Method and system for improving accuracy of click operation pointing to remote controller

Abstract

The invention discloses a method and system for improving the accuracy of click operation pointing to a remote controller, and the method comprises the steps: obtaining the pixel coordinates of a cursor at the moment of pressing a screen when a click operation behavior of a user is detected, and locking the cursor not to move; recording the pixel coordinates of the clicking loosening frame on the screen; and calculating the Euclidean distance dist between the pixel coordinate of the screen frame cursor at the pressing moment during point pressing and the to-be-displaced pixel coordinate of the screen frame cursor at the loosening moment, judging whether the Euclidean distance dist is greater than a set cursor jumping to-be-optimized threshold value or not, and respectively controlling the cursors according to the comparison result. The method solves the problem that when the swing amplitude of the click operation of the television pointing to the remote controller is large, the screen cursor deviates from the original selected position, and the accurate click operation of the remote controller cannot be realized; and the Kalman filtering algorithm is adopted to smooth a large-amplitude cursor jump track, so that the user experience is improved in vision and control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pointing remote control, in particular to a method and system for improving the accuracy of pointing remote control click operation. BACKGROUND

[0002] The intelligent remote control industry continues to expand, and in recent years the compound growth rate of China's intelligent remote control production has reached 10%, showing the growing market demand. Among them, the pointing remote control is a new type of remote control device based on IMU (Inertial Measurement Unit) and UWB (Ultra Wide Band, Ultra Wide Band wireless communication technology), which has high-precision positioning and low-delay real-time interaction capability, and brings better operation experience to users.

[0003] The television pointing remote control is relatively small and has very high sensitivity. Due to its high-precision positioning characteristics, the user's click operation on the remote control will cause the cursor on the control screen to jump, and the cursor will be displaced during the pressing and releasing of the button. Therefore, in order to eliminate the cursor jump caused by the click operation of the pointing television remote control, the actual use operation accuracy and experience need to be improved, and a better remote control device operation experience needs to be provided for users. SUMMARY

[0004] In order to solve the above problems, the present application provides a method and system for improving the accuracy of pointing remote control click operation. First, the return signal of the user's click operation on the remote control is received, the current frame cursor pixel coordinates in the screen are recorded, and the cursor in the screen is locked and not moved. Then, the cursor pixel coordinates to be displaced in each frame of the screen during the click operation process of the remote control swing are recorded until the return signal of the user's click operation on the remote control is received. Then, the cursor jump optimization threshold is set according to the distance between the remote control and the television, the distance between the pixel coordinates of the cursor in the frame pressed by the click and the pixel coordinates of the cursor in the frame released by the click is calculated, and it is actively judged whether the distance is greater than the cursor jump optimization threshold. If it is less than the threshold, the cursor will not move after the click operation is released. If it is greater than the threshold, the Kalman filtering algorithm is used to smooth the cursor displacement trajectory of all frames during the click operation process, and the cursor is smoothly displaced to a new position on the screen, and the subsequent operation of the user is connected. This method improves the cursor jump displacement of the click operation, and in different cases, the cursor will not deviate from the original selected position, or the cursor will be smoothly displaced to a new position on the screen pointed by the remote control to facilitate the user to connect other operations after clicking. This method gives the user more accurate operation feedback and improves the user's television control experience.

[0005] The present application solves the above problems by the following technical solutions:

[0006] A method for improving the accuracy of a pointing remote control click operation, comprising:

[0007] Step 1: Real-time monitoring of the use state of the buttons on the television pointing remote control, the distance between the remote control and the television and the pixel coordinates of the cursor on the screen;

[0008] Step 2: When the user's click operation behavior is detected, the pixel coordinates of the cursor at the time of pressing the screen are obtained and the cursor is locked from moving;

[0009] Step 3: Lock the cursor during the remote control swing in the click operation process, until the return state signal of the user's click operation releasing the remote control is received, and record the pixel coordinates of the click release frame on the screen at this time ;

[0010] Step 4: Calculate the Euclidean distance dist between the pixel coordinates of the cursor belonging to the screen frame at the time of pressing during the click and the pixel coordinates of the cursor belonging to the screen frame at the time of releasing , judge whether the Euclidean distance dist is greater than the set cursor jump optimization threshold , and control the cursor according to the comparison result.

