Augmented reality equipment, positioning method and device thereof and computer program product

Abstract

The invention discloses an augmented reality device and a positioning method, device and computer program product thereof, the augmented reality device comprises a head-mounted display and a handle, the head-mounted display is provided with at least two ultra wide band (UWB) base stations, the handle is provided with at least one UWB label and an inertial measurement unit (IMU), and the UWB label and the IMU are connected with each other. The positioning method comprises the following steps: sending a signal to the UWB tag through the UWB base station, receiving a signal returned by the UWB tag, and calculating a distance and an angle between the UWB base station and the UWB tag; acceleration and angular velocity data of the handle are continuously collected through an IMU, and displacement information and posture change information of the handle are calculated; and carrying out fusion calculation on the distance and the angle between the UWB base station and the UWB label and the displacement information and the posture change information of the handle to obtain the position and the direction of the handle relative to the head-mounted display. According to the invention, the problem of tedious positioning calibration can be solved, and the positioning precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of extended reality devices, and particularly to an extended reality device, a positioning method, a device, and a computer program product thereof. Background Art

[0002] Head-Mounted Display (HMD) devices such as AR (Augmented Reality), MR (Mixed Reality), and VR (Virtual Reality) are generally collectively referred to as XR (Extended Reality) devices, which are used to provide an immersive experience for users. Against the backdrop of the rapid development of related technologies, the prior art has explored various solutions to improve data transmission efficiency and positioning accuracy, but still generally faces the problems of complex and cumbersome positioning calibration processes and the need for further improvement in positioning accuracy. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide an extended reality device, a positioning method, a device, and a computer program product thereof, so as to simplify the positioning calibration process and improve the positioning accuracy.

[0004] To solve the above technical problem, the present invention provides a positioning method for an extended reality device. The extended reality device includes a head-mounted display and a handle. At least two Ultra-Wideband (UWB) base stations are provided on the head-mounted display, and at least one UWB tag and an Inertial Measurement Unit (IMU) are provided on the handle. The positioning method includes the following steps:

[0005] Send a signal from the UWB base station to the UWB tag, and receive the signal returned by the UWB tag, and calculate the distance and angle between the UWB base station and the UWB tag;

[0006] Continuously collect the acceleration and angular velocity data of the handle through the IMU, and calculate the displacement information and attitude change information of the handle;

[0007] Fuse and calculate the distance and angle between the UWB base station and the UWB tag, and the displacement information and attitude change information of the handle to obtain the position and direction of the handle relative to the head-mounted display.

[0008] Preferably, the calculation of the distance and angle between the UWB base station and the UWB tag specifically includes:

[0009] Two UWB base stations and one of the UWB tags form a triangular arrangement. The distances between the two UWB base stations and the UWB tag are obtained respectively through UWB technology, and the included angle between the two UWB base stations and the UWB tag is calculated according to the cosine theorem.

[0010] Preferably, the included angle between the two UWB base stations and the UWB tag is also calculated through the following method:

[0011] Through the Angle of Arrival (AOA) technology of UWB signals, the two UWB base stations respectively compare the received signal phase differences, and utilize the preset geometric layout of the antenna array and the signal wavelength to convert the signal phase differences into the included angles between the two UWB base stations and the UWB tag.

[0012] Preferably, the IMU continuously collects the acceleration and angular velocity data of the handle, and calculates the displacement information and attitude change information of the handle. Among them, calculating the displacement information of the handle specifically includes:

[0013] Perform a first integration on the collected acceleration data of the handle to obtain the velocity data of the handle;

[0014] Then perform a first integration on the velocity data of the handle to obtain the displacement of the handle;

[0015] Calculating the attitude change information of the handle specifically includes:

[0016] Perform an integration operation on the collected angular velocity data of the handle to obtain the rotation angle of the handle;

[0017] According to the collected acceleration data of the handle and in combination with the rotation angle, calculate the real-time attitude change information of the handle.

[0018] Preferably, calculating the attitude change information of the handle further includes:

[0019] Use quaternion representation and calculation for the attitude of the handle, and update the quaternion using the integrated rotation angle;

[0020] According to the collected acceleration data of the handle and in combination with the updated quaternion, calculate the real-time attitude change information of the handle in the global coordinate system through an attitude correction algorithm.

