Augmented reality photographing device and method

Abstract

The invention relates to the technical field of AR device application, in particular to an augmented reality photographing device and method, and the method comprises the steps: carrying out the communication pairing of a photographing module and a label module; the user takes the label module to do activities; a photographer uses a photographing unit of the photographing module to photograph image information containing the label module; through communication between the three mutually perpendicular antennas of the first UWB unit and the three mutually perpendicular antennas of the second UWB unit, the photographing module obtains the distance between the photographing module and the tag module in real time and the azimuth angle and the elevation angle of the tag module relative to the photographing module, and the tag module obtains the distance between the tag module and the photographing module in real time. The azimuth angle and the elevation angle of the camera module relative to the label module; the second processing unit is used for acquiring a roll angle and a pitch angle of the attitude of the tag module in real time through the IMU unit; and obtaining space information and attitude information of the label module, and generating an AR image video generated by movement of the label module.

Description

Technical Field

[0001] The present invention relates to the field of AR device application technology, and in particular to an augmented reality photography device and method. Background Art

[0002] AR (Augmented Reality) is a technology that calculates the position and angle of camera images in real time and adds corresponding images. It is a technology that embeds the virtual world into the real world on the screen and interacts with it. Current AR camera devices mainly achieve visual tracking by shooting objects, but the tracking is poor in real time, and the AR camera device can easily lose the target due to the change of the object's posture during the shooting process. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides an augmented reality photography device and method, aiming to solve the problem that the existing AR devices have poor real-time tracking and are prone to losing the target.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] In a first aspect, the present invention discloses an augmented reality photography method, comprising:

[0006] Pairing the communication between the camera module and the tag module;

[0007] Objects are equipped with tag modules to carry out activities;

[0008] The photographer uses the camera unit of the camera module to shoot the image information containing the tag module;

[0009] The first processing unit of the camera module acquires the distance between the camera module and the tag module, and the azimuth and elevation angle of the tag module relative to the camera module in real time through communication between the three mutually perpendicular antennas of the first UWB unit and the three mutually perpendicular antennas of the second UWB unit;

[0010] The second processing unit of the tag module acquires the distance between the tag module and the camera module, and the azimuth and elevation angle of the camera module relative to the tag module in real time through communication between the three mutually perpendicular antennas between the second UWB unit and the three mutually perpendicular antennas of the first UWB unit;

[0011] The second processing unit is used to obtain the roll angle and pitch angle of the tag module posture in real time through the IMU unit;

[0012] The second processing unit transmits the acquired data to the first processing unit through communication between the second communication unit and the first communication unit;

[0013] The first processing unit calculates the heading angle of the tag module's posture based on the data acquired in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video generated by the movement of the tag module.

[0014] Furthermore, the communication pairing of the camera module and the tag module specifically includes:

[0015] The first processing unit of the camera module controls the first communication unit to start Bluetooth scanning;

[0016] The second processing unit of the tag module controls the second communication unit to turn on Bluetooth so that the second communication unit can be scanned and discovered by the first communication unit;

[0017] After the first communication unit scans the second communication unit, the camera module and the tag module perform a pairing operation and exchange data.

[0018] Furthermore, the first processing unit of the camera module acquires the distance between the camera module and the tag module, and the azimuth and elevation of the tag module relative to the camera module in real time through communication between the three mutually perpendicular antennas of the first UWB unit and the three mutually perpendicular antennas of the second UWB unit, specifically including:

[0019] The three antennas of the first UWB unit simultaneously send pulse signals to one antenna of the second UWB unit;

[0020] One antenna in the second UWB unit receives the pulse signal from the three antennas of the first UWB unit and returns the pulse signal to the three antennas of the first UWB unit;

[0021] The first processing unit uses the PDOA positioning algorithm to obtain the distance between the camera module and the tag module, as well as the azimuth and elevation angle of the tag module relative to the camera module in real time;

[0022] The first processing unit constructs a camera module coordinate system t system, in which the X axis is positive backward and negative forward; the Y axis is positive to the right and negative to the left; the Z axis is positive upward and negative downward; the azimuth is positive in the positive direction of the Y axis; and the elevation is positive in the positive direction of the Z axis.