[0011] As a further improvement of the present application, the step 3 specifically comprises:

[0012] Step 3.1: Lock the cursor when the click operation is not released, i.e. the button use state is still "0";

[0013] Step 3.2: When the click operation releases the button use state is "1", the terminal receives the return signal of the user's click operation releasing the remote control, and records the pixel coordinates of the cursor on the screen at the time of click release frame .

[0014] As a further improvement of the present application, the step 4 specifically comprises:

[0015] Step 4.1: Calculate the Euclidean distance dist between the pixel coordinates of the cursor on the screen at the time of pressing during the click operation and the pixel coordinates of the cursor on the screen at the time of releasing using the distance calculation formula:

[0016] Formula (1);

[0017] Step 4.2: Set the cursor jump optimization threshold , and judge the size relationship between dist and , wherein the optimization threshold is according to the distance between the user holding the pointing remote control and the television and the size of the television screen to define.

[0018] As a further improvement of the present application, in the step 4, the calculation formula of the threshold value to be optimized is as follows:

[0019] Formula (2);

[0020] wherein, represents the distance between the remote controller and the television, represents the angle of the remote controller swinging in any direction beyond a certain angle for the display with each size.

[0021] As a further improvement of the present application, the method further comprises:

[0022] Step 5: If it is determined that the cursor jump threshold value to be optimized is less than or equal to the cursor jump threshold value to be optimized, the cursor remains at the screen pixel coordinates where the press key is pressed after the press key is released, i.e. the screen pixel coordinates after the press key is released.

[0023] Step 6: If it is greater than the cursor jump threshold value to be optimized , the Kalman filtering algorithm is used to smooth the cursor displacement trajectory of all frames during the press operation, and then the cursor is smoothly displaced to a new position on the screen.

[0024] As a further improvement of the present application, the step 6 specifically comprises:

[0025] Step 6.1: The cursor displacement trajectory formed by the press frame cursor pixel coordinates , the release frame cursor pixel coordinates and the cursor displacement pixel coordinates after the press key is released is smoothed to obtain the time difference between the screen refresh rate calculation cursor displacement pixel coordinates after the press key is released , and the cursor speed of each frame is calculated .

[0026] Step 6.2: In the released N frames, the actual obtained pixel coordinates are not directly inputted , but are smoothly transitioned with the original fixed value . The value of N is set according to the actual situation to ensure that the cursor movement during the release process is natural and not conspicuous. The pixel coordinates of the i-th frame are calculated as follows:

[0027] Formula (3);

[0028] Formula (4);

[0029] wherein, ;

[0030] Step 6.3: initialize the state vector of the Kalman filter and the covariance matrix P, the state vector contains the coordinates of each cursor pixel point in the cursor trajectory to be moved and the vertical and horizontal direction velocities, and the covariance matrix P is used to represent the uncertainty of the state estimation;

[0031] Step 6.4: update the coordinates of the cursor to be moved at the next time according to the system state transition model using the Kalman filtering algorithm combined with the pixel coordinates of the cursor to be moved at the next frame , the update equation compares the predicted value with the actual collected value, and the Kalman update equation is used to update the state estimation and the covariance matrix, the cursor trajectory to be moved is updated, and the smoothed cursor trajectory to be moved is obtained;

[0032] Step 6.5: take the predicted coordinates in the updated i-th frame state vector prediction as the target position of the cursor, and the predicted cursor moving speed is used to assist in judging the moving trend or dynamically adjusting the smoothing degree; combined with the time interval , the trajectory of the cursor from the current frame to the next frame can be calculated, and natural and continuous cursor updating is realized; the smoothed coordinates are directly reflected on the screen to realize accurate response and visual continuity of the user pointing action.

[0033] As a further improvement of the present application, in step 6.3, the state vector of the i-th frame is as follows:

[0034] Formula (5);

[0035] wherein, represents the pixel coordinates of the i-th frame, i.e. , represents the cursor moving speed of the i-th frame, which is calculated by the pixel coordinate difference and the time interval between frames.

[0036] As a further improvement of the present application, in step 6.4, the system transition equation and the observation equation for predicting the state and coordinates at the next time in the Kalman filtering algorithm are as follows:

[0037] Formula (6);

[0038] Equation (7);

[0039] wherein, Xi represents the observation value (actual sampled pixel coordinates) of the i-th frame, i.e. the inter-frame time interval, , respectively the process noise and the measurement noise, and respectively the covariance matrices of the process noise and the measurement noise.