[0021] Preferably, the fusion calculation specifically includes:

[0022] Take the distance and angle between the UWB base station and the UWB tag, the displacement information and attitude change information of the handle as inputs, and calculate through a preset fusion algorithm to obtain the estimated position and direction of the handle.

[0023] The present invention also provides a positioning device for an extended reality device. The extended reality device includes a head-mounted display and a handle. At least two ultra-wideband (UWB) base stations are provided on the head-mounted display, and at least one UWB tag and an inertial measurement unit (IMU) are provided on the handle. The positioning device includes:

[0024] A first calculation module, configured to send a signal from the UWB base station to the UWB tag and receive the signal returned by the UWB tag, and calculate the distance and angle between the UWB base station and the UWB tag;

[0025] A second calculation module, configured to calculate the displacement information and attitude change information of the handle according to the acceleration and angular velocity data of the handle collected by the IMU;

[0026] A fusion calculation module, configured to perform a fusion calculation on the distance and angle between the UWB base station and the UWB tag, and the displacement information and attitude change information of the handle, to obtain the position and orientation of the handle relative to the head-mounted display.

[0027] The present invention also provides an extended reality device. The extended reality device includes a head-mounted display, a handle, and a positioning device. At least two ultra-wideband (UWB) base stations are provided on the head-mounted display, and at least one UWB tag and an inertial measurement unit (IMU) are provided on the handle. The positioning device includes:

[0028] A first calculation module, configured to send a signal from the UWB base station to the UWB tag and receive the signal returned by the UWB tag, and calculate the distance and angle between the UWB base station and the UWB tag;

[0029] A second calculation module, configured to calculate the displacement information and attitude change information of the handle according to the acceleration and angular velocity data of the handle collected by the IMU;

[0030] A fusion calculation module, configured to perform a fusion calculation on the distance and angle between the UWB base station and the UWB tag, and the displacement information and attitude change information of the handle, to obtain the position and orientation of the handle relative to the head-mounted display.

[0031] The present invention also provides a head-mounted display, including:

[0032] At least two ultra-wideband (UWB) base stations, configured to send a signal to a UWB tag installed on a handle and receive the signal returned by the UWB tag;

[0033] A positioning module, configured to calculate the distance and angle between the UWB base station and the UWB tag; calculate the displacement information and attitude change information of the handle according to the acceleration and angular velocity data of the handle collected by the inertial measurement unit (IMU) installed on the handle; and perform fusion calculation on the distance and angle between the UWB base station and the UWB tag and the displacement information and attitude change information of the handle to obtain the position and orientation of the handle relative to the head-mounted display.

[0034] The present invention further provides an extended reality device, comprising:

[0035] One or more processors;

[0036] A memory;

[0037] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the positioning method described above.

[0038] The present invention further provides a computer program product, comprising computer instructions, and the computer instructions direct a computer device to perform the operations corresponding to the method.

[0039] Implementing the present invention has the following beneficial effects: By introducing the ultra-wideband (UWB) technology and combining the innovative layout design of the head-mounted display and the handle, real-time and accurate tracking of the handle position is achieved, without the need for users to perform complex pre-calibration operations, greatly simplifying the usage process. At the same time, by obtaining the pose information of the tag and the head-mounted display in real time, it is ensured that even in occluded or complex environments, the positioning information of the handle remains stable and reliable, avoiding the inconvenience caused by positioning loss. This not only improves the user experience, reduces the usage difficulty, but also makes the interaction between the head-mounted display and the handle more smooth and natural, creating a more immersive virtual reality environment for users. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0041] Figure 1 It is a schematic flowchart of a positioning method for an extended reality device according to Embodiment 1 of the present invention.

[0042] Figure 2 It is a schematic diagram of the principle for calculating the distance and angle between the head-mounted display and the UWB tag in an embodiment of the present invention. Detailed implementation manners

[0043] The descriptions of the following embodiments refer to the accompanying drawings to exemplify specific embodiments in which the present invention can be implemented.

