure. Among them, the fourth antenna 221 is a transceiver antenna, and the fifth antenna 222 and the sixth antenna 223 are both receiving antennas. The second antenna unit in the second antenna array can be used to receive the second signal sent by the first antenna array 800. By making the distance L' between any two second antenna units less than or equal to the wavelength λ of the second signal, each second antenna unit used for receiving the signal can receive the second signal almost simultaneously, and each second antenna unit can obtain a phase parameter according to the second signal, and a deflection angle can be obtained according to the phase parameter.

[0229] That is to say, in this embodiment, by making the distance between any two first antenna units 120a and the distance between any two second antenna units smaller than the wavelength of the corresponding received signal, it is possible to obtain the first coordinate and the deflection angle according to the phase parameter of the received signal, thereby realizing the positioning of the second antenna array in three-dimensional space, and obtaining the absolute coordinates of the second antenna array within the size range of the large-screen device 810, wherein the first coordinate is the relative coordinate of the second antenna array relative to the first antenna array 800.

[0230] The first antenna array 800 and the second antenna array may have the same arrangement form, for example, the first antenna array 800 includes three first antenna units 120a, the second antenna array includes three second antenna units, and the arrangement form of the three first antenna units 120a is the same as the arrangement form of the three second antenna units. Of course, in some other embodiments, the first antenna array 800 and the second antenna array may also have different arrangements, for example, the first antenna array 800 includes three first antenna units 120a, the second antenna array includes two second antenna units, and the arrangement form of the three first antenna units 120a is different from that of the two second antenna units.

[0231] When operating the remote control, a distance is usually maintained between the remote control and the large-screen device 810, that is, a distance is maintained between the first antenna array 800 and the second antenna array, so that a triangle is formed between the second antenna array, the first antenna 121 and the second antenna 122, and a triangle is also formed between the second antenna array, the first antenna 121 and the third antenna 123, so that the value of the first coordinate (x, y, z) can be calculated based on the relevant principles of triangles and electromagnetic waves.

[0232] The large-screen device 810 is provided with a first antenna array 800, and the remote control is provided with a second antenna array. The first antenna array 800 can establish a three-dimensional coordinate system according to the relative position of the first antenna array 800 on the large-screen device 810. The first antenna array 800 and the second antenna array can position each other so that the coordinates of the second antenna array are accurately presented on the display interface of the large-screen device 810.

[0233] In order to more clearly understand the gesture of the remote control, the following, for example, Figures 11 to 13 , the azimuth angle ψ used to measure the attitude of the remote control e , Pitch angle and roll angle θ e Make an introduction.

[0234] Fig.11 A spatial coordinate system established with the UWB base station as the coordinate origin is shown, namely the first coordinate system mentioned above.

[0235] like Fig.11 (a) and Fig.11 As shown in (b) of FIG. 1 , the UWB base station adopts a three-antenna structure (antenna 0, antenna 1, and antenna 2). Fig.11 The three-antenna structure shown in (a) is an L-shaped antenna structure, such as Fig.11 The three-antenna structure shown in (b) is a triangular antenna structure. When installing the UWB base station, the arrow shown in the figure needs to be perpendicular to the horizontal plane and pointed upward. The UWB base station can be installed on the wall or integrated into other smart devices, such as the top of a large screen.

[0236] After the UWB base station is installed, the UWB coordinate system (i.e. the first coordinate system mentioned above) can be established. Fig.11 As shown in (a) in the figure, the UWB coordinate system can take the center of antenna No. 0 of the base station as the coordinate origin O1, the X1 axis is parallel to the bottom edge of the base station and points to the left, the Y1 axis points to the front direction of the base station, and the Z1 axis is perpendicular to the X1O1Y1 plane and points upward, satisfying the right-hand rule with the X1 axis and the Y1 axis.

[0237] Fig.11 (c) in FIG. 1 is a schematic diagram of the UWB coordinate system at the UWB base station level.

[0238] Fig.12 A spatial coordinate system established with the center of the remote controller as the coordinate origin is shown, namely the second coordinate system mentioned above.

[0239] like Fig.12 As shown, the coordinate origin O2 of the second coordinate system is located at the center of the remote control, the X2 axis points to the right along the horizontal axis of the carrier, the Y2 axis points forward along the longitudinal axis of the carrier, and the Z2 axis is perpendicular to the X2O2Y2 plane and points outward, and the coordinate axes conform to the right-hand rule.

