Method, control device and system for determining a pointing position

Abstract

The application provides a method, a control device and a system for determining a pointing position. The method is applied to the control device, and the control device comprises a first attitude calibration unit and a second attitude calibration unit. In the method, the attitude of the control device relative to a third attitude calibration unit is calibrated by using the first attitude calibration unit in a first period, and the third attitude calibration unit is used for measuring the position and posture relationship of the control device relative to a controlled device. The pointing position of the control device in the first period is determined according to the attitude calibrated by the first attitude calibration unit. The attitude is calibrated by using the second attitude calibration unit in a second period, and the calibration accuracy of the first attitude calibration unit in the second period is lower than that in the first period. The pointing position of the control device in the second period is determined according to the attitude calibrated by the second attitude calibration unit. In this way, 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 accuracy of the control device can be improved.

Description

TECHNICAL FIELD

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

[0002] Taking the interaction between a pointing remote controller and a large screen as an example, the pointing remote controller can realize remote control effect by controlling the movement of a cursor on the large screen, which can improve the interaction experience between the user and the large screen. For example, the user can play shooting games or fruit cutting games on the large screen by using the pointing remote controller.

[0003] However, the pointing accuracy of the current pointing remote controller is not high. During the use of the pointing remote controller, the pointing accuracy of the pointing remote controller directly affects the interaction effect between the pointing remote controller and the pointed device. For example, when there is an occlusion between the pointing remote controller and the pointed device, the pointing accuracy of the pointing remote controller is easily affected, and it is easy to occur that the pointing remote controller cannot flexibly control the pointed device, which affects the user's experience. SUMMARY

[0004] The present application provides a method, a control device and a system for determining pointing position. By using 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. The calibration result of the second attitude calibration unit is not affected by 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 the stability of the pointing accuracy of the control device.

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

[0006] In some embodiments, the second attitude calibration unit is not used for attitude calibration in the first time period.

[0007] In the embodiments of the present application, the first attitude calibration unit and the second attitude calibration unit are configured in the control device, the calibration result of the second attitude calibration unit is not affected by the device occlusion and antenna polarization, etc., 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 the stability of the pointing accuracy of the control device.

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

[0009] In the embodiments of the present application, during the process of calibrating the attitude by the second attitude calibration unit, if it is detected that the accuracy of the attitude calibrated by the first attitude calibration unit changes from not meeting the requirement to meeting the requirement, the first attitude calibration unit is restored to be used for calibrating the attitude, which avoids the decrease of the accuracy of the attitude calibration result caused by long-term use of the second attitude calibration unit, can further improve the pointing accuracy of the control device and the stability of the pointing accuracy of the control device.

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

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

[0012] In the embodiments of the present application, during the process of calibrating the attitude by the first attitude calibration unit, the second attitude calibration unit can be calibrated in real time using the attitude calibration result of the first attitude calibration unit, which can improve the accuracy of the attitude result calibrated by the second attitude calibration unit and improve the stability of the pointing accuracy of the control device in the process of using the control device.

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

[0014] In the embodiments of the present application, since the second attitude calibration unit cannot measure the position of the control device relative to the third attitude calibration unit, the first attitude calibration unit and the second attitude calibration unit can be used in cooperation, the first attitude calibration unit can be used to measure the position of the control device relative to the third attitude calibration unit, and the second attitude calibration unit can be used to calibrate the attitude of the control device relative to the third attitude calibration unit, so that the control device can determine the pointing position of the control device relative to the third attitude calibration unit according to the position and the attitude.

[0015] In combination with the first aspect, in a possible implementation, the attitude of the control device relative to the third attitude calibration unit calibrated by using the first attitude calibration unit calibrates the azimuth angle measured by the second attitude calibration unit, including: when the difference between the azimuth angle measured by using the second attitude calibration unit and the azimuth angle measured by using the first attitude calibration unit is greater than a first difference, the attitude of the control device relative to the third attitude calibration unit calibrated by using the first attitude calibration unit calibrates the azimuth angle measured by the second attitude calibration unit; or when the variance of the plurality of azimuth angles measured by using the second attitude calibration unit continuously is greater than a first variance, the attitude of the control device relative to the third attitude calibration unit calibrated by using the first attitude calibration unit calibrates the azimuth angle measured by the second attitude calibration unit.

[0016] In the embodiments of the present application, in the process of attitude calibration by using the first attitude calibration unit, the second attitude calibration unit can not be calibrated in real time, but when it is determined that the second attitude calibration unit needs to be calibrated, the attitude calibration result of the first attitude calibration unit is used to calibrate the second attitude calibration unit, so that the power consumption of the device can be saved.

[0017] In combination with the first aspect, in a possible implementation, the attitude of the control device relative to the third attitude calibration unit calibrated by using the second attitude calibration unit includes: measuring the azimuth angle between the control device and the third attitude calibration unit by using the second attitude calibration unit; and calibrating the attitude of the control device relative to the third attitude calibration unit by using the azimuth angle.

[0018] In some embodiments, the attitude of the control device relative to the third attitude calibration unit includes an azimuth angle, a pitch angle and a roll angle, and the calibration manner can be directly using the azimuth angle measured by the second attitude calibration unit as the azimuth angle of the control device relative to the third attitude calibration unit.

[0019] In the embodiments of the present application, the attitude calibrated by the second attitude calibration unit is essentially calibrated according to the azimuth angle of the control device relative to the third attitude calibration unit measured by the second attitude calibration unit.

[0020] With reference to the first aspect, in a possible implementation manner, the method further includes: simultaneously using the first attitude calibration unit and the second attitude calibration unit to calibrate the attitude of the control device relative to a third attitude calibration unit in the second time period.

[0021] In the embodiments of the present application, in the process of attitude calibration using the second attitude calibration unit, the first attitude calibration unit can be used for attitude calibration at the same time. In the process, the pointing position of the control device is determined according to the attitude calibration result of the second attitude calibration unit, and the attitude calibration result of the first attitude calibration unit is judged for accuracy, so as to timely restore the attitude calibration using the first attitude calibration unit when the accuracy of the attitude calibration result of the first attitude calibration unit is restored.

[0022] With reference to the first aspect, in a possible implementation manner, the control device is a remote controller.

[0023] The remote controller can be any electronic device with remote control function, such as a smart phone, a television remote controller, an air conditioner remote controller, a lamp remote controller, etc.

[0024] With reference to the first aspect, in a possible implementation manner, the controlled device is a smart controlled device in a whole-house smart environment or a smart office environment.

[0025] The controlled device can be a large screen device, a lamp, an air conditioner, a smart sound box, an electric clothes hanger, a smart tea bar machine, etc., and can also be other devices with controlled function, which are not limited in the present application.

[0026] With reference to the first aspect, in a possible implementation manner, the first attitude calibration unit is a UWB module, and the second attitude calibration unit is a magnetometer.

[0027] With reference to the first aspect, in a possible implementation manner, the third attitude calibration unit is a UWB module.

[0028] In a second aspect, a control device is provided, the control device comprising a first attitude calibration unit and a second attitude calibration unit, the control device further comprising: 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, the one or more computer programs comprising instructions that, when executed by the one or more processors, cause the control device to perform the following operations: in a first time period, calibrate, using the first attitude calibration unit, an attitude of the control device relative to a third attitude calibration unit, the third attitude calibration unit being used to measure a pose relationship of the control device relative to a controlled device; determine a pointing position of the control device in the first time period according to the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit; in a second time period, calibrate, using the second attitude calibration unit, the attitude of the control device relative to the third attitude calibration unit, wherein, in the second time period, an accuracy of a calibration result of the first attitude calibration unit is lower than an accuracy of a calibration result of the first attitude calibration unit in the first time period; and determine a pointing position of the control device in the second time period according to the attitude of the control device relative to the third attitude calibration unit calibrated using the second attitude calibration unit.