[0044] Please refer to Figure 1 As shown, Embodiment 1 of the present invention provides a positioning method for an extended reality device. The extended reality device includes a head-mounted display and a handle. At least two ultra-wideband (UWB) base stations are provided on the head-mounted display, and at least one UWB tag and an inertial measurement unit (IMU) are provided on the handle. The positioning method includes the following steps:

[0045] Send a signal from the UWB base station to the UWB tag, and receive the signal returned by the UWB tag, and calculate the distance and angle between the UWB base station and the UWB tag;

[0046] Continuously collect the acceleration and angular velocity data of the handle through the IMU, and calculate the displacement information and attitude change information of the handle;

[0047] Fuse and calculate the distance and angle between the UWB base station and the UWB tag with the displacement information and attitude change information of the handle to obtain the position and direction of the handle relative to the head-mounted display.

[0048] According to the above description, it can be seen that in Embodiment 1 of the present invention, by setting a UWB base station on the head-mounted display and a UWB tag on the handle, the distance and relative angle between the head-mounted display and the tag are accurately calculated in real time based on UWB technology, without cumbersome operations such as calibration, which reduces the user's difficulty of use and improves the positioning accuracy at the same time.

[0049] It can be understood that UWB is a wireless carrier communication technology that uses non-sinusoidal narrow pulses in the nanosecond range to transmit data. It does not use a sinusoidal carrier, but transmits data through non-sinusoidal narrow pulses in the nanosecond range, so the spectrum range it occupies is very wide.

[0050] The UWB base station, as a transmitter and receiver of pulse signals, is used to create and maintain a positioning network for tracking the positions of the head-mounted display and the handle. In an embodiment of the present invention, the UWB base station is installed on the head-mounted display, which can provide a stable reference point for calculating the relative positions and angles between the head-mounted display and the handle. Moreover, the UWB base station should be installed at the edge of the head-mounted display to maximize the coverage range of the UWB base station and ensure that the signals between them do not interfere with each other. In addition, occlusion may affect the transmission and reception of UWB signals, thereby affecting the accuracy of positioning and tracking. Therefore, the position of the UWB base station should be selected at the place on the head-mounted display that is least likely to be occluded by the user's body or other objects.

[0051] The handle is a device for the user to interact with the virtual environment. The UWB tag refers to a receiver or transponder of pulse signals, which is used to receive the pulse signals from the base station and return its own position information. By installing the UWB tag on the handle, the position and movement of the handle can be tracked in real time. The inertial measurement unit IMU is a device integrating sensors such as accelerometers and gyroscopes, which is used to measure the motion state of an object (such as speed, acceleration, angle, etc.). The IMU is installed inside the handle to capture the detailed motion data of the handle. These motion data can be combined with the UWB positioning data to provide a more accurate and smoother tracking experience.

[0052] Please refer to Figure 2 As shown in the figure, where points A and B are UWB base stations installed on both sides of the head-mounted display, point C is a tag at the handle, a and b are the distances from the two UWB base stations to the tag respectively, and γ is the included angle between the two UWB base stations and the tag. Through UWB technology, the distance a from base station A to tag C and the distance b from base station B to tag C can be measured. Since the positions of base stations A and B on the head-mounted display are fixed, the distance between the two base stations, that is, the length c of line segment AB, is known; therefore, through the cosine theorem, given the lengths of the three sides a, b, and c of the triangle, the included angle between the two sides, that is, the included angle γ between the two base stations and the tag, can be obtained:

[0053]

[0054] Of course, the included angle γ can be measured by other means, such as through the Angle of Arrival (AOA) technology of UWB signals, or by the cooperation between multiple base stations for estimation. AOA positioning generally calculates the angle of arrival based on the phase difference. Due to the issue of angle resolution in AOA, the farther the positioning target is from the base station, the worse the positioning accuracy. However, in the embodiments of the present invention, the distance between the head-mounted display and the handle does not exceed 1 meter. Therefore, the positioning accuracy will not be affected by the distance. Similarly, let points A and B be the UWB base stations installed on both sides of the head-mounted display, C be the tag at one of the handles, and γ be the included angle between the two UWB base stations and the tag. As an example, the calculation process of the included angle γ is as follows:

[0055] Base stations A and B respectively receive the UWB pulse signals from tag C. Since the distances between base stations A and B and tag C are different, there will be a slight difference in the time when the signals arrive at the two base stations, resulting in a phase difference in the received signals. By comparing the phase differences of the received signals, and using the known geometric layout of the base station antenna array and the signal wavelength, the base station can convert the phase difference into the relative angle between the base station and the tag.