[0240] The remote control can be replaced by any other UWB tag, such as a mobile phone.

[0241] exist Fig.11 and Fig.12 Based on the coordinate system shown, Fig.13 The azimuth angle ψ used to measure the attitude of the remote controller relative to the first coordinate system is shown e , Pitch angle and roll angle θ e Schematic diagram of .

[0242] Fig.13 (a) shows an azimuth angle ψ e , Pitch angle Schematic diagram of .

[0243] like Fig.13 As shown in (a), the pitch angle ( Fig.13 As shown in ) is the angle between the Y2 axis and the X1O1Y1 plane in the first coordinate system, with the carrier head up as positive; the azimuth angle ψ e ( Fig.13 The ψ) shown in is the angle between the projection of the Y2 axis on the X1O1Y1 plane and the Y1 axis, with the right yaw of the carrier head being positive.

[0244] Fig.13 (b) shows a rolling angle θ e Schematic diagram of .

[0245] like Fig.13 As shown in (b), the roll angle θ e ( Fig.13 The θ) shown in is the angle between the Z2 axis and the vertical plane including the Y2 axis, with the rightward tilt of the carrier being considered positive.

[0246] For example, in combination Fig.14 , the angle between the Y axis of the first coordinate system and the Y axis of the geographic coordinate system Make an introduction.

[0247] like Fig.14 As shown, the UWB base station coordinate system (abbreviated as e system) can take the center of the base station's transmitting antenna as the coordinate origin O1, the X1 axis is parallel to the bottom edge of the base station and points to the left, the Y1 axis points to the front direction of the base station, and the Z1 axis is perpendicular to the X1O1Y1 plane and upward, satisfying the right-hand rule with the X1 axis and the Y1 axis.

[0248] The origin of the geographic coordinate system (abbreviated as the g system) coincides with the origin of the e system. The X3 axis of the g system points to the local due east direction, the Y3 axis of the g system points to the local due north direction, and the Z3 axis of the g system points to the local zenith direction. When the UWB base station meets the installation requirements perpendicular to the horizontal plane, the Z3 axis of the g system and the Z1 axis of the e system should coincide with each other, and the angle between the Y3 axis of the g system and the Y1 axis of the e system is

[0249] The geographical direction pointed by the Y1 axis of the e system or the X1 axis of the e system can be directly measured by a magnetometer, thereby calculating

[0250] For example, in combination Fig.15 , the three-axis magnetic output of the above magnetometer and by The magnetic vector on the horizontal plane obtained by transfer Make an introduction.

[0251] like Fig.15 As shown, the pitch angle can be used and roll angle θ e ,Will Transferred to a magnetic vector on the horizontal plane

[0252] Below, exemplarily, in combination Figures 16 to 18 , a method for obtaining the distance between a pointing device and a pointed device, and obtaining the attitude angle of the pointing device relative to the pointed device in different scenarios provided by an embodiment of the present application is introduced.

[0253] For example, in combination Fig.16 , a method for obtaining the distance between a pointing device and a pointed device, and an attitude angle of the pointing device relative to a first coordinate system provided in an embodiment of the present application is introduced. This embodiment is applicable to a scenario in which the pointing device includes two or more antenna units and the pointed device includes three or more antenna units.

[0254] like Fig.16 As shown, this embodiment is introduced by taking the pointing device as the remote control 1620 and the pointed device as the large screen 1610 as an example, wherein the wireless positioning module of the remote control 1620 includes two antenna units, and the wireless positioning module of the large screen 1610 includes three antenna units. The two antenna units included in the wireless positioning module of the remote control 1620 are respectively the second origin antenna 221 and the second horizontal antenna 222, and the three antenna units included in the wireless positioning module of the large screen 1610 are respectively the first origin antenna 121, the first horizontal antenna 122 and the first vertical antenna 123.

[0255] The wireless positioning module may be a UWB module.

[0256] Based on Fig.16 According to the antenna structure shown, the wireless positioning module of the large screen 1610 can respectively measure the horizontal incident direction and the vertical incident direction of the signal, and the wireless positioning module of the remote control 1620 can measure the horizontal incident direction of the signal. The relative distance between the remote control 1620 and the large screen 1610 can be obtained based on the interactive measurement between the wireless positioning module of the large screen 1610 and the wireless positioning module of the remote control 1620.