[0023] In the t-coordinate system, the polar coordinates of the tag module measured by the first UWB unit of the camera module are (r, α t , β t ), the three-dimensional coordinates of the label module in the t-coordinate system are:

[0024] Furthermore, the second processing unit of the tag module acquires the distance between the tag module and the camera module, and the azimuth and elevation angle of the camera module relative to the tag module in real time through communication between the three mutually perpendicular antennas between the second UWB unit and the three mutually perpendicular antennas of the first UWB unit, specifically including:

[0025] The three antennas of the second UWB unit simultaneously send pulse signals to one antenna of the first UWB unit;

[0026] One antenna in the first UWB unit receives the pulse signal from the three antennas in the second UWB unit and returns the pulse signal to the three antennas in the second UWB unit;

[0027] The second processing unit uses the PDOA positioning algorithm to obtain the distance between the tag module and the camera module, as well as the azimuth and elevation angle of the camera module relative to the tag module in real time;

[0028] The second processing unit constructs a rigid body coordinate system b of the remote controller, in which the X axis is positive forward and negative backward; the Y axis is positive to the right and negative to the left; the Z axis is positive downward and negative upward; the azimuth is positive in the positive direction of the Y axis; and the elevation is negative in the positive direction of the Z axis.

[0029] Therefore, the transformation matrix from the b-coordinate system to the t-coordinate system is:

[0030] In the b-coordinate system, the polar coordinates of the camera module measured by the second UWB unit of the tag module are (r, α, β), and the three-dimensional coordinates of the camera module in the b-coordinate system are:

[0031] Furthermore, the second processing unit uses the IMU unit to obtain the roll angle and pitch angle of the tag module posture in real time, specifically including:

[0032] The roll angle, pitch angle, and heading angle of the tag module attitude are The IMU unit obtains the roll angle and pitch angle based on the ratio of the gravity accelerometer to the gravity acceleration g in a steady state. The specific formula is: Among them, a x is the component of gravity acceleration g in the X-axis sensing direction of the gravity accelerometer, a y is the component of gravity acceleration g in the Y-axis sensing direction of the gravity accelerometer, a z It is the component of gravity acceleration g in the Z-axis sensing direction of the gravity accelerometer.

[0033] Further, the first processing unit calculates the heading angle of the tag module attitude according to the data acquired in real time by the first UWB unit, the second UWB unit and the IMU unit, specifically including:

[0034] In the reference coordinate system r, the rigid body coordinate system b of the tag module exists When α is 0, the result measured by the first UWB unit of the camera module is: α = -α t , β=-β t ,therefore

[0035] From the rotation formula we get: Deformation gives: get: Finally, the heading angle

[0036] Furthermore, the first processing unit performs Kalman filtering on the posture information of the tag module, and performs particle filtering on the spatial information of the tag module.

[0037] Further, the first processing unit converts the posture information of the tag module into the posture information of the tag module according to any one of the software architectures of ARKit, Google's ARCore, or the game development engine Unit. As an AROrientationTrackingConfiguration object, the first processing unit converts the polar coordinates (r, α t , β t ) is converted into a three-dimensional coordinate system as the (x, y, z) coordinates of ARWorldTrackingConfiguration to generate the AR image video produced by the movement of the tag module.

[0038] In a second aspect, the present invention provides an augmented reality photography device, comprising:

[0039] The camera module comprises: a first UWB unit, a first processing unit, a camera unit and a first communication unit, wherein the first UWB unit, the camera unit and the first communication unit are all connected to the first processing unit, and the first UWB unit comprises three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle;

[0040] The tag module includes: a second UWB unit, a second processing unit, an IMU unit and a second communication unit, wherein the second UWB unit, the IMU unit and the second communication unit are all connected to the second processing unit, and the second UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle;

[0041] The camera unit is used to capture image information containing the tag module, the first communication unit is connected to the second communication unit to realize pairing of the camera module and the tag module, and the IMU unit is used to obtain the roll angle and pitch angle of the tag module in real time;

[0042] The first UWB unit is connected to the three antennas of the second UWB unit through the three antennas for real-time acquisition of the distance between the camera module and the tag module, the azimuth and elevation of the camera module relative to the tag module, and the azimuth and elevation of the tag module relative to the camera module;

[0043] The first processing unit calculates the heading angle of the tag module's posture based on the data acquired in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video generated by the movement of the tag module.