[0056] After calculating the relative angles between base stations A, B and tag C respectively, the included angle γ between the two base stations and the tag can be obtained through geometric calculation.

[0057] In the embodiments of the present invention, the inertial measurement unit (IMU) continuously collects the acceleration and angular velocity data of the handle to calculate the displacement information and attitude change information of the handle. The specific process is as follows:

[0058] It can be understood that the IMU usually includes an accelerometer and a gyroscope. The accelerometer is used to measure the linear acceleration in three axes, while the gyroscope is used to measure the angular velocity in three axes. The IMU installed at the handle can measure the linear acceleration and angular velocity of the handle in three-dimensional space in real time.

[0059] After filtering and calibrating the collected raw data, displacement calculation and attitude calculation are respectively performed. Among them, the displacement calculation includes: by integrating the acceleration data once, the velocity can be obtained; and then by integrating the velocity data once, the displacement can be obtained. The attitude calculation includes: using the gyroscope sensor in the IMU to collect the three-axis angular velocity data of the handle, and obtaining the rotation angle of the handle through integral operation; at the same time, using the accelerometer sensor in the IMU to collect the three-axis acceleration data of the handle, and combining the rotation angle information, the real-time attitude change information of the handle is obtained through the attitude solution algorithm, including but not limited to the pitch angle, yaw angle and roll angle of the handle.

[0060] It is understandable that quaternions can also be used to represent and calculate postures. Quaternions can avoid the gimbal lock problem and are easy to interpolate and normalize. The change in angular velocity is obtained by integrating gyroscope data, and then the posture represented by the quaternion is updated. At the same time, accelerometer data can be used to correct the drift caused by gyroscope integration. The attitude matrix (also known as the rotation matrix) is extracted from the quaternion and used to transform the data in the sensor coordinate system to the global coordinate system.

[0061] After calculating the distance and angle between the UWB base station and the UWB tag, as well as the displacement information and attitude change information of the handle, using them as inputs, through selecting appropriate fusion algorithms such as Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Particle Filter, etc. for calculation, the position and orientation estimation of the handle are obtained.

[0062] It should be noted that the fusion calculation can separately process the data of the UWB base station and the IMU sensor, and utilize their respective advantages for mutual supplementation and correction: (1) UWB compensates for the IMU blind area: In the case where the IMU signal is unstable or the error accumulation is large, the distance and angle information provided by UWB can be used to correct the calculation result of the IMU, thereby reducing the error. (2) IMU compensates for the insufficient UWB information: UWB usually can only provide distance and angle information, and cannot directly provide information such as the complete pose and angular velocity of an object. By using the calculation result of the IMU to supplement the UWB information, a more complete motion state of the handle can be obtained.

[0063] Furthermore, the positioning result obtained by the fusion calculation (i.e., the position and orientation of the handle relative to the head-mounted display) is output to the head-mounted display in real time, and the head-mounted display adjusts the view and interaction elements in the virtual scene according to this positioning result to ensure that the user obtains accurate visual feedback.

[0064] Corresponding to the positioning method of the extended reality device described in the foregoing Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides a positioning device for an extended reality device. The extended reality device includes a head-mounted display and a handle. At least two Ultra-Wideband (UWB) base stations are provided on the head-mounted display, and at least one UWB tag and an Inertial Measurement Unit (IMU) are provided on the handle. The positioning device includes:

[0065] A first calculation module, configured to send a signal from the UWB base station to the UWB tag and receive the signal returned by the UWB tag, and calculate the distance and angle between the UWB base station and the UWB tag;

[0066] A second calculation module, configured to calculate the displacement information and attitude change information of the handle according to the acceleration and angular velocity data of the handle collected by the IMU;

[0067] A fusion calculation module, configured to fuse and calculate the distance and angle between the UWB base station and the UWB tag with the displacement information and attitude change information of the handle, so as to obtain the position and orientation of the handle relative to the head-mounted display.