[0029] In some embodiments, in the first time period, the second attitude calibration unit is not used for attitude calibration.

[0030] In the embodiments of the present application, the first attitude calibration unit and the second attitude calibration unit are configured in the control device, wherein the calibration result of the attitude of the second attitude calibration unit is not affected by device occlusion and antenna polarization, etc., 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 the stability of the pointing accuracy of the control device.

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

[0032] In the embodiment of the present application, in the process of calibrating the attitude by the second attitude calibration unit, if it is detected that the accuracy of the attitude calibrated by the first attitude calibration unit changes from not meeting the requirement to meeting the requirement, the first attitude calibration unit is restored to calibrate the attitude, so as to avoid the decrease of the accuracy of the attitude calibration result caused by long-term use of the second attitude calibration unit, further improve the pointing accuracy of the control device, and further improve the stability of the pointing accuracy of the control device.

[0033] In combination with the second aspect, in a possible implementation manner, the first attitude calibration unit, when the instruction is executed by the one or more processors, causes the control device to further perform the following operation: in the fourth time period, calibrating the azimuth angle measured by the second attitude calibration unit by using the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit, wherein the fourth time period partially overlaps with or is within the first time period.

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

[0035] In the embodiment of the present application, in the process of calibrating the attitude by using the first attitude calibration unit, the second attitude calibration unit can be calibrated in real time by using the attitude calibration result of the first attitude calibration unit, so as to improve the accuracy of the attitude result calibrated by the second attitude calibration unit and improve the stability of the pointing accuracy of the control device in the process of using the control device.

[0036] In combination with the second aspect, in a possible implementation manner, 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 attitude calibration unit.

[0037] In the embodiment of the present application, since the second attitude calibration unit cannot measure the position of the control device relative to the third attitude calibration unit, the first attitude calibration unit and the second attitude calibration unit can be combined, the first attitude calibration unit measures the position of the control device relative to the third attitude calibration unit, and the second attitude calibration unit calibrates the attitude of the control device relative to the third attitude calibration unit, so that the control device can determine the pointing position of the control device relative to the third attitude calibration unit according to the position and the attitude.

[0038] With reference to the second aspect, in a possible implementation manner, when the instruction is executed by the one or more processors, the control device further specifically performs the following operation: when a difference between the azimuth angle measured by using the second attitude calibration unit and the azimuth angle measured by using the first attitude calibration unit is greater than a first difference, the azimuth angle measured by the second attitude calibration unit is calibrated by using the attitude of the control device relative to the third attitude calibration unit calibrated by using the first attitude calibration unit; or when a variance of a plurality of azimuth angles measured by using the second attitude calibration unit in succession is greater than a first variance, the azimuth angle measured by the second attitude calibration unit is calibrated by using the attitude of the control device relative to the third attitude calibration unit calibrated by using the first attitude calibration unit.

[0039] In the embodiments of the present application, in the process of attitude calibration by using the first attitude calibration unit, the second attitude calibration unit can not be calibrated in real time, but is calibrated by using the attitude calibration result of the first attitude calibration unit when it is determined that the second attitude calibration unit needs to be calibrated, so that the power consumption of the device can be saved.

[0040] With reference to the second aspect, in a possible implementation manner, when the instruction is executed by the one or more processors, the control device further specifically performs the following operation: in the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated by simultaneously using the first attitude calibration unit and the second attitude calibration unit.

[0041] In the embodiments of the present application, in the process of attitude calibration by using the second attitude calibration unit, the first attitude calibration unit can be simultaneously used for attitude calibration, in which the pointing position of the control device is determined by using the attitude calibration result of the second attitude calibration unit, and the accuracy of the attitude calibration result of the first attitude calibration unit is judged, so as to timely restore the attitude calibration by using the first attitude calibration unit when the accuracy of the attitude calibration result of the first attitude calibration unit is restored.

[0042] With reference to the second aspect, in a possible implementation manner, the control device is a remote controller.

[0043] The remote controller can be any electronic device with remote control function, for example, a smart phone, a television remote controller, an air conditioner remote controller, a lamp remote controller, etc.

[0044] With reference to the second aspect, in a possible implementation manner, the controlled device is an intelligent controlled device in a whole-house intelligent environment or a smart office environment.

[0045] The controlled device can be, for example, a large-screen device, a lamp, an air conditioner, a smart sound box, an electric clothesline, a smart tea bar machine, etc., and can also be other devices with controlled function, which are not limited in the present application.

[0046] With reference to the second aspect, in a possible implementation manner, the first attitude calibration unit is a UWB module, and the second attitude calibration unit is a magnetometer.

[0047] With reference to the second aspect, in a possible implementation manner, the third attitude calibration unit is a UWB module.

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

[0049] The fourth aspect provides an electronic device including a memory and a processor, wherein the memory is configured to store computer program code, and the processor is configured to execute the computer program code stored in the memory to implement the method in the first aspect or any possible implementation manner of the first aspect.

[0050] The fifth aspect provides a computer readable storage medium, which stores a computer program or instructions, and when the computer program or instructions are executed, the method in the first aspect or any possible implementation manner of the first aspect is implemented.

[0051] The sixth aspect provides a chip, which stores instructions, and when the instructions are executed on a device, the chip executes the method in the first aspect or any possible implementation manner of the first aspect.

[0052] The seventh aspect provides a computer program product, which stores a computer program or instructions, and when the computer program or instructions are executed, the method in the first aspect or any possible implementation manner of the first aspect is implemented. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0056] Figure 4 FIG. 4 is a use scenario schematic diagram of a pointing type remote controller provided by an embodiment of the present application;

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

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

[0059] Figure 7 is a comparison diagram of a bearing angle of a pointing device relative to a UWB coordinate system measured based on a UWB base station and a bearing angle of the pointing device relative to the UWB coordinate system measured based on a calibrated magnetometer provided by an embodiment of the present application;

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

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

[0062] Figure 10 is a schematic diagram of arrangement of a second antenna array on a remote controller provided by an embodiment of the present application;

[0063] Figure 11 is a space coordinate system established with a UWB base station as a coordinate origin provided by an embodiment of the present application;

[0064] Figure 12 is a space coordinate system established with a center of a remote controller as a coordinate origin provided by an embodiment of the present application;

[0065] Figure 13 is a schematic diagram of a bearing angle, a pitch angle and a roll angle for measuring a posture of a remote controller provided by an embodiment of the present application;

[0066] Figure 14 is a schematic diagram of an included angle between a Y-axis of a first coordinate system and a Y-axis of a geographic coordinate system provided by an embodiment of the present application;

[0067] Figure 15 is a schematic diagram of a three-axis magnetic force output of a magnetometer provided by an embodiment of the present application and a horizontal plane magnetic vector obtained by transferring the three-axis magnetic force output of the magnetometer ;

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

[0069] Figure 17 is a comparison diagram of bearing angle measurement values of a magnetometer before and after calibration provided by an embodiment of the present application;

[0070] Figure 18 is another scenario diagram to which the method for determining a pointing position provided by the embodiments of the present application can be applied;

[0071] Figure 19 is a schematic flowchart of a method for determining a pointing position provided by the embodiments of the present application. DETAILED DESCRIPTION

[0072] The technical solutions in the present application will be described below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0073] The technical solutions in the embodiments of the present application will be described below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of "or", for example, A / B can represent A or B; "and / or" in the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "plurality" or "multiple" means two or more than two.