[0040] As a further improvement of the present application, in step 6.4,

[0041] The Kalman filter prediction equation is as follows:

[0042] Equation (8);

[0043] Equation (9);

[0044] wherein, Xi represents the state vector prediction of the i-th frame, Xi-1 represents the state vector prediction of the (i-1)-th frame, Xi represents the covariance matrix of the predicted state vector, Xi-1 represents the state estimation covariance matrix of the previous frame, is the state transition matrix, i.e. ; T represents the matrix transpose;

[0045] The Kalman update equation is as follows:

[0046] Equation (10);

[0047] Equation (11);

[0048] Equation (12);

[0049] wherein, is the Kalman gain, which determines the fusion weight between the measurement and the prediction, is the observation matrix, is the residual (prediction error), Xi represents the updated state vector prediction of the i-th frame, Xi represents the updated state covariance matrix; Xi represents the covariance matrix of the measurement noise, represents the unit matrix.

[0050] Meanwhile, the present application also solves the above-mentioned problems through the following technical solutions:

[0051] A system for improving the accuracy of point operation of a pointing remote controller, comprising:

[0052] A point operation data acquisition module for acquiring point operation behavior in real time;

[0053] A point operation amplitude judgment module for calculating the distance between the pixel coordinates of the cursor pressed in the point operation and the pixel coordinates of the cursor released, and judging whether the displacement trajectory needs to be smoothed, if the distance is less than the threshold to be optimized, no processing is performed, if the distance is greater than the threshold to be optimized, the displacement trajectory needs to be smoothed;

[0054] A point operation amplitude greater cursor displacement trajectory smoothing module for smoothing the displacement trajectory, using interpolation method to transition input and Kalman filtering algorithm to smooth the trajectory.

[0055] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0056] The present application uses a method for improving the accuracy of point operation of a pointing remote controller to solve the problem that when the swing amplitude of the point operation of the television pointing remote controller is large, the screen cursor deviates from the original selected position, and precise remote controller point operation cannot be achieved; the Kalman filtering algorithm is used to smooth the large amplitude cursor jump trajectory, and the user experience is improved in vision and control. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 A flowchart of a method for improving the accuracy of point operation of a pointing remote controller;

[0058] Figure 2 A schematic view for calculating the cursor jump threshold to be optimized in combination with the distance between the remote controller and the television;

[0059] Figure 3 A block diagram of a system for improving the accuracy of point operation of a pointing remote controller. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0061] Embodiment 1:

[0062] In combination with the drawings, a method for improving the accuracy of point operation of a pointing remote controller, comprising the following steps: Figures 1-2 ​​

[0063] Step 1: Real-time monitoring of the use state of the keys on the remote control, the distance between the remote control and the TV, and the pixel coordinates of the cursor on the screen; specifically including:

[0064] Step 1.1: The monitoring end records the use state of the remote control keys. When the keys are not pressed, the state identifier is set to "1" by default. If the keys are pressed, the state identifier becomes "0";

[0065] Step 1.2: The distance d between the remote control and the TV is obtained through real-time feedback by UWB remote control, and the cursor pixel coordinates can be directly obtained in real time;

[0066] Step 2: When the user's click operation behavior is detected, the cursor coordinates at the time of pressing the screen are obtained and the cursor is locked from moving;

[0067] In step 2, the use state of the keys on the remote control at this time is "0", and the pixel coordinates of the cursor on the current screen are obtained , and the cursor is controlled to remain at this pixel coordinate without moving, specifically as follows:

[0068] Step 2.1: When the user's click operation behavior is detected, the use state identifier of the keys on the remote control at this time becomes "0", and the pixel coordinates of the cursor on the current screen are obtained ;

[0069] Step 2.2: When the use state identifier of the remote control keys is "0", the position of the cursor on the screen is locked and not moved;

[0070] Step 3: Lock the cursor during the remote control swing during the click operation process until the return state signal of the user's click operation releasing the remote control is received;

[0071] In step 3, the cursor is locked during the remote control swing during the click operation process until the return state signal of the user's click operation releasing the remote control is received; specifically including:

[0072] Step 3.1: When the click operation is not released, i.e., the use state of the keys is still "0", the cursor is always locked;

[0073] Step 3.2: When the click operation is released and the use state of the keys is "1", the monitoring end receives the return signal of the user's click operation releasing the remote control, and records the pixel coordinates of the click release frame on the screen at this time ;