[0257] The specific method for determining the relative distance between the remote control 1620 and the large screen 1610 is shown in FIG. Figure 5 Description section.

[0258] The specific method for determining the attitude angle of the remote controller 1620 relative to the first coordinate system is described in detail in Figure 5 Description part, wherein the first coordinate system is a spatial coordinate system established with the wireless positioning module of the large screen 1610 as the center.

[0259] For example, Fig.17 This embodiment of the present application provides a method of Fig.16 The azimuth of the pointing device relative to the first coordinate system obtained in the scenario shown is a comparison diagram of the effects before and after calibration of the magnetometer.

[0260] like Fig.17 As shown, the azimuth measurement value (ψ e ) M (shown by the hollow circle) and the azimuth measurement value (ψ e ) UWB (as shown in the rectangular box), there is a large error. Fig.16 The azimuth of the pointing device relative to the first coordinate system is obtained in the scene shown, and the magnetometer is calibrated. After calibration, the azimuth measurement value (ψ e ) M (shown by the solid circle) and the azimuth measurement value (ψ e ) UWB In comparison, the error is smaller.

[0261] For example, Fig.18Another method for obtaining the distance between a pointing device and a pointed device, and an attitude angle of the pointing device relative to a first coordinate system, provided in an embodiment of the present application is shown. This embodiment is applicable to a scenario in which the pointing device includes one antenna unit and the pointed device includes three or more antenna units.

[0262] like Fig.18 As shown, this embodiment is introduced by taking the pointing device as the remote control 1820 and the pointed device as the speaker 1810 as an example, wherein the wireless positioning module of the remote control includes an antenna unit, and the wireless positioning module of the speaker 1810 includes three antenna units. The wireless positioning module of the remote control 1820 includes an antenna unit which is the second origin antenna 221, and the wireless positioning module of the speaker 1810 includes three antenna units which are the first origin antenna 121, the first horizontal antenna 122 and the first vertical antenna 123.

[0263] The remote controller 1820 determines whether it is currently pointing at the speaker 1810 by estimating its own posture and position. When it is determined that it is pointing at the speaker 1810 , the remote controller 1820 controls the speaker 1810 .

[0264] In this scenario, since the wireless positioning module of the remote control 1820 only includes the second origin antenna 221, it is impossible to directly measure the distance between the remote control 1820 and the speaker 1810 and the attitude angle of the remote control 1820 relative to the first coordinate system based on the signal interaction between the first coordinate system and the second coordinate system; instead, it is necessary to use the gyroscope data and acceleration data provided by the inertial measurement unit (IMU) to measure in real time the position change of the remote control 1820 pointing per unit time, where the first coordinate system is a spatial coordinate system established with the wireless positioning module of the speaker 1810 as the center.

[0265] The second coordinate system is established with the center of the remote controller 1820 as the origin. For more explanations about the second coordinate system, see Fig.13 In the embodiment shown, for the convenience of description, the second coordinate system is referred to as b system.

[0266] For example, the second coordinate system may be established with the IMU center of the remote controller 1820 as the origin.

[0267] In this embodiment, the method for obtaining the distance between the pointing device and the pointed device, and the attitude angle of the pointing device relative to the first coordinate system may be:

[0268] (1) updating the attitude and position of the remote controller 1820 relative to the geographic coordinate system (g system) in real time based on the gyroscope data and acceleration data measured by the IMU of the remote controller 1820;

[0269] (2) The posture and position of the remote control 1820 relative to the geographic coordinate system (g system) are converted into the posture and position of the remote control 1820 relative to the first coordinate system (e system), that is, the distance between the remote control 1820 and the speaker 1810 and the posture angle of the remote control 1820 relative to the first coordinate system are obtained.

[0270] The process of updating the attitude and position of the remote controller 1820 relative to the geographic coordinate system (g system) may be as follows:

[0271] (1) Posture Update Algorithm

[0272] Suppose the attitude rotation matrix of the g system relative to the b system at time m is Then we have the following derivation formula (1):

[0273]

[0274] Since the g system can be considered to have no rotation in a short period of time, Then formula (1) is simplified to the following formula (2):

[0275]

[0276] and Depends on the rotation vector Φ output by the IMU at the current moment m , corresponding to the following formula (3):

[0277]