[0074] Hereinafter, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features. In the description of the embodiments, unless otherwise specified, the meaning of "multiple" is two or more than two.

[0075] The terms used in the following embodiments are only for the purpose of describing specific embodiments, and are not intended to be limiting on the present application. As used in the specification and the appended claims of the present application, the singular forms "a," "an," and "the" are intended to include, for example, the expression "one or more," unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of the present application, "at least one" and "one or more" mean one, two or more than two. The term "and / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships; for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0076] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "one embodiment," "some embodiments," "another embodiment," "other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0077] The methods provided in this application can be applied to electronic devices such as mobile phones, tablets, wearable devices, in-vehicle devices, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), netbooks, and personal digital assistants (PDAs). This application does not impose any restrictions on the specific type of electronic device.

[0078] For example, Figure 1 A schematic diagram of the structure of electronic device 100 is shown. Electronic device 100 may include wireless communication module 110, antenna 1, processor 120, speaker 130, power management module 140, internal memory 150, display screen 160, etc.

[0079] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device 100. In other embodiments of this application, the electronic device 100 may include more or fewer components than illustrated (e.g., it may also include an external memory interface, a battery, a frequency module, a sensor module, etc.), or combine some components, split some components, or arrange different components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0080] The wireless communication module 110 can provide a solution for wireless communication, including wireless local area networks (WLAN) (such as a wireless fidelity (Wi-Fi) network), Bluetooth (BT), a global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR) technology, and the like, which are applied to the electronic device 100. The wireless communication module 110 can be one or more devices that integrate at least one communication processing module. The wireless communication module 110 receives electromagnetic waves via the antenna 1, frequency-modulates and filters the electromagnetic wave signals, and transmits the processed signals to the processor 120. The wireless communication module 110 can also receive signals to be transmitted from the processor 120, frequency-modulate them, amplify them, and radiate them as electromagnetic waves via the antenna 1.

[0081] The processor 120 can include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units can be independent devices or integrated into one or more processors.

[0082] The controller can be the nerve center and command center of the electronic device 100. The controller can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions.

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

[0084] In some embodiments, the processor 120 can include one or more interfaces. The interfaces can 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] The antenna 1 is used for transmitting and receiving electromagnetic wave signals. Each antenna in the electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example, the antenna 1 can be multiplexed 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 loudspeaker 130, also known as a "speaker", 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 loudspeaker 130.

[0087] The power management module 140 is used to connect the processor 120, and the power management module 140 receives the input of the battery and / or the charging management module to power the processor 120, the internal memory 150, the loudspeaker 130, the display screen 160, and the wireless communication module 110, etc. 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 arranged in the processor 120. In some other embodiments, the power management module 140 and the charging management module can also be arranged in the same device.

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

[0089] The internal memory 150 can be used to store computer executable program codes including instructions. The processor 120 performs 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 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one App (such as a sound playing function, an image playing function, etc.) required by a function, etc. The data storage area can store data (such as audio data, a phone book, etc.) created during use of the electronic device 100, etc. In addition, the internal memory 150 can include a high-speed random access memory, and can further include a non-volatile memory such as at least one magnetic disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0090] The electronic device 100 implements a display function through a GPU, a display screen 160, an application processor, etc. The GPU is a microprocessor for image processing, connected to the display screen 160 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 120 can include one or more GPUs that 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 adopt a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flex light-emitting diode (FLED), a Miniled, a MicroLed, a Micro-oLed, a quantum dot light emitting diode (QLED), etc. In some embodiments, the electronic device 100 can include 1 or N display screens 160, and N is a positive integer greater than 1.

[0092] The software system of the electronic device 100 can adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture.

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

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

[0095] Exemplary, Figure 2 A structural schematic diagram of the electronic device 200 is shown. The electronic device 200 can 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, etc.

[0096] It can be understood that the structure shown in the embodiments 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 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0097] The wireless communication module 210 can provide a solution for wireless communication including WLAN (such as Wi-Fi network), BT, GNSS, FM, NFC, IR, etc. applied on 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, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 230. The wireless communication module 210 can also receive signals to be sent from the processor 230, frequency modulate them, amplify them, and radiate them as electromagnetic waves via 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 a network and other devices through wireless communication technologies. The wireless communication technologies can 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 technologies, etc. The GNSS can 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 systems (SBAS).

[0099] The UWB module 220 can provide a UWB communication, ranging, etc. solution applied to a UWB tag device, and when the electronic device 200 integrates one UWB transmitting antenna (e.g., the antenna 4) and multiple UWB receiving antennas (e.g., the antenna 5 and the antenna 6), the posture of the electronic device 200 can be measured based on a UWB signal.

[0100] The processor 230 can include one or more processing units, for example: the processor 230 can 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 can be independent devices, or can be integrated in one or more processors.

[0101] In some embodiments, the processor 230 is configured 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 can be the nerve center and command center of the electronic device 200. The controller can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions.

[0103] The processor 230 can 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 can store instructions or data that the processor 230 has just used or repeatedly uses. If the processor 230 needs to use the instructions or data again, it can directly call from the memory. This avoids repeated access and reduces the waiting time of the processor 230, thereby improving the efficiency of the system.

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

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

[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 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one App required by a function (such as a sound playing function, an image playing function, etc.), etc. The data storage area can store data created during the use of the electronic device 200 (such as audio data, a phonebook, etc.), etc. In addition, the internal memory 240 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, a UFS, etc.

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

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

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

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

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

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

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

[0114] The software system of the electronic device 200 can adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture.

[0115] In some embodiments, the electronic device 200 is a pointing device, for example, a pointing remote controller, and can also be a smart phone, and can also be other electronic devices with pointing control functions.

[0116] An exemplary, Figure 3 A structural schematic diagram of the electronic device 300 is shown. The electronic device 300 can include a wireless communication module 310, an antenna 7, an antenna 8, an antenna 9, an antenna 10, an antenna 11, a UWB module 320, a processor 330, an internal memory 340, a driving motor 350, a power management module 360, a power supply 370, and the like.

[0117] It can be understood that the structure illustrated in the embodiments 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 can include more or fewer components than illustrated, or combine certain components, or split certain components, or different arrangement of components. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0118] The wireless communication module 310 can provide a solution 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 that integrate at least one communication processing module. The wireless communication module 310 receives electromagnetic waves via the antenna 8, frequency-modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 330. The wireless communication module 310 can also receive signals to be sent from the processor 330, frequency-modulate them, amplify them, and convert them into electromagnetic wave radiation via the antenna 8.

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

[0120] The UWB module 320 can provide a solution for UWB communication, ranging, etc. applied to the electronic device 300. It should be noted that the electronic device 300 can only carry one UWB signal receiving antenna, and in this case at least three electronic devices 300 are needed to achieve three-dimensional positioning of the UWB tag. In another implementation scheme, the electronic device 300 can carry 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 needed to achieve two-dimensional positioning of the UWB tag, and at least three UWB receiving antennas (such as the antenna 9, the antenna 10, and the antenna 11) are needed to achieve three-dimensional positioning of the tag. In addition, the electronic device 300 only needs to carry one UWB transmitting antenna.

[0121] The processor 330 can include one or more processing units, for example: the processor 330 can 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. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0122] In some embodiments, the processor 330 is configured 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.

[0123] Among them, the controller can be the nerve center and command center of the electronic device 300. The controller can generate operation control signals according to instruction operation codes and timing signals, and complete the control of instruction fetching and instruction execution.