[0068] Corresponding to the positioning device of the extended reality device described in the second embodiment of the present invention, the third embodiment of the present invention further provides an extended reality device, which includes a head-mounted display, a handle, and a positioning device. At least two ultra-wideband UWB base stations are provided on the head-mounted display, and at least one UWB tag and an inertial measurement unit IMU are provided on the handle. The positioning device includes:

[0069] A first calculation module, configured to send a signal from the UWB base station to the UWB tag and receive the signal returned by the UWB tag, and calculate the distance and angle between the UWB base station and the UWB tag;

[0070] A second calculation module, configured to calculate the displacement information and attitude change information of the handle according to the acceleration and angular velocity data of the handle collected by the IMU;

[0071] A fusion calculation module, configured to fuse and calculate the distance and angle between the UWB base station and the UWB tag with the displacement information and attitude change information of the handle, so as to obtain the position and orientation of the handle relative to the head-mounted display.

[0072] Corresponding to the positioning method of the extended reality device described in the first embodiment of the present invention, the fourth embodiment of the present invention further provides a head-mounted display, including:

[0073] At least two ultra-wideband UWB base stations, configured to send a signal to the UWB tag installed on the handle and receive the signal returned by the UWB tag;

[0074] A positioning module, configured to calculate the distance and angle between the UWB base station and the UWB tag; and calculate the displacement information and attitude change information of the handle according to the acceleration and angular velocity data of the handle collected by the inertial measurement unit IMU installed on the handle; and fuse and calculate the distance and angle between the UWB base station and the UWB tag with the displacement information and attitude change information of the handle, so as to obtain the position and orientation of the handle relative to the head-mounted display.

[0075] Corresponding to the positioning method of the extended reality device described in the first embodiment of the present invention, the fifth embodiment of the present invention further provides an extended reality device, including:

[0076] One or more processors;

[0077] A memory;

[0078] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to perform the positioning method of the extended reality device.

[0079] Corresponding to the positioning method of the extended reality device in the first embodiment of the present invention described above, the sixth embodiment of the present invention further provides a computer program product, including computer instructions, and the computer instructions instruct a computer device to perform the operations corresponding to the method.

[0080] Preferably, the processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor. The processor is the control center of the device, and connects various parts of the device through various interfaces and lines.

[0081] The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, applications required for at least one function, etc., and the data storage area can store relevant data, etc. In addition, the memory may be a high-speed random access memory, or may also be a non-volatile memory, such as a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc., or the memory may also be other volatile solid-state storage devices.

[0082] It should be noted that the above device may include but is not limited to a processor and a memory, which can be understood by those skilled in the art.

[0083] For the working principles and processes of the above embodiments, refer to the description of the first embodiment of the present invention above, and details will not be repeated here.

[0084] As can be seen from the above description, compared with the prior art, the beneficial effects of the present invention are as follows: By introducing the ultra-wideband UWB technology and combining the innovative layout design of the headset and the handle, the real-time and accurate tracking of the handle position is achieved, without the need for the user to perform complex pre-calibration operations, greatly simplifying the usage process. At the same time, by obtaining the pose information of the tag and the headset in real time, the present invention ensures that even in the case of occlusion or complex environments, the positioning information of the handle remains stable and reliable, avoiding the inconvenience caused by positioning loss, not only improving the user experience, reducing the usage difficulty, but also making the interaction between the headset and the handle more smooth and natural, creating a more immersive virtual reality environment for the user.

[0085] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A positioning method for an extended reality device, characterized in that: The extended reality device includes a head-mounted display and a handle, the head-mounted display is provided with at least two ultra-wideband UWB base stations, the handle is provided with at least one UWB tag and an inertial measurement unit IMU, and the positioning method includes the following steps: Sending a signal to the UWB tag through the UWB base station, receiving a signal returned by the UWB tag, and calculating the distance and angle between the UWB base station and the UWB tag; The IMU continuously collects the acceleration and angular velocity data of the handle to calculate the displacement information and posture change information of the handle; The distance and angle between the UWB base station and the UWB tag are fused with the displacement information and posture change information of the handle to obtain the position and direction of the handle relative to the head mounted display.