[0278] where Δβ m (1) and Δβ m (2) are respectively [t m-1 , t m-1 / 2 ] and [t m-1 / 2 , t m ] time, and their total increment is Δβ m =Δβ m (1)+Δβ m (2), therefore It can be calculated according to the following formula (4):

[0279]

[0280] (2) Speed ​​update algorithm

[0281] The velocity update equation is shown in the following formula (5):

[0282]

[0283] in is the acceleration vector of the remote controller in the g system at time m, which can be specifically expressed as the following formula (6) and formula (7):

[0284]

[0285]

[0286] The speed value of the remote controller at time m in the e system is calculated by accumulation. It can be specifically expressed as the following formula (8):

[0287]

[0288] (3) Location Update Algorithm

[0289] The location update algorithm formula (9) is:

[0290]

[0291] in That is, the change in position per unit time. The second norm of can be used to obtain the moving distance Δd of the pointing device per unit time, which can be specifically expressed as the following formula (10):

[0292]

[0293] The phase of the signal measured by the pointing device at time t0 Assume that at time t1, the user controls the pointing device to move to a position d away from time t0. According to the calculated displacement per unit time Δd, the phase of the signal is measured at this time Then the signal incident angle β can be calculated by the following formula (11):

[0294]

[0295] In this embodiment, the pointing device can use a single antenna to measure the direction of the opposite end signal when the position or attitude changes, and then obtain the distance between the pointing device and the pointed device, and the attitude angle of the pointing device relative to the first coordinate system.

[0296] For example, Fig.19 FIG. 1 is a schematic flow chart of a method 1900 for determining a pointing position provided by an embodiment of the present application. Fig.19 As shown, the method 1900 includes:

[0297] S1901: In a first time period, a first posture calibration unit is used to calibrate the posture of a control device relative to a third posture calibration unit, where the third posture calibration unit is used to measure the position and posture relationship of the control device relative to the controlled device.

[0298] Wherein, the control device includes a first posture calibration unit and a second posture calibration unit.

[0299] In some embodiments, the control device may be a remote control, which refers to an electronic device with a remote control function, such as a smart phone, a TV remote control, an air conditioner remote control, a light remote control, a tea bar machine remote control, or a car key.

[0300] In some embodiments, the controlled device is a smart controlled device in a whole-house smart environment or a smart office environment, and may include, for example, a large-screen device, a projector, a lamp, an air conditioner, a tea bar machine, a vehicle or an air conditioner.

[0301] In some embodiments, the first posture calibration unit can be a UWB module, an ultrasonic module, a multi-antenna millimeter-wave radar positioning module, a three-dimensional electromagnetic coil positioning module or a three-dimensional ultrasonic positioning module; the second posture calibration unit can be a magnetometer; the third posture calibration unit can be a UWB module, an ultrasonic module, a multi-antenna millimeter-wave radar positioning module, a three-dimensional electromagnetic coil positioning module or a three-dimensional ultrasonic positioning module.

[0302] It can be understood that in some embodiments, during the first period of time, the second posture calibration unit is not used for posture calibration.

[0303] In some embodiments, in a fourth time period, the azimuth measured by the second posture calibration unit is calibrated relative to the posture of the third posture calibration unit using the control device calibrated by the first posture calibration unit, wherein the fourth time period partially overlaps with the first time period or is within the first time period.

[0304] In one example, when the difference between the azimuth measured by the second posture calibration unit and the azimuth measured by the first posture calibration unit is greater than a first difference, the control device calibrated by the first posture calibration unit calibrates the azimuth measured by the second posture calibration unit relative to the posture of the third posture calibration unit.

[0305] In yet another example, when a variance of multiple azimuth angles continuously measured using the second posture calibration unit is greater than the first variance, the azimuth angle measured by the second posture calibration unit is calibrated using a control device calibrated by the first posture calibration unit relative to the posture of the third posture calibration unit.

[0306] S1902: Determine a pointing position of the control device in the first time period according to the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit.

[0307] S1903: In a second time period, use a second posture calibration unit to calibrate the posture of the control device relative to a third posture calibration unit, wherein in the second time period, the accuracy of the calibration result of the first posture calibration unit is lower than the accuracy of the calibration result of the first posture calibration unit in the first time period.

[0308] In some embodiments, the second posture calibration unit is used to calibrate the posture of the control device relative to the third posture calibration unit. The specific process may be: using the second posture calibration unit to measure the azimuth angle between the control device and the third posture calibration unit; using the azimuth angle to calibrate the posture of the control device relative to the third posture calibration unit.