[0124] The memory can also be provided in the processor 330, for storing instructions and data. In some embodiments, the memory in the processor 330 is a cache memory. The memory can save instructions or data that have just been used or are used repeatedly by the processor 330. If the processor 330 needs to use the instructions or data again, it can directly call from the memory. This avoids repeated access and reduces the waiting time of the processor 330, thereby improving the efficiency of the system.

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

[0126] The antenna 7 and the antenna 8 are used for transmitting and receiving electromagnetic wave signals. Each antenna in the electronic device 300 can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization rate of the antennas. For example: the antenna 7 can be multiplexed as a diversity antenna of 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 including instructions. The processor 330 performs various function applications and data processing of the electronic device 300 by running the instructions stored in the internal memory 340. The internal memory 340 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one App required by a function (such as a sound playing function, an image playing function, etc.), and the like. The data storage area can store data (such as audio data, a phone book, etc.) created during use of the electronic device 300, and the like. In addition, the internal memory 340 can include a high-speed random access memory, and can further include a non-volatile memory such as at least one magnetic disk storage device, a flash memory device, a UFS, and the like.

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

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

[0130] The software system of the electronic device 300 can adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service 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, HarmonyOS, and the like.

[0133] The technical solutions of the embodiments of the present application can be applied to devices with pointing functions and electronic devices capable of being controlled by the pointing devices. For example, the technical solutions can be applied to a pointing remote controller or other devices with pointing remote control functions, a large screen device, a sound box, a lamp, and the like, and can also be applied to other devices with pointing functions, electronic devices in a future network or a future evolved public land mobile network (PLMN), and the like. The main application scenario can be a control scenario of a controlled device by a pointing control device, for example, control of a large screen by a remote controller. For example, the movement of a cursor on the large screen can be controlled by the pointing remote controller, and then shooting games, fruit cutting games, drawing, and the like on the large screen can be implemented, or various smart functions of a smart device can be implemented by the remote controller.

[0134] To more clearly understand the use scenario of the pointing remote controller, for example, the use scenario of the pointing remote controller is described in detail in combination with Figure 4 the pointing remote controller and the large screen device.

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

[0136] As shown in Figure 4 (a), when the pointing remote controller 410 is switched from pointing at position A on the display screen to pointing at position B on the display screen, the display position of the cursor 420 is also switched from position A to position B correspondingly. As shown in Figure 4 (b), when the pointing remote controller 410 points outside the display screen of the large screen device 400, the cursor is not displayed on the display screen of the large screen device 400.

[0137] The use experience of the pointing remote controller is similar to that of an infrared laser pen. The pointing remote controller can realize interaction between the cursor and the content displayed on the display screen by controlling the movement of the cursor on the display screen, and can improve the interaction experience between the user and the large screen. For example, the user can play shooting games, fruit cutting games, and the like on the large screen by using the pointing remote controller, which is more in line with the user's use habits.

[0138] The pointing remote controller needs to obtain the distance between the pointing remote controller and the large screen and the attitude of the pointing remote controller relative to the large screen by means of the UWB base station on the large screen side, and then calculate the pointing position of the cursor on the large screen in combination with the size and resolution information of the large screen.

[0139] However, the attitude of the pointing remote controller relative to the large screen obtained by the pointing remote controller in dependence on the UWB base station on the large screen side is easily affected by external factors such as shielding and antenna polarization, resulting in inaccurate attitude of the pointing remote controller relative to the large screen, and finally affecting the pointing accuracy of the pointing remote controller.

[0140] It is found through some tests that when there is no shielding between the remote controller and the large screen, the values of the multiple azimuth angles of the remote controller relative to the large screen obtained by the UWB base station on the large screen side in succession are relatively concentrated, for example, the values are all distributed within the range of (-60°, 60°), and the angle change of the pointing track of the pointing process of the remote controller on the large screen is clear and obvious; when there is shielding between the remote controller and the large screen, the dispersion of the values of the multiple azimuth angles of the remote controller relative to the large screen obtained by the UWB base station on the large screen side in succession is large, and abnormal results with excessively large values, for example, values greater than or equal to 60° or less than or equal to 60°, are easily generated, and the angle change of the pointing track of the pointing process of the remote controller on the large screen is not clear.

[0141] Therefore, the embodiments of the present application provide a method, a control device and a system for improving pointing accuracy, by which a magnetometer is introduced into the pointing remote controller, and when it is detected that the attitude of the pointing remote controller calibrated based on the UWB module is inaccurate, the attitude of the pointing remote controller is calibrated by using the magnetometer, and since the attitude measured by the magnetometer is not affected by shielding and antenna polarization, the pointing accuracy of the pointing remote controller can be improved.

[0142] In addition, in the process of attitude calibration by using the UWB module, the attitude of the pointing remote controller obtained based on the UWB module can be used to calibrate the magnetometer, the accuracy of attitude calibration by the magnetometer can be improved, the pointing accuracy of the remote controller can be further improved, and the stability of the pointing accuracy of the remote controller can be improved.

[0143] The magnetometer (magnetic, m-sensor) is also called geomagnetic sensor or magnetic sensor, and can be used to test the magnetic field strength and direction and measure the azimuth information of a device. The magnetometer can measure the attitude of the current device in the local geographic coordinate system, that is, the included angle with the four directions of east, south, west and north.

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

[0145] Hereinafter, the determination process of the pointing position of a pointing type remote controller on a large screen device is introduced by way of example in combination with Figure 5 the pointing type remote controller interacting with the large screen device, and the wireless positioning system including a UWB base station.

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

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

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

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

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

[0151] S504: The remote controller establishes a second coordinate system, which 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 installation of the UWB base station, and this process can be understood as a preparation operation for executing the following S505 to S510.

[0153] S505: The remote controller determines the distance between the remote controller 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 controller 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 controller 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), and the attitude angle of the remote controller relative to the first coordinate system includes azimuth angle e , pitch angle and roll angle e three Euler angles.

[0155] azimuth angle ψ e , pitch angle and roll angle θ e of the remote controller relative to the first coordinate system.

[0156] S506: The remote controller calculates the current cursor coordinate 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 coordinate to the large screen.

[0157] The position and posture relationship of the remote controller relative to the large screen device can be determined 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 then the cursor coordinate is determined.

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

[0159] In this embodiment, the pointing device is based on a UWB base station to obtain the distance between the pointing device and the pointed device and the attitude angle (azimuth angle ψ e , pitch angle and roll angle θ e ) of the pointing device relative to the first coordinate system, 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 the antenna polarization of the pointing device, the pointed device or the UWB base station occurs, the azimuth angle ψ e obtained by the pointing device based on the UWB base station is inaccurate, which finally affects the pointing accuracy of the pointing device.

[0161] Exemplarily, Figure 6 a method 600 for determining a pointing position provided by an embodiment of the application is shown. As Figure 6 shown, the method 600 includes:

[0162] S601 to S605 are the same as S501 to S505 in the embodiment shown in Figure 5 , and for brevity, will not be described here.

[0163] S606: At the i th moment, if the plurality of attitude angles of the remote controller relative to the first coordinate system determined in the first time period before the i th moment satisfy condition 1, the remote controller calibrates the magnetometer according to at least three attitude angles of the plurality of attitude angles of the remote controller relative to the first coordinate system determined in the first time period before the i th moment, wherein i is a positive integer greater than or equal to 3.