[0044] In a third aspect, the present invention provides an augmented reality photography device, comprising:

[0045] The camera module includes: a positioning accessory and a camera phone, the positioning accessory and the camera phone are connected via a USB, the positioning accessory includes a first UWB unit and a first processing unit, the first UWB unit is connected to the first processing unit, the first UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle;

[0046] The tag module includes: a second UWB unit, a second processing unit, an IMU unit and a second communication unit, wherein the second UWB unit, the IMU unit and the second communication unit are all connected to the second processing unit, and the second UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle;

[0047] The camera unit of the camera phone is used to capture image information containing the tag module, the first communication unit of the camera phone is connected to the second communication unit to realize pairing of the camera module and the tag module, and the IMU unit is used to obtain the roll angle and pitch angle of the tag module in real time;

[0048] The first UWB unit is connected to the three antennas of the second UWB unit through the three antennas for real-time acquisition of the distance between the camera module and the tag module, the azimuth and elevation of the camera module relative to the tag module, and the azimuth and elevation of the tag module relative to the camera module;

[0049] The camera phone calculates the heading angle of the tag module's posture based on the data obtained in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video produced by the movement of the tag module.

[0050] The invention discloses an augmented reality photography device and method, which has the following beneficial effects:

[0051] Compared with the existing AR camera equipment, which has poor tracking real-time performance and is easy to lose the target, the present invention avoids interference from other signals by pairing the communication between the camera module and the tag module, and at the same time communicates between the three antennas of the first UWB unit and the three antennas between the second UWB unit, so as to accurately obtain the distance between the camera module and the tag module in real time, as well as the azimuth and elevation of the tag module relative to the camera module. In addition, the roll angle and pitch angle of the tag module posture can be obtained in real time through the IMU unit, and the polar coordinates of the camera module and the polar coordinates of the tag module are combined with the roll angle and pitch angle of the tag module posture to obtain the heading angle of the tag module posture. Therefore, the accurate spatial position coordinates of the tag module can be obtained through UWB technology, and the accurate posture information of the tag module can be obtained through UWB technology combined with IMU technology, so that the accurate spatial position coordinates and accurate posture information of the object equipped with the tag module can be obtained in real time, avoiding the AR camera from losing the target.

[0052] In addition, compared with other AR camera devices using UWB technology, which need to pre-adjust and build UWB base stations around and obtain the coordinates of the surrounding UWB base stations, the present invention only needs a tag module with integrated 3-antenna UWB units. A UWB unit with integrated 3 antennas only needs to know the location information of the camera module to measure the distance, azimuth and elevation between the tag module and the camera module, which greatly simplifies system deployment and user operation. At the same time, the heading angle calibration in traditional IMU technology requires the use of magnetometer calibration. This method is easily affected by the environment and has low accuracy. The solution of combining UWB with IMU in the present invention can more accurately and precisely calibrate the posture of the tag module in real time without being disturbed by the external magnetic field. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic flow chart of the augmented reality photography method of the present invention;

[0054] Figure 2 is a structural block diagram of an augmented reality photographing device according to Embodiment 1 of the present invention;

[0055] Figure 3 is a structural block diagram of an augmented reality photographing device according to Embodiment 2 of the present invention;

[0056] Figure 4 is a schematic diagram of communication between three antennas of the first UWB unit and one antenna of the second UWB unit of the present invention;

[0057] Figure 5 It is a schematic diagram of communication between three antennas of the second UWB unit and one antenna of the first UWB unit of the present invention. DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0059] like Figure 1 As shown, the present invention discloses an augmented reality photography method, comprising:

[0060] Pairing the communication between the camera module and the tag module;

[0061] Objects are equipped with tag modules to carry out activities;

[0062] The photographer uses the camera unit of the camera module to shoot the image information containing the tag module;

[0063] The first processing unit of the camera module acquires the distance between the camera module and the tag module, and the azimuth and elevation angle of the tag module relative to the camera module in real time through communication between the three mutually perpendicular antennas of the first UWB unit and the three mutually perpendicular antennas of the second UWB unit;

[0064] The second processing unit of the tag module acquires the distance between the tag module and the camera module, and the azimuth and elevation angle of the camera module relative to the tag module in real time through communication between the three mutually perpendicular antennas between the second UWB unit and the three mutually perpendicular antennas of the first UWB unit;

[0065] The second processing unit is used to obtain the roll angle and pitch angle of the tag module posture in real time through the IMU unit;

[0066] The second processing unit transmits the acquired data to the first processing unit through communication between the second communication unit and the first communication unit;

[0067] The first processing unit calculates the heading angle of the tag module's posture based on the data acquired in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video generated by the movement of the tag module.