[0074] Step 4: Calculate the Euclidean distance between the pixel coordinates of the cursor in the screen frame at the time of pressing during the click and the pixel coordinates of the cursor in the screen frame at the time of releasing, and determine whether the Euclidean distance is greater than the set threshold value of the cursor jump to be optimized ;

[0075] The step 4 specifically comprises:

[0076] Step 4.1: Calculate the distance dist between the pixel coordinates of the screen cursor when the point press operation remote control is pressed and the pixel coordinates of the screen cursor when the point press operation remote control is released using the Euclidean distance calculation formula:

[0077] Formula (1);

[0078] Step 4.2: Set the cursor jump optimization threshold , and determine the size relationship between dist and , wherein the cursor jump optimization threshold is defined according to the distance of the user holding the pointing remote control and the television, and the size of the television, according to the use experience, it is considered that the swing angle of the remote control along any direction for small, medium and large size displays exceeding 1°, 3°, 5° is a large swing, which needs to be optimized for cursor jump, and the calculation formula of the optimization threshold is as follows:

[0079] Formula (2);

[0080] Wherein, represents the distance between the remote control and the television, represents the angle of the remote control along any direction for small, medium and large size displays, which exceeds a certain angle and is a large swing, and in the embodiment, the angle = 3°.

[0081] Step 5: If it is determined that it is less than or equal to the threshold , then after the point press operation releases the key, the cursor keeps the screen pixel coordinates where it is pressed without moving;

[0082] In the step 5, if dist is determined to be less than or equal to the threshold , then after the point press operation releases the key, the cursor keeps the screen pixel coordinates where it is pressed without moving, that is, the screen pixel coordinates after the point press operation releases the key;

[0083] Step 6: If it is greater than the threshold , then use Kalman filtering algorithm to smooth the cursor displacement trajectory of all frames in the point press operation process.

[0084] In the step 6, if dist is greater than the threshold , then use Kalman filtering algorithm to smooth the displacement trajectory, and then smoothly displace the cursor to a new position on the screen, specifically comprising:

[0085] Step 6.1: According to the pressing frame cursor pixel coordinates in the process of the point press operation , the release frame cursor pixel coordinates , and the pixel coordinates of the cursor to be displaced after the release of the key The cursor to be moved trajectory formed is smoothed, and the time difference between the pixel to be moved by the cursor after the release of the key is calculated per frame , so that the cursor speed per frame can be calculated ;

[0086] Step 6.2: In the released N frames, the actual obtained pixel coordinates are not directly input , but a smooth transition is made with the original fixed value , and the value of N can be set according to the actual situation to ensure that the cursor movement during the release process is natural and not conspicuous;

[0087] The pixel coordinates of the i-th frame are calculated as follows:

[0088] Equation (3)

[0089] Equation (4)

[0090] .

[0091] Step 6.3: Initialize the state vector and covariance matrix P of the Kalman filter , the state vector contains the coordinates of each cursor pixel point in the cursor to be moved trajectory and the vertical and horizontal direction speed, and the covariance matrix P is used to represent the uncertainty of the state estimation;

[0092] Further, the state vector of the i-th frame is as follows:

[0093] Equation (5)

[0094] , which is , , and the cursor movement speed of the i-th frame is calculated by the difference value of the pixel coordinates and the time interval between frames.

[0095] Further, the system transition equation and the observation equation for predicting the next state and coordinates in the Kalman filtering algorithm are as follows:

[0096] Equation (6)

[0097] ​​Formula (7);

[0098] wherein represents the observation value (actual sampled pixel coordinates) of the i-th frame, that is, the inter-frame time interval, , are the process noise and the measurement noise, respectively, and are the covariance matrices of the process noise and the measurement noise, respectively.

[0099] Step 6.4: update the next time the coordinates of the cursor to be displaced, in combination with the pixel coordinates of the cursor to be displaced in the next frame , the update equation compares the predicted value with the actual collected value, and the Kalman update equation is used to update the state estimation and the covariance matrix, so as to update the cursor moving track and obtain the smoothed cursor moving track.

[0100] Further, the Kalman filter prediction equation is as follows:

[0101] Formula (8);

[0102] Formula (9);

[0103] wherein represents the prediction of the state vector of the i-th frame, represents the predicted state vector of the i-1-th frame, represents the covariance matrix of the predicted state vector, is the state estimation covariance matrix of the previous frame, is the state transition matrix, that is, ; T represents the matrix transpose.