[0164] The pointing device end is provided with a first positioning module, the pointed device end is provided with a second positioning module, a coordinate system established with the first positioning module as the center is the second coordinate system, and a 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 roll 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; and 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, the plurality of attitude angles of the pointing device relative to the first coordinate system determined by the remote controller within the first time period before the i th time satisfy condition 1, which may include that the plurality of azimuth angles included in the plurality of attitude angles are located 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, the plurality of attitude angles of the pointing device relative to the first coordinate system determined by the remote controller within the first time period before the i th time satisfy condition 1, which may further include that the variance of the 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 time, determines, at each time, the distance between the remote controller and the large screen corresponding to the time, and the attitude angle (azimuth angle ψ e , pitch angle , and roll angle θ e ) of the remote controller relative to the first coordinate system, and further determines the pointing position of the remote controller on the large screen corresponding to the time; if the plurality of attitude angles of the remote controller relative to the first coordinate system corresponding to a plurality of times within the first time period before the i th time satisfy condition 1, the remote controller may determine the pointing position of the remote controller on the large screen corresponding to the i th time according to the azimuth angle corresponding to the i-1 th time , and the azimuth angle corresponding to the i-2 th time calibrate the magnetometer.

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

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

[0171] (2) Use the pitch angle and the roll angle to transfer to the horizontal plane magnetic vector Use the pitch angle and the roll angle to transfer to the horizontal plane magnetic vector Use the pitch angle and the roll angle to transfer to the horizontal plane magnetic vector

[0172] Wherein, the pitch angle and the roll angle are the pitch angle and the roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the first time; the pitch angle and the roll angle are the pitch angle and the roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the second time; the pitch angle and the roll angle are the pitch angle and the roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the third time, and the pitch angle and the roll angle can be measured by the accelerometer and the gyroscope.

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

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

[0175] (3) The pointing device calibrates the magnetometer using .

[0176] In some embodiments, the process of the pointing device calibrating the magnetometer can be that the pointing device obtains the values of , and the values of and according to the value of . That is, the calibration of the magnetometer is completed.

[0177] wherein, and are the hard magnetic interference circle center offsets of the magnetometer; is the included 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 i th moment according to the distance of the remote controller relative to the large screen at the i th 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] Wherein, the explanations of S607 to S609 are similar to the explanations of S506 and S507 in the embodiment shown in Figure 5 , and are not described here for brevity.

[0182] S610: When the current moment is the i+1 th moment, the remote controller determines whether the plurality of attitude angles relative to the first coordinate system determined within the first period before the i+1 th moment meet Condition 1. If yes, the remote controller performs S611, and if not, the remote controller performs S612.

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

[0184] In some embodiments, the judgment standard that the magnetometer needs to be recalibrated can include:

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

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

[0187] In some embodiments, the criterion for determining that the magnetometer needs to be recalibrated can further include:

[0188] In the case where the remote controller is not shaken violently, an abnormal angle change of the azimuth angle measured by the magnetometer (e.g., the difference between the azimuth angles measured in two consecutive times is greater than the second difference value), wherein whether the remote controller is shaken violently or not can be determined by monitoring whether the magnetic field scalar is mutated, and / or can be determined by the gyroscope sensor in the remote controller.

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

[0190] The local magnetic field is monitored by monitoring the magnetic field scalar and it is found that the local magnetic field is mutated (e.g., a strong magnetic interference suddenly approaches the remote controller), the use position of the remote controller is changed greatly, or the angle pointed by the remote controller exceeds the calibrated angle range.

[0191] Wherein, more explanations about this step are similar to the explanations about S606, and are not repeated here for brevity.

[0192] S612: The remote controller calibrates the attitude angle of the remote controller relative to the first coordinate system at the i+1th time point using the magnetometer, and further performs S613.

[0193] Similarly, taking i=3 as an example, the azimuth angle of the pointing device relative to the first coordinate system at the 4th time point determined by the wireless positioning system is The process of calibrating the attitude angle of the remote controller relative to the first coordinate system at the i+1th time point using the magnetometer can be as follows:

[0194] (1) Obtain the three-axis magnetic force output of the magnetometer at the 4th time point in the second coordinate system According to the rotation relationship between the second coordinate system and the first coordinate system, obtain the three-axis magnetic force output of the magnetometer at the 4th time point in the first coordinate system

[0195] (2) Use the pitch angle and the roll angle to transfer to the horizontal plane magnetic vector

[0196] Wherein, the pitch angle and the roll angle are the pitch angle and the roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the 4th time point.

[0197] (3) According to the value of and , the azimuth angle of the pointing device corresponding to the fourth moment of the magnetometer measurement relative to the first coordinate system is determined

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

[0199] (4) Using to calibrate

[0200] In some embodiments, using to calibrate Specifically, using instead of That is, the pointing device determines the pointing position of the pointing device on the pointed device at the fourth moment according to and the distance between the pointing device and the pointed device corresponding to the fourth moment.

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

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

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

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

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

[0206] That is, the pointing device determines 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 real time using the wireless positioning system; and the pointing device determines the pointing position of the pointing device on the pointed device in real time 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 calibrates the azimuth angle of the pointing device relative to the first coordinate system in real time using the magnetometer.

[0207] In this embodiment, a magnetometer is introduced into the remote controller, and in the process of determining the pointing position using the UWB base station, the magnetometer is calibrated in real time using the attitude of the remote controller obtained based on the UWB base station, and when it is detected that the attitude of the remote controller obtained based on the UWB base station is inaccurate, the attitude of the remote controller obtained using the magnetometer is used for calibration, so that the accuracy of the attitude of the remote controller can be improved, and the pointing accuracy of the remote controller is improved, which makes the pointing accuracy of the remote controller not affected by the shielding of the remote controller and / or the UWB base station or the antenna polarization.

[0208] In addition, considering that the magnetometer itself is easily disturbed by surrounding metal objects, in this embodiment, in the process of determining the pointing position using the wireless positioning system, the magnetometer can be calibrated in real time using the attitude of the remote controller obtained based on the wireless positioning system, so that automatic calibration of the magnetometer can be quickly completed without the user being aware, and compared with traditional magnetometer calibration methods (such as 8-shaped calibration method or ten-surface calibration method, etc.), the user does not need to manually calibrate, which also makes it possible to apply the magnetometer to the use scenario of the pointing-type remote controller.

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

[0210] As Figure 7As shown, when the UWB base station and remote controller are unobstructed, the azimuth angles of the pointing device relative to the first coordinate system measured by the UWB base station and the azimuth angles of the pointing device relative to the first coordinate system measured by the calibrated magnetometer are both concentrated and regular in distribution, and the errors of the azimuth angles obtained by these two methods are very small. In other words, when the UWB base station and remote controller are unobstructed, the accuracy of the azimuth angles of the pointing device relative to the first coordinate system measured by the UWB base station and the azimuth angles of the pointing device relative to the first coordinate system measured by the calibrated magnetometer are both high.

[0211] When the UWB base station and / or remote control are obstructed, the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer is concentrated and regular. However, the azimuth angle of the pointing device relative to the first coordinate system measured by the UWB base station fluctuates greatly, is not concentrated and irregular, and has many abnormal values. Moreover, the azimuth angles obtained by these two methods have large errors. In other words, when the UWB base station and / or remote control are obstructed, the accuracy of the azimuth angle of the pointing device relative to the first coordinate system measured by the UWB base station is low, while the accuracy of the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer is high.

[0212] Therefore, when an abnormality is detected in the azimuth angle of the pointing device relative to the first coordinate system measured by the UWB base station, the system automatically switches to using the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer. This can improve the pointing accuracy of the pointing device and make the pointing accuracy of the pointing device unaffected by factors such as obstruction and antenna polarization.

[0213] In some embodiments, when an obstruction is detected in the UWB base station and / or the remote controller, the system can automatically switch to using the azimuth angle of the pointing device relative to the first coordinate system, which is measured by a calibrated magnetometer.