[0309] In some embodiments, during the second time period, the first posture calibration unit is used to measure the position of the control device relative to the third posture calibration unit.

[0310] In some embodiments, during the second time period, the first posture calibration unit and the second posture calibration unit may be used simultaneously to calibrate the posture of the control device relative to the third posture calibration unit.

[0311] S1904: Determine the pointing position of the control device in the second time period according to the posture of the control device calibrated by the second posture calibration unit relative to the third posture calibration unit.

[0312] Optionally, after S1904, the following steps may be further included:

[0313] In a third time period after the second time period, the first posture calibration unit is used to calibrate the posture of the control device relative to the third posture calibration unit, wherein in the third time period, the accuracy of the calibration result of the first posture calibration unit is higher than the accuracy of the calibration result of the first posture calibration unit in the second time period.

[0314] One or more of the modules or units described herein can be implemented by software, hardware or a combination of the two. When any of the above modules or units are implemented in software, the software exists in the form of computer program instructions and is stored in a memory, and a processor can be used to execute the program instructions and implement the above method flow. The processor may include but is not limited to at least one of the following: a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a microcontroller (MCU), or an artificial intelligence processor and other types of computing devices that run software, each computing device may include one or more cores for executing software instructions to perform operations or processing. The processor may be built into an SoC (system on chip) or an application specific integrated circuit (ASIC), or it may be an independent semiconductor chip. In addition to the core used to execute software instructions for operations or processing in the processor, necessary hardware accelerators may be further included, such as a field programmable gate array (FPGA), a PLD (programmable logic device), or a logic circuit that implements a dedicated logic operation.

[0315] When the modules or units described in this document are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a DSP, an MCU, an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator, or a non-integrated discrete device, which can run the necessary software or be independent of the software to execute the above method flow.

[0316] When the modules or units described herein are implemented using software, they 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 may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may 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 may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0317] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0318] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0319] In the several embodiments provided in the present application, it should be understood that the disclosed systems, 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.

[0320] 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.

[0321] 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.

[0322] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0323] 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 pointing position, characterized in that: The method is applied to a control device, the control device comprising a first posture calibration unit and a second posture calibration unit, and the method comprises: In a first time period, the first posture calibration unit is used to calibrate the posture of the control device relative to a third posture calibration unit, where the third posture calibration unit is used to measure the position and posture relationship of the control device relative to the controlled device; determining a pointing position of the control device in the first time period according to the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit; In a second period, calibrating the posture of the control device relative to the third posture calibration unit using the second posture calibration unit, wherein in the second period, the accuracy of the calibration result of the first posture calibration unit is lower than the accuracy of the calibration result of the first posture calibration unit in the first period; According to the posture of the control device calibrated by the second posture calibration unit relative to the third posture calibration unit, the pointing position of the control device in the second time period is determined.

2. The method according to claim 1, characterized in that The method further comprises: In a third time period after the second time period, the first posture calibration unit is used to calibrate the posture of the control device relative to the third posture calibration unit, wherein in the third time period, the accuracy of the calibration result of the first posture calibration unit is higher than the accuracy of the calibration result of the first posture calibration unit in the second time period.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: In a fourth time period, the azimuth measured by the second posture calibration unit is calibrated using the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit, wherein the fourth time period partially overlaps with the first time period or is within the first time period.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: During the second period, the first posture calibration unit is used to measure the position of the control device relative to the third posture calibration unit.

5. The method according to claim 3, characterized in that: The method of calibrating the azimuth measured by the second posture calibration unit using the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit includes: When the difference between the azimuth measured by the second posture calibration unit and the azimuth measured by the first posture calibration unit is greater than a first difference, the azimuth measured by the second posture calibration unit is calibrated using the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit; or When the variance of multiple azimuth angles continuously measured using the second posture calibration unit is greater than the first variance, the azimuth angle measured by the second posture calibration unit is calibrated using the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit.

6. The method according to any one of claims 1 to 5, characterized in that The step of using the second posture calibration unit to calibrate the posture of the control device relative to the third posture calibration unit includes: Using the second posture calibration unit to measure the azimuth angle between the control device and the third posture calibration unit; The attitude of the control device relative to the third attitude calibration unit is calibrated using the azimuth angle.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: During the second period, the first posture calibration unit and the second posture calibration unit are used simultaneously to calibrate the posture of the control device relative to the third posture calibration unit.