2. The method according to claim 1, characterized in that The calculating the distance and angle between the UWB base station and the UWB tag specifically includes: Two UWB base stations and one of the UWB tags form a triangle arrangement, the distances between the two UWB base stations and the UWB tag are respectively obtained through UWB technology, and the angles between the two UWB base stations and the UWB tag are calculated according to the cosine theorem.

3. The method according to claim 2, characterized in that The angle between the two UWB base stations and the UWB tag is also calculated in the following way: Through the arrival angle AOA technology of UWB signals, two UWB base stations respectively compare the phase difference of the received signals and convert the signal phase difference into the angle between the two UWB base stations and the UWB tag using the preset antenna array geometry layout and signal wavelength.

4. The method according to claim 1, characterized in that: The IMU is used to continuously collect acceleration and angular velocity data of the handle, and calculate the displacement information and posture change information of the handle. The calculation of the displacement information of the handle specifically includes: Integrate the collected acceleration data of the handle once to obtain the velocity data of the handle; Integrate the handle's velocity data again to get the handle's displacement; The calculation of the controller's posture change information specifically includes: Integrate the collected angular velocity data of the handle to obtain the rotation angle of the handle; The real-time posture change information of the handle is calculated based on the collected acceleration data of the handle and combined with the rotation angle.

5. The method according to claim 4, characterized in that The calculation of the controller's posture change information also includes: Use quaternion to represent and calculate the handle's posture, and use the integrated rotation angle to update the quaternion; Based on the collected acceleration data of the handle and combined with the updated quaternion, the real-time attitude change information of the handle in the global coordinate system is calculated through the attitude correction algorithm.

6. The method according to claim 1, characterized in that The fusion calculation specifically includes: The distance and angle between the UWB base station and the UWB tag, the displacement information and posture change information of the handle are used as input, and a preset fusion algorithm is used to calculate and obtain the handle position and direction estimation.

7. A positioning device for an extended reality device, characterized in that: The extended reality device includes a head-mounted display and a handle, the head-mounted display is provided with at least two ultra-wideband UWB base stations, the handle is provided with at least one UWB tag and an inertial measurement unit IMU, and the positioning device includes: A first calculation module, configured to calculate the distance and angle between the UWB base station and the UWB tag according to the UWB base station sending a signal to the UWB tag and receiving a signal returned by the UWB tag; The second calculation module is used to calculate the displacement information and posture change information of the handle according to the acceleration and angular velocity data of the handle collected by the IMU; The fusion calculation module is used to fuse the distance and angle between the UWB base station and the UWB tag with the displacement information and posture change information of the handle to obtain the position and direction of the handle relative to the head-mounted display.

8. An extended reality device, characterized in that: The extended reality device includes a head-mounted display, a handle and a positioning device, wherein the head-mounted display is provided with at least two ultra-wideband UWB base stations, the handle is provided with at least one UWB tag and an inertial measurement unit IMU, and the positioning device includes: A first calculation module, configured to calculate the distance and angle between the UWB base station and the UWB tag according to the UWB base station sending a signal to the UWB tag and receiving a signal returned by the UWB tag; The second calculation module is used to calculate the displacement information and posture change information of the handle according to the acceleration and angular velocity data of the handle collected by the IMU; The fusion calculation module is used to fuse the distance and angle between the UWB base station and the UWB tag with the displacement information and posture change information of the handle to obtain the position and direction of the handle relative to the head-mounted display.

9. A head mounted display, characterized in that: include: At least two ultra-wideband (UWB) base stations, used to send signals to the UWB tags installed on the handle and receive signals returned by the UWB tags; The positioning module is used to calculate the distance and angle between the UWB base station and the UWB tag; and calculate the displacement information and posture change information of the handle according to the acceleration and angular velocity data of the handle collected by the inertial measurement unit IMU installed on the handle; and fuse the distance and angle between the UWB base station and the UWB tag with the displacement information and posture change information of the handle to obtain the position and direction of the handle relative to the head-mounted display.

10. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions instruct a computer device to execute operations corresponding to the method according to any one of claims 1 to 6.

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