[0214] To clearly understand the locational relationship between the UWB base station on the target device side and the target device, let's take the interaction between a remote control and a large-screen device as an example. Figure 8 The diagram shows the positional relationship between several large-screen devices and UWB base stations, specifically the arrangement 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 disposed at any position on the large screen device 810. For example, the first antenna array 800 can be disposed on the outside of the large screen device 810, such as on the upper bezel of the large screen device 810 (e.g., Figure 8 As shown in (a) above, it can also be set at a diagonal position on the large screen device 810 (e.g., Figure 8and shown in (b) of FIG. 8A, and Figure 8 The first antenna array 800 can also be arranged at any position of the large-screen device 810, such as the left frame, the right frame, the lower frame, etc., and can also be integrated into the large-screen device 810; or the first antenna array 800 can also be arranged on an object that is spaced apart from the large-screen device 810. The object can be a separate 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 spaced apart. Of course, the first antenna array 800 can also be arranged inside the electronic device, and the first antenna array 800 can also be arranged at any position in a room where the large-screen device 810 is located. The present embodiment is not limited in this regard.

[0216] The first antenna array 800 includes at least three first antenna elements, which can be the first antenna 121, the second antenna 122, and the third antenna 123. 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 implement signal transmission or reception, and the origin of the three-dimensional coordinate system can be defined by the first antenna 121.

[0218] In an embodiment, the first antenna 121 is the origin of the three-dimensional coordinate system, the first direction is the x-axis direction of the three-dimensional coordinate system, and 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 each less than or equal to the wavelength λ of the first signal. The first signal is a first signal transmitted by a second antenna array and received by the first antenna array 800. The second antenna array is an antenna array arranged on a remote controller.

[0219] Exemplarily, Figure 9 The arrangement of the first antenna array 800 is shown in FIG. 8A.

[0220] Figure 9 The arrangement of the first antenna array 800 is shown in FIG. 8A. Figure 9 As shown in (a) of FIG. 8A, the number of first antenna elements 120a is three, and the three first antenna elements 120a are arranged in an "L" shape.

[0221] Figure 9 The arrangement of the first antenna array 800 is shown in FIG. 8A. Figure 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] Figure 9 (c) of shows a schematic diagram of another layout of the first antenna array 800, as Figure 9 As 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] Figure 9 (d) of shows a schematic diagram of another layout of the first antenna array 800, as <000S06>As 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 a set geometric relationship can be provided between the plane formed by the first direction X and the second direction Y and the display interface of the large screen device S10, so as to facilitate the calculation of the coordinates of the second antenna array.

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

[0226] Referring to Figure 10 (a) of, the second antenna array arranged on the remote controller 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. [[ID=Z6]]

[0227] Referring to Figure 10 (b) of, the second antenna array arranged on the remote controller 1020 may include one second antenna unit, and the 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 can include at least three second antenna units, which can 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" shape structure. Among them, the fourth antenna 221 is a transceiving antenna, and the fifth antenna 222 and the sixth antenna 223 are both receiving antennas. The second antenna units in the second antenna array can be used to receive the second signal sent by the first antenna array 800, and 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 to receive the signal can receive the second signal at approximately the same time, and each second antenna unit can obtain a phase parameter according to the second signal, and the deflection angle can be obtained according to the phase parameter.

[0229] That is, in the embodiment, by making the distance between any two first antenna units 120a and the distance between any two second antenna units less than the wavelength of the corresponding received signal, the first coordinate and the deflection angle can be obtained according to the phase parameter of the received signal, so that the positioning of the second antenna array in the three-dimensional space can be realized, and the absolute coordinate of the second antenna array in the size range of the large-screen device 810 can be obtained, wherein the first coordinate is the relative coordinate of the second antenna array relative to the first antenna array 800.

[0230] Among them, the first antenna array 800 and the second antenna array can have the same arrangement form, for example, the first antenna array 800 includes three first antenna units 120a, and the second antenna array includes three second antenna units, and the arrangement form of the three first antenna units 120a is the same as that of the three second antenna units. Of course, in some other embodiments, the first antenna array 800 and the second antenna array can also have different arrangement forms, for example, the first antenna array 800 includes three first antenna units 120a, and 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 the remote controller is operated, the remote controller and the large-screen device 810 are usually kept at a distance, that is, the first antenna array 800 and the second antenna array are kept at a distance, so that the second antenna array, the first antenna 121 and the second antenna 122 form a triangle, and the second antenna array, the first antenna 121 and the third antenna 123 also form a triangle, so that the value of the first coordinate (x, y, z) can be calculated according to the related principles of the triangle and the electromagnetic wave.

[0232] The first antenna array 800 is arranged on the large-screen device 810, and the second antenna array is arranged on the remote controller. 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 be positioned with each other, so that the coordinate of the second antenna array is accurately displayed on the display interface of the large-screen device 810.

[0233] In order to more clearly understand the attitude of the remote controller, in the following, exemplary, combined with Figures 11 to 13 , the azimuth angle ψ of the remote controller is introduced. e , the pitch angle and the roll angle θ e are introduced.

[0234] Figure 11 A space coordinate system established with the UWB base station as the coordinate origin, that is, the above-mentioned first coordinate system, is shown.

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

[0236] After the UWB base station is installed, the UWB coordinate system (that is, the above-mentioned first coordinate system) can be established, as shown in (a) in Figure 11 , the UWB coordinate system can take the center of the No. 0 antenna 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 upward, and the X1 axis and the Y1 axis satisfy the right-hand rule.

[0237] Figure 11 (c) in

[0238] Figure 12 A space coordinate system established with the center of the remote controller as the coordinate origin, that is, the above-mentioned second coordinate system, is shown.

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

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

[0241] exist Figure 11 and Figure 12 Based on the coordinate system shown, Figure 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 A schematic diagram.

[0242] Figure 13 (a) shows an azimuth angle ψ e Pitch angle A schematic diagram.

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

[0244] Figure 13 (b) shows a roll angle θ e A schematic diagram.

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

[0246] For example, combined Figure 14 The angle between the Y-axis of the first coordinate system and the Y-axis of the geographic coordinate system Let me introduce it.

[0247] like Figure 14 As shown, the UWB base station coordinate system (which can be simply referred to as the e-system) can be defined with the center of the base station's transmitting antenna as the 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 direction the base station faces, and the Z1 axis is perpendicular to the X1O1Y1 plane and points upward. The X1 and Y1 axes satisfy the right-hand rule.

[0248] The origin of the geographic coordinate system (which can be referred to as g system for short) coincides with the origin of the e system, the X3 axis of the g system points to the local east direction, the Y3 axis of the g system points to the local north direction, the Z3 axis of the g system points to the local zenith direction, when the UWB base station meets the vertical installation requirement, the Z3 axis of the g system and the Z1 axis of the e system should be coincident, and the included angle between the Y3 axis of the g system and the Y1 axis of the e system is

[0249] The geographic direction pointed to by the Y1 axis of the e system or the X1 axis of the e system can be directly measured by a magnetometer, so that the angle between the Y1 axis of the e system and the X1 axis of the e system is calculated as

[0250] Exemplarily, in combination with Figure 15 , the three-axis magnetic output of the magnetometer is introduced. , and the horizontal magnetic vector transferred from the three-axis magnetic output of the magnetometer is introduced.

[0251] As shown in Figure 15 , the pitch angle and the roll angle θ e can be used to transfer to the horizontal magnetic vector

[0252] Hereinafter, exemplarily, in combination with Figures 16 to 18 , the method for acquiring the distance between the pointing device and the pointed device and the attitude angle of the pointing device relative to the pointed device in different scenarios provided by the embodiments of the present application is introduced.