[0068] Compared with the existing AR camera equipment, which has poor tracking real-time performance and is easy to lose the target, the present invention avoids interference from other signals by pairing the communication between the camera module and the tag module, and at the same time communicates between the three antennas of the first UWB unit and the three antennas between the second UWB unit, so as to accurately obtain the distance between the camera module and the tag module in real time, as well as the azimuth and elevation of the tag module relative to the camera module. In addition, the roll angle and pitch angle of the tag module posture can be obtained in real time through the IMU unit, and the polar coordinates of the camera module and the polar coordinates of the tag module are combined with the roll angle and pitch angle of the tag module posture to obtain the heading angle of the tag module posture. Therefore, the accurate spatial position coordinates of the tag module can be obtained through UWB technology, and the accurate posture information of the tag module can be obtained through UWB technology combined with IMU technology, so that the accurate spatial position coordinates and accurate posture information of the object equipped with the tag module can be obtained in real time, avoiding the AR camera from losing the target.

[0069] In addition, compared with other AR camera devices using UWB technology, which need to pre-adjust and build UWB base stations around and obtain the coordinates of the surrounding UWB base stations, the present invention only needs a tag module with integrated 3-antenna UWB units. A UWB unit with integrated 3 antennas only needs to know the location information of the camera module to measure the distance, azimuth and elevation between the tag module and the camera module, which greatly simplifies system deployment and user operation. At the same time, the heading angle calibration in traditional IMU technology requires the use of magnetometer calibration. This method is easily affected by the environment and has low accuracy. The solution of combining UWB with IMU in the present invention can more accurately and precisely calibrate the posture of the tag module in real time without being disturbed by the external magnetic field.

[0070] Furthermore, the communication pairing of the camera module and the tag module specifically includes:

[0071] The first processing unit of the camera module controls the first communication unit to start Bluetooth scanning;

[0072] The second processing unit of the tag module controls the second communication unit to turn on Bluetooth so that the second communication unit can be scanned and discovered by the first communication unit;

[0073] After the first communication unit scans the second communication unit, the camera module and the tag module perform a pairing operation and exchange data.

[0074] like Figure 4As shown, the first processing unit of the camera module acquires the distance between the camera module and the tag module, as well as the azimuth and elevation of the tag module relative to the camera module in real time through communication between the three mutually perpendicular antennas of the first UWB unit and the three mutually perpendicular antennas of the second UWB unit, specifically including:

[0075] The three antennas of the first UWB unit simultaneously send pulse signals to one antenna of the second UWB unit;

[0076] One antenna in the second UWB unit receives the pulse signal from the three antennas of the first UWB unit and returns the pulse signal to the three antennas of the first UWB unit;

[0077] The first processing unit uses the PDOA positioning algorithm to obtain the distance between the camera module and the tag module, as well as the azimuth and elevation angle of the tag module relative to the camera module in real time;

[0078] The first processing unit constructs a camera module coordinate system t system, in which the X axis is positive backward and negative forward; the Y axis is positive to the right and negative to the left; the Z axis is positive upward and negative downward; the azimuth is positive in the positive direction of the Y axis; and the elevation is positive in the positive direction of the Z axis.

[0079] In the t-coordinate system, the polar coordinates of the tag module measured by the first UWB unit of the camera module are (r, α t , β t ), the three-dimensional coordinates of the label module in the t-coordinate system are:

[0080] like Figure 5 As shown, the second processing unit of the tag module acquires the distance between the tag module and the camera module, as well as the azimuth and elevation angle of the camera module relative to the tag module in real time through communication between the three mutually perpendicular antennas between the second UWB unit and the three mutually perpendicular antennas of the first UWB unit, specifically including:

[0081] The three antennas of the second UWB unit simultaneously send pulse signals to one antenna of the first UWB unit;

[0082] One antenna in the first UWB unit receives the pulse signal from the three antennas in the second UWB unit and returns the pulse signal to the three antennas in the second UWB unit;

[0083] The second processing unit uses the PDOA positioning algorithm to obtain the distance between the tag module and the camera module, as well as the azimuth and elevation angle of the camera module relative to the tag module in real time;

[0084] The second processing unit constructs a rigid body coordinate system b of the remote controller, in which the X axis is positive forward and negative backward; the Y axis is positive to the right and negative to the left; the Z axis is positive downward and negative upward; the azimuth is positive in the positive direction of the Y axis; and the elevation is negative in the positive direction of the Z axis.