8. The method according to any one of claims 1 to 7, characterized in that The control device is a remote controller.

9. The method according to any one of claims 1 to 8, characterized in that The controlled device is an intelligent controlled device in a whole-house intelligent environment or a smart office environment.

10. The method according to any one of claims 1 to 9, characterized in that The first posture calibration unit is a UWB module, and the second posture calibration unit is a magnetometer.

11. A control device, characterized in that: The control device comprises a first posture calibration unit and a second posture calibration unit, and the control device further comprises: one or more processors; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, and the one or more computer programs include instructions, and when the instructions are executed by the one or more processors, the control device performs the following operations: In a first time period, the first posture calibration unit is used to calibrate the posture of the control device relative to a third posture calibration unit, where the third posture calibration unit is used to measure the position and posture relationship of the control device relative to the controlled device; determining a pointing position of the control device in the first time period according to the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit; In a second period, calibrating the posture of the control device relative to the third posture calibration unit using the second posture calibration unit, wherein in the second period, the accuracy of the calibration result of the first posture calibration unit is lower than the accuracy of the calibration result of the first posture calibration unit in the first period; According to the posture of the control device calibrated by the second posture calibration unit relative to the third posture calibration unit, the pointing position of the control device in the second time period is determined.

12. The control device according to claim 11, characterized in that When the instruction is executed by the one or more processors, the control device further performs the following operations: In a third time period after the second time period, the first posture calibration unit is used to calibrate the posture of the control device relative to the third posture calibration unit, wherein in the third time period, the accuracy of the calibration result of the first posture calibration unit is higher than the accuracy of the calibration result of the first posture calibration unit in the second time period.

13. The control device according to claim 11 or 12, characterized in that: When the instructions are executed by the one or more processors, the control device further performs the following operations: In a fourth time period, the azimuth measured by the second posture calibration unit is calibrated using the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit, wherein the fourth time period partially overlaps with the first time period or is within the first time period.

14. The control device according to any one of claims 11 to 13, characterized in that When the instructions are executed by the one or more processors, the control device further performs the following operations: During the second period, the first posture calibration unit is used to measure the position of the control device relative to the third posture calibration unit.

15. The control device according to claim 13, characterized in that When the instruction is executed by the one or more processors, the control device further specifically performs the following operations: When the difference between the azimuth measured by the second posture calibration unit and the azimuth measured by the first posture calibration unit is greater than a first difference, calibrating the azimuth measured by the second posture calibration unit using the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit; or When the variance of multiple azimuth angles continuously measured using the second posture calibration unit is greater than the first variance, the azimuth angle measured by the second posture calibration unit is calibrated using the posture of the control device calibrated by the first posture calibration unit relative to the third posture calibration unit.

16. The control device according to any one of claims 11 to 15, characterized in that When the instruction is executed by the one or more processors, the control device further performs the following operations: During the second period, the first posture calibration unit and the second posture calibration unit are used simultaneously to calibrate the posture of the control device relative to the third posture calibration unit.

17. The control device according to any one of claims 11 to 16, characterized in that The control device is a remote controller.

18. The control device according to any one of claims 11 to 17, characterized in that The controlled device is an intelligent controlled device in a whole-house intelligent environment or a smart office environment.

19. The control device according to any one of claims 11 to 18, characterized in that The first posture calibration unit is a UWB module, and the second posture calibration unit is a magnetometer.

20. A system for determining a pointing position, characterized in that: The system includes a control device and a controlled device, wherein: The control device is used to perform the method according to any one of claims 1 to 10; The controlled device is used to make a first response according to the pointing position of the controlling device determined by the controlling device.

21. An electronic device, characterized in that: include: one or more processors; one or more memories; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, and the one or more computer programs include instructions, which, when executed by the one or more processors, enable the electronic device to perform the method as described in any one of claims 1 to 10.

22. A computer-readable storage medium, characterized in that: The storage medium stores a program or an instruction, and when the program or the instruction is executed, the method according to any one of claims 1 to 10 is implemented.

23. A chip, characterized in that: Instructions are stored in the chip, and when the instructions are executed, the method according to any one of claims 1 to 10 is implemented.

24. A computer program product, characterized in that The computer program product stores a program or an instruction, and when the program or the instruction is executed, the method according to any one of claims 1 to 10 is implemented.

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