[0253] Exemplarily, in combination with Figure 16 , the method for acquiring the distance between the pointing device and the pointed device and the attitude angle of the pointing device relative to the first coordinate system is introduced, and this embodiment is applicable to the scenario that the pointing device includes two or more antenna units and the pointed device includes three or more antenna units.

[0254] As shown in Figure 16 , this embodiment takes the pointing device as a remote controller 1620 and the pointed device as a large screen 1610 for example, wherein the wireless positioning module of the remote controller 1620 includes two antenna units, 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 controller 1620 are a second origin antenna 221 and a second horizontal antenna 222 respectively, and the three antenna units included in the wireless positioning module of the large screen 1610 are a first origin antenna 121, a first horizontal antenna 122 and a first vertical antenna 123 respectively.

[0255] ​The wireless positioning module can be a UWB module.

[0256] Based on such Figure 16 As shown in the antenna structure, the wireless positioning module of the large screen 1610 can measure the horizontal and vertical incident directions of the signal respectively, 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 measured based on the interaction between the wireless positioning modules of the large screen 1610 and the wireless positioning modules of the remote control 1620.

[0257] For the specific method of determining the relative distance between the remote control 1620 and the large screen 1610, please refer to the section on... Figure 5 The description section.

[0258] The specific method for determining the attitude angle of the remote controller 1620 relative to the first coordinate system is detailed in [reference needed]. Figure 5 In the description section, 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, Figure 17 This application illustrates an embodiment of a method provided by means of... Figure 16 The diagram shows the azimuth angle of the pointing device relative to the first coordinate system in the scenario shown, and compares the effects of calibrating the magnetometer before and after calibration.

[0260] like Figure 17 As shown, the azimuth angle (ψ) of the pointing device output by the magnetometer relative to the first coordinate system before calibration is... e ) M (As shown by the hollow circle), the azimuth angle measurement value (ψ) of the pointing device relative to the first coordinate system output by the wireless positioning module. e ) UWB Compared to (shown in the rectangle), there is a significant error. (By...) Figure 16 The magnetometer is calibrated using the azimuth angle of the pointing device relative to the first coordinate system obtained in the scenario shown. After calibration, the magnetometer outputs the measured azimuth angle (ψ) of the pointing device relative to the first coordinate system. e ) M (As shown by the solid circle), the azimuth angle measurement value (ψ) of the pointing device relative to the first coordinate system output by the wireless positioning module. e ) UWB In comparison, the error is smaller.

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

[0262] As shown in Figure 18 The embodiment takes the pointing device as a remote controller 1820 and the pointed-to device as a sound box 1810 for example. The wireless positioning module of the remote controller includes one antenna unit, the wireless positioning module of the sound box 1810 includes three antenna units, and the one antenna unit included in the wireless positioning module of the remote controller 1820 is a second origin antenna 221, and the three antenna units included in the wireless positioning module of the sound box 1810 are a first origin antenna 121, a first horizontal antenna 122, and a first vertical antenna 123 respectively.

[0263] The remote controller 1820 estimates its own attitude and position to determine whether it is currently pointing at the sound box 1810. When it is determined that the remote controller 1820 is pointing at the sound box 1810, the remote controller 1820 controls the sound box 1810.

[0264] In this scenario, since the wireless positioning module of the remote controller 1820 includes only the second origin antenna 221, the distance between the remote controller 1820 and the sound box 1810 and the attitude angle of the remote controller 1820 relative to the first coordinate system cannot be directly measured based on the signal interaction between the first coordinate system and the second coordinate system. Instead, the gyroscope data and acceleration data provided by the inertial measurement unit (IMU) are used to measure the position change of the remote controller 1820 within a unit time in real time. The first coordinate system is a spatial coordinate system established with the wireless positioning module of the sound box 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 of the second coordinate system, refer to the embodiment shown in Figure 13 In the embodiment, the second coordinate system is referred to as the b system for convenience of description.

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

[0267] In the embodiment, the method for obtaining the distance between the pointing device and the pointed-to device and the attitude angle of the pointing device relative to the first coordinate system can be specifically as follows:

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

[0269] (2) Convert the pose and position of the remote controller 1820 relative to the geographic coordinate system (g system) to the pose and position of the remote controller 1820 relative to the first coordinate system (e system), that is, obtain the distance between the remote controller 1820 and the sound box 1810, and the attitude angle of the remote controller 1820 relative to the first coordinate system.

[0270] Wherein, the process of updating the pose and position of the remote controller 1820 relative to the geographic coordinate system (g system) can be as follows:

[0271] (1) Pose update algorithm

[0272] Let the pose rotation matrix of the g system relative to the b system at time m be Then there is the following derivation formula (1):

[0273]

[0274] Since the g system can be considered to have no rotation in a short time, therefore 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 time m , corresponding to the following formula (3):

[0277]

[0278] Where Δβ m (1) and Δβ m (2) are the angular increments in [t m-1 , t m-1 / 2 ] and [t m-1 / 2 , t m ] respectively, and their total increment is Δβ m = Δβ m (1) + Δβ m (2), therefore Can be calculated according to the following formula (4):

[0279]

[0280] (2) Velocity update algorithm

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

[0282]

[0283] Where The acceleration vector of the remote controller in the g system at the m moment can be specifically expressed as the following formula (6) and formula (7):

[0284]

[0285]

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

[0287]

[0288] (3) Position updating algorithm

[0289] The position updating algorithm formula (9) is:

[0290]

[0291] Wherein is the change of position in a unit of time, and the moving distance Δd of the pointing device in a unit of time can be obtained by calculating the two-norm of The moving distance Δd of the pointing device in a unit of time can be specifically expressed as the following formula (10):

[0292]

[0293] The pointing device measures the phase of the signal at the t0 moment Suppose that the user controls the pointing device to move to a position with a distance of d from the t0 moment at the t1 moment, and according to the calculated displacement Δd in a unit of time, the phase of the signal measured at this time is The signal incidence angle β can be calculated by the following formula (11):

[0294]

[0295] In the embodiment, the pointing device end can complete the measurement of the signal coming direction of the opposite end by using a single antenna in the case of having a position or attitude change, and further 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] Exemplarily, Figure 19 A schematic flowchart of a method 1900 for determining a pointing position is shown. As Figure 19 shown, the method 1900 includes:

[0297] S1901: In a first time period, calibrate the pose of the control device relative to a third pose calibration unit using a first pose calibration unit, the third pose calibration unit being used to measure the pose relationship of the control device relative to the controlled device.

[0298] The control device comprises the first pose calibration unit and the second pose calibration unit.

[0299] In some embodiments, the control device can be a remote controller, which refers to an electronic device with remote control functions, such as a smartphone, a television remote controller, an air conditioner remote controller, a lamp remote controller, a tea bar machine remote controller, or a car key, etc.

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

[0301] In some embodiments, the first pose 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 pose calibration unit can be a magnetometer; and the third pose 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, in the first time period, the second pose calibration unit is not used for pose calibration.

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

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

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

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

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

[0308] In some embodiments, the process of calibrating the pose of the control device relative to the third pose calibration unit using the second pose calibration unit can be: measuring the azimuth angle between the control device and the third pose calibration unit using the second pose calibration unit; and calibrating the pose of the control device relative to the third pose calibration unit using the azimuth angle.

[0309] In some embodiments, in the second period, the position of the control device relative to the third pose calibration unit is measured using the first pose calibration unit.

[0310] In some embodiments, in the second period, the pose of the control device relative to the third pose calibration unit can be calibrated simultaneously using the first pose calibration unit and the second pose calibration unit.