[0085] Therefore, the transformation matrix from the b-coordinate system to the t-coordinate system is:

[0086] In the b-coordinate system, the polar coordinates of the camera module measured by the second UWB unit of the tag module are (r, α, β), and the three-dimensional coordinates of the camera module in the b-coordinate system are:

[0087] Furthermore, the second processing unit uses the IMU unit to obtain the roll angle and pitch angle of the tag module posture in real time, specifically including:

[0088] The roll angle, pitch angle, and heading angle of the tag module attitude are The IMU unit obtains the roll angle and pitch angle based on the ratio of the gravity accelerometer to the gravity acceleration g in a steady state. The specific formula is: Among them, a x is the component of gravity acceleration g in the X-axis sensing direction of the gravity accelerometer, a y is the component of gravity acceleration g in the Y-axis sensing direction of the gravity accelerometer, a z It is the component of gravity acceleration g in the Z-axis sensing direction of the gravity accelerometer.

[0089] Further, the first processing unit calculates the heading angle of the tag module attitude according to the data acquired in real time by the first UWB unit, the second UWB unit and the IMU unit, specifically including:

[0090] In the reference coordinate system r, the rigid body coordinate system b of the tag module exists When α is 0, the result measured by the first UWB unit of the camera module is: α = -α t , β=-β t ,therefore

[0091] From the rotation formula we get: Deformation gives: get: Finally, the heading angle

[0092] Furthermore, the first processing unit performs Kalman filtering on the posture information of the tag module, and performs particle filtering on the spatial information of the tag module.

[0093] Further, the first processing unit converts the posture information of the tag module into the posture information of the tag module according to any one of the software architectures of ARKit, Google's ARCore, or the game development engine Unit. As an AROrientationTrackingConfiguration object, the first processing unit converts the polar coordinates (r, α t , β t ) is converted into a three-dimensional coordinate system as the (x, y, z) coordinates of ARWorldTrackingConfiguration to generate the AR image video produced by the movement of the tag module.

[0094] like Figure 2 As shown, embodiment 1 of the present invention provides an augmented reality photography device, comprising:

[0095] The camera module comprises: a first UWB unit, a first processing unit, a camera unit and a first communication unit, wherein the first UWB unit, the camera unit and the first communication unit are all connected to the first processing unit, and the first UWB unit comprises three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle;

[0096] The tag module includes: a second UWB unit, a second processing unit, an IMU unit and a second communication unit, wherein the second UWB unit, the IMU unit and the second communication unit are all connected to the second processing unit, and the second UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle;

[0097] The camera unit is used to capture image information containing the tag module, the first communication unit is connected to the second communication unit to realize pairing of the camera module and the tag module, and the IMU unit is used to obtain the roll angle and pitch angle of the tag module in real time;

[0098] The first UWB unit is connected to the three antennas of the second UWB unit through the three antennas for real-time acquisition of the distance between the camera module and the tag module, the azimuth and elevation of the camera module relative to the tag module, and the azimuth and elevation of the tag module relative to the camera module;

[0099] The first processing unit calculates the heading angle of the tag module's posture based on the data acquired in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video generated by the movement of the tag module.

[0100] like Figure 3 As shown, embodiment 2 of the present invention provides an augmented reality photography device, comprising:

[0101] The camera module includes: a positioning accessory and a camera phone, the positioning accessory and the camera phone are connected via a USB, the positioning accessory includes a first UWB unit and a first processing unit, the first UWB unit is connected to the first processing unit, the first UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle;

[0102] The tag module includes: a second UWB unit, a second processing unit, an IMU unit and a second communication unit, wherein the second UWB unit, the IMU unit and the second communication unit are all connected to the second processing unit, and the second UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle;

[0103] The camera unit of the camera phone is used to capture image information containing the tag module, the first communication unit of the camera phone is connected to the second communication unit to realize pairing of the camera module and the tag module, and the IMU unit is used to obtain the roll angle and pitch angle of the tag module in real time;

[0104] The first UWB unit is connected to the three antennas of the second UWB unit through the three antennas for real-time acquisition of the distance between the camera module and the tag module, the azimuth and elevation of the camera module relative to the tag module, and the azimuth and elevation of the tag module relative to the camera module;

[0105] The camera phone calculates the heading angle of the tag module's posture based on the data obtained in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video produced by the movement of the tag module.