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

[0312] Optionally, after S1904, the following steps can also be included:

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

[0314] One or more of the modules or units described herein can be implemented in software, hardware, or a combination thereof. When any of the modules or units are implemented in software, the software is 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 flows. The processor can 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 unit (MCU), or an artificial intelligence processor, and the like computing devices running software, each of which can include one or more cores for executing software instructions to perform computations or processing. The processor can be built-in to a SoC (system on chip) or an application specific integrated circuit (ASIC), or can be a separate semiconductor chip. In addition to the cores for executing software instructions to perform computations or processing, the processor can further include necessary hardware accelerators, such as a field programmable gate array (FPGA), a PLD (programmable logic device), or a logic circuit implementing a specialized logic operation.

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

[0316] When the modules or units described in the specification are implemented by using software, the modules or units can be implemented in a form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded on a computer, the whole or part of the flow or function described in the embodiments of the present application is generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk (SSD)) and the like.

[0317] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0318] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0319] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be realized by other ways. For example, the above described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0320] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0321] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit.

[0322] The functions, if realized in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[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 can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to 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 including a first attitude calibration unit and a second attitude calibration unit, the method comprising: In the first time period, the first attitude calibration unit is used to calibrate the attitude of the control device relative to the third attitude calibration unit, which is used to measure the positional relationship of the control device relative to the controlled device. Based on the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit, the pointing position of the control device in the first time period is determined; In the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated using the second attitude calibration unit. In the second time period, the accuracy of the calibration result of the first attitude calibration unit is lower than the accuracy of the calibration result of the first attitude calibration unit in the first time period. The first attitude calibration unit and the third attitude calibration unit are wireless calibration units, and the second attitude calibration unit is a magnetic field calibration unit. The pointing position of the control device in the second time period is determined based on the attitude of the control device relative to the third attitude calibration unit calibrated by the second attitude calibration unit.

2. The method according to claim 1, characterized in that, The method further includes: In a third time period following the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated using the first attitude calibration unit, wherein the accuracy of the calibration result of the first attitude calibration unit is higher than the accuracy of the calibration result of the first attitude calibration unit in the second time period.

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

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

5. The method according to claim 1, characterized in that, The method further includes: During the second time period, the position of the control device relative to the third attitude calibration unit is measured using the first attitude calibration unit.

6. The method according to claim 2, characterized in that, The method further includes: During the second time period, the position of the control device relative to the third attitude calibration unit is measured using the first attitude calibration unit.

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

8. The method according to claim 1, characterized in that, The step of calibrating the attitude of the control device relative to the third attitude calibration unit using the second attitude calibration unit includes: The second attitude calibration unit is used to measure the azimuth angle between the control device and the third attitude calibration unit; The attitude of the control device relative to the third attitude calibration unit is calibrated using the azimuth angle.

9. The method according to claim 1, characterized in that, The method further includes: During the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated simultaneously using the first attitude calibration unit and the second attitude calibration unit.

10. The method according to claim 2, characterized in that, The method further includes: During the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated simultaneously using the first attitude calibration unit and the second attitude calibration unit.

11. The method according to any one of claims 1 to 10, characterized in that, The control device is a remote control.

12. The method according to any one of claims 1 to 10, characterized in that, The controlled device is a smart controlled device in a whole-house smart environment or a smart office environment.

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

14. A control device, characterized in that, The control device includes a first attitude calibration unit and a second attitude calibration unit, and the control device further includes: One or more processors; One or more memory units; 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 that, when executed by the one or more processors, cause the control device to perform the following operations: In the first time period, the first attitude calibration unit is used to calibrate the attitude of the control device relative to the third attitude calibration unit, which is used to measure the positional relationship of the control device relative to the controlled device. Based on the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit, the pointing position of the control device in the first time period is determined; In the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated using the second attitude calibration unit. In the second time period, the accuracy of the calibration result of the first attitude calibration unit is lower than the accuracy of the calibration result of the first attitude calibration unit in the first time period. The first attitude calibration unit and the third attitude calibration unit are wireless calibration units, and the second attitude calibration unit is a magnetic field calibration unit. The pointing position of the control device in the second time period is determined based on the attitude of the control device relative to the third attitude calibration unit calibrated by the second attitude calibration unit.

15. The control device according to claim 14, characterized in that, When the instruction is executed by the one or more processors, the control device also performs the following operations: In a third time period following the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated using the first attitude calibration unit, wherein the accuracy of the calibration result of the first attitude calibration unit is higher than the accuracy of the calibration result of the first attitude calibration unit in the second time period.

16. The control device according to claim 14, characterized in that, When the instruction is executed by the one or more processors, the control device also performs the following operations: In the fourth time period, the azimuth angle measured by the second attitude calibration unit is calibrated using the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit, wherein the fourth time period partially overlaps with or is within the first time period.

17. The control device according to claim 15, characterized in that, When the instruction is executed by the one or more processors, the control device also performs the following operations: In the fourth time period, the azimuth angle measured by the second attitude calibration unit is calibrated using the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit, wherein the fourth time period partially overlaps with or is within the first time period.

18. The control device according to claim 14, characterized in that, When the instruction is executed by the one or more processors, the control device also performs the following operations: During the second time period, the position of the control device relative to the third attitude calibration unit is measured using the first attitude calibration unit.

19. The control device according to claim 15, characterized in that, When the instruction is executed by the one or more processors, the control device also performs the following operations: During the second time period, the position of the control device relative to the third attitude calibration unit is measured using the first attitude calibration unit.

20. The control device according to claim 16, characterized in that, When the instruction is executed by the one or more processors, the control device further performs the following operations: When the difference between the azimuth angle measured by the second attitude calibration unit and the azimuth angle measured by the first attitude calibration unit is greater than the first difference, the attitude of the control device calibrated by the first attitude calibration unit relative to the third attitude calibration unit is used to calibrate the azimuth angle measured by the second attitude calibration unit. or When the variance of multiple azimuth angles continuously measured by the second attitude calibration unit is greater than the first variance, the attitude of the control device relative to the third attitude calibration unit, calibrated by the first attitude calibration unit, is used to calibrate the azimuth angles measured by the second attitude calibration unit.

21. The control device according to claim 14, characterized in that, When the instruction is executed by the one or more processors, the control device also performs the following operations: During the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated simultaneously using the first attitude calibration unit and the second attitude calibration unit.

22. The control device according to claim 15, characterized in that, When the instruction is executed by the one or more processors, the control device also performs the following operations: During the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated simultaneously using the first attitude calibration unit and the second attitude calibration unit.

23. The control device according to any one of claims 14 to 22, characterized in that, The control device is a remote control.

24. The control device according to any one of claims 14 to 22, characterized in that, The controlled device is a smart controlled device in a whole-house smart environment or a smart office environment.

25. The control device according to any one of claims 14 to 22, characterized in that, The first attitude calibration unit is a UWB module, and the second attitude calibration unit is a magnetometer.

26. 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 configured to perform the method as described in any one of claims 1 to 13; The controlled device is configured to make a first response based on the pointing position of the control device determined by the control device.

27. An electronic device, characterized in that, include: One or more processors; One or more memory units; And one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs including instructions that, when executed by the one or more processors, cause the electronic device to perform the method as described in any one of claims 1 to 13.

28. A computer-readable storage medium, characterized in that, The storage medium stores a program or instructions that, when executed, implement the method as described in any one of claims 1 to 13.

29. A chip, characterized in that, The chip stores instructions that, when executed, implement the method as described in any one of claims 1 to 13.

30. A computer program product, characterized in that, The computer program product stores a program or instructions that, when executed, implement the method as described in any one of claims 1 to 13.

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