[0106] The above are only preferred embodiments of the present invention and do not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An augmented reality photography method, characterized in that: include: Pairing the communication between the camera module and the tag module; Objects are equipped with tag modules to carry out activities; The photographer uses the camera unit of the camera module to shoot the image information containing the tag module; The first processing unit of the camera module acquires the distance between the camera module and the tag module, and the azimuth and elevation angle of the tag module relative to the camera module in real time through communication between the three mutually perpendicular antennas of the first UWB unit and the three mutually perpendicular antennas of the second UWB unit; The second processing unit of the tag module acquires the distance between the tag module and the camera module, and the azimuth and elevation angle of the camera module relative to the tag module in real time through communication between the three mutually perpendicular antennas between the second UWB unit and the three mutually perpendicular antennas of the first UWB unit; The second processing unit is used to obtain the roll angle and pitch angle of the tag module posture in real time through the IMU unit; The second processing unit transmits the acquired data to the first processing unit through communication between the second communication unit and the first communication unit; The first processing unit calculates the heading angle of the tag module's posture based on the data acquired in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video generated by the movement of the tag module.

2. The augmented reality photography method according to claim 1, characterized in that: In pairing the camera module with the tag module for communication, specifically including: The first processing unit of the camera module controls the first communication unit to start Bluetooth scanning; The second processing unit of the tag module controls the second communication unit to turn on Bluetooth so that the second communication unit can be scanned and discovered by the first communication unit; After the first communication unit scans the second communication unit, the camera module and the tag module perform a pairing operation and exchange data.

3. The augmented reality photography method according to claim 1, characterized in that: The first processing unit of the camera module acquires the distance between the camera module and the tag module, and the azimuth and elevation of the tag module relative to the camera module in real time through communication between the three mutually perpendicular antennas of the first UWB unit and the three mutually perpendicular antennas of the second UWB unit, specifically including: The three antennas of the first UWB unit simultaneously send pulse signals to one antenna of the second UWB unit; One antenna in the second UWB unit receives the pulse signal from the three antennas of the first UWB unit and returns the pulse signal to the three antennas of the first UWB unit; The first processing unit uses the PDOA positioning algorithm to obtain the distance between the camera module and the tag module, as well as the azimuth and elevation angle of the tag module relative to the camera module in real time; The first processing unit constructs a camera module coordinate system t system, in which the X axis is positive backward and negative forward; the Y axis is positive to the right and negative to the left; the Z axis is positive upward and negative downward; the azimuth is positive in the positive direction of the Y axis; and the elevation is positive in the positive direction of the Z axis. In the t-coordinate system, the polar coordinates of the tag module measured by the first UWB unit of the camera module are (r, α t ,β t ), the three-dimensional coordinates of the label module in the t-coordinate system are:

4. The augmented reality photography method according to claim 1, characterized in that: The second processing unit of the tag module acquires the distance between the tag module and the camera module, and the azimuth and elevation of the camera module relative to the tag module in real time through communication between the three mutually perpendicular antennas between the second UWB unit and the three mutually perpendicular antennas of the first UWB unit, specifically including: The three antennas of the second UWB unit simultaneously send pulse signals to one antenna of the first UWB unit; One antenna in the first UWB unit receives the pulse signal from the three antennas in the second UWB unit and returns the pulse signal to the three antennas in the second UWB unit; The second processing unit uses the PDOA positioning algorithm to obtain the distance between the tag module and the camera module, as well as the azimuth and elevation angle of the camera module relative to the tag module in real time; The second processing unit constructs a rigid body coordinate system b of the remote controller, in which the X axis is positive forward and negative backward; the Y axis is positive to the right and negative to the left; the Z axis is positive downward and negative upward; the azimuth is positive in the positive direction of the Y axis; and the elevation is negative in the positive direction of the Z axis. Therefore, the transformation matrix from the b-coordinate system to the t-coordinate system is: In the b-coordinate system, the polar coordinates of the camera module measured by the second UWB unit of the tag module are (r, α, β), and the three-dimensional coordinates of the camera module in the b-coordinate system are:

5. The augmented reality photography method according to claim 1, characterized in that: The second processing unit uses the IMU unit to obtain the roll angle and pitch angle of the tag module posture in real time, specifically including: The roll angle, pitch angle, and heading angle of the tag module attitude are The IMU unit obtains the roll angle and pitch angle based on the ratio of the gravity accelerometer to the gravity acceleration g in a steady state. The specific formula is: Among them, a x is the component of gravity acceleration g in the X-axis sensing direction of the gravity accelerometer, a y is the component of gravity acceleration g in the Y-axis sensing direction of the gravity accelerometer, a z It is the component of gravity acceleration g in the Z-axis sensing direction of the gravity accelerometer.

6. The augmented reality photography method according to claim 1, characterized in that: The first processing unit calculates the heading angle of the tag module posture according to the data obtained in real time by the first UWB unit, the second UWB unit and the IMU unit, specifically including: In the reference coordinate system r, the rigid body coordinate system b of the tag module exists When α is 0, the result measured by the first UWB unit of the camera module is: α = -α t , β=-β t ,therefore From the rotation formula we get: Deformation gives: get: Finally, the heading angle 7. The augmented reality photography method according to claim 1, characterized in that: The first processing unit performs Kalman filtering on the posture information of the tag module and performs particle filtering on the spatial information of the tag module.

8. The augmented reality photography method according to claim 1, characterized in that: The first processing unit converts the posture information of the tag module into the pose information of the tag module according to any one of the software architectures of ARKit, Google's ARCore, or the game development engine Unit. As an AROrientationTrackingConfiguration object, the first processing unit simultaneously converts the polar coordinates (r, α t ,β t ) is converted into a three-dimensional coordinate system as the (x, y, z) coordinates of ARWorldTrackingConfiguration to generate the AR image video produced by the movement of the tag module.

9. An augmented reality camera device, characterized in that: include: The camera module comprises: a first UWB unit, a first processing unit, a camera unit and a first communication unit, wherein the first UWB unit, the camera unit and the first communication unit are all connected to the first processing unit, and the first UWB unit comprises three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle; The tag module includes: a second UWB unit, a second processing unit, an IMU unit and a second communication unit, wherein the second UWB unit, the IMU unit and the second communication unit are all connected to the second processing unit, and the second UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle; The camera unit is used to capture image information containing the tag module, the first communication unit is connected to the second communication unit to realize pairing of the camera module and the tag module, and the IMU unit is used to obtain the roll angle and pitch angle of the tag module in real time; The first UWB unit is connected to the three antennas of the second UWB unit through the three antennas for real-time acquisition of the distance between the camera module and the tag module, the azimuth and elevation of the camera module relative to the tag module, and the azimuth and elevation of the tag module relative to the camera module; The first processing unit calculates the heading angle of the tag module's posture based on the data acquired in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video generated by the movement of the tag module.

10. An augmented reality camera device, characterized in that: The invention is characterized by comprising: The camera module includes: a positioning accessory and a camera phone, the positioning accessory and the camera phone are connected via a USB, the positioning accessory includes a first UWB unit and a first processing unit, the first UWB unit is connected to the first processing unit, the first UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle; The tag module includes: a second UWB unit, a second processing unit, an IMU unit and a second communication unit, wherein the second UWB unit, the IMU unit and the second communication unit are all connected to the second processing unit, and the second UWB unit includes three antennas, and the three antennas are perpendicular to each other and distributed in a right triangle; The camera unit of the camera phone is used to capture image information containing the tag module, the first communication unit of the camera phone is connected to the second communication unit to realize pairing of the camera module and the tag module, and the IMU unit is used to obtain the roll angle and pitch angle of the tag module in real time; The first UWB unit is connected to the three antennas of the second UWB unit through the three antennas for real-time acquisition of the distance between the camera module and the tag module, the azimuth and elevation of the camera module relative to the tag module, and the azimuth and elevation of the tag module relative to the camera module; The camera phone calculates the heading angle of the tag module's posture based on the data obtained in real time by the first UWB unit, the second UWB unit and the IMU unit, and then obtains the spatial information and posture information of the tag module, and generates an AR image video produced by the movement of the tag module.

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