[0104] Further, the Kalman update equation is as follows:

[0105] Formula (10);

[0106] Formula (11);

[0107] Formula (12);

[0108] wherein is the Kalman gain, which determines the fusion weight between the measurement and the prediction, is the observation matrix, is the residual (prediction error), is the updated prediction of the i-th frame state vector, is the updated state covariance matrix; is the covariance matrix representing measurement noise, is the identity matrix.

[0109] Step 6.5: the above update obtains the i-th frame state vector prediction predicted coordinate as the target position of the cursor, the predicted cursor moving speed is used to assist in judging the moving trend or dynamically adjusting the smoothing degree. In combination with the time interval , the trajectory of the cursor from the current frame to the next frame can be calculated, realizing natural and continuous cursor update. The system directly reflects this smoothed coordinate on the screen, realizing accurate response and visual continuity of the user's pointing action.

[0110] Embodiment 2:

[0111] A method for improving the accuracy of pointing remote control click operation, comprising:

[0112] Step 1: Real-time monitoring of the use state of the remote control key, the distance between the remote control and the television and the pixel coordinates of the cursor on the screen. If no click operation occurs, the click operation information acquisition is not triggered.

[0113] When the user's click operation behavior is detected, the cursor coordinates of the screen frame at the pressing time are obtained and the cursor is locked and not moved, that is, the use state of the key on the pointing remote control at this time is "0", the pixel coordinates of the cursor on the current screen are obtained , and the cursor is controlled to remain at this pixel coordinate without moving, and the distance between the remote control and the television is immediately calculated when the pressing state is detected , the cursor jump optimization threshold value Figure 2 is calculated as shown in the formula:

[0114] Step 2: When the user's click operation behavior is detected, the cursor pixel coordinates of the screen at the pressing time are obtained and the position is locked and not moved, at this time the use state of the key on the pointing remote control is "0". Until the click operation is released at this time, the use state of the key on the pointing remote control is "1".

[0115] Step 3: Calculate the distance between the pixel coordinates of the screen belonging to the frame at the pressing time and the pixel coordinates of the cursor of the screen belonging to the frame at the release time, and judge the size relationship with the cursor jump optimization threshold value . If it is less than or equal to the threshold value If the distance is less than the threshold value, the cursor is considered to have not been swung greatly by the point-and-click remote controller, and the cursor position at the release time is kept unchanged from the cursor position at the press time, ensuring the accuracy of the point-and-click operation. If the distance is greater than the threshold value, the point-and-click remote controller is considered to have been swung greatly, and the displacement trajectory of the cursor needs to be smoothed, interpolation transition input is used, and Kalman filtering algorithm is used for real-time smoothing of the trajectory. A reasonable N value is set, and the state vector and covariance matrix of the Kalman filter are initialized. The Kalman filter is used to smooth the trajectory formed by the press and release time of the point-and-click operation and the pixel coordinates of the cursor to be displaced after the release of the key, ensuring that the cursor moves naturally and smoothly during the release process and connects the subsequent user control.

[0116] Embodiment 3:

[0117] With reference to Figure 3 A system for improving the accuracy of point-and-click operation of a pointing remote controller, comprising:

[0118] A point-and-click operation data acquisition module for acquiring point-and-click operation behavior in real time.

[0119] A point-and-click operation amplitude judgment module for calculating the distance between the pixel coordinates of the cursor at the press time and the pixel coordinates of the cursor at the release time in the point-and-click operation and judging whether the displacement trajectory needs to be smoothed. If the distance is less than the optimization threshold value, no smoothing is performed. If the distance is greater than the optimization threshold value, the displacement trajectory needs to be smoothed.

[0120] A point-and-click operation amplitude large cursor displacement trajectory smoothing module for smoothing the displacement trajectory using interpolation transition input and Kalman filtering algorithm for trajectory smoothing, effectively suppressing the jump phenomenon and ensuring that the cursor moves naturally and smoothly during the release process.

[0121] Although the present application has been described herein with reference to the explanatory embodiments thereof, the above-described embodiments are only the preferred embodiments of the present application, and the embodiments of the present application are not limited to the above-described embodiments. It should be understood that those skilled in the art can design many other modifications and embodiments, which will fall within the scope and spirit of the principles disclosed in the present application.

Claims

1. A method for improving the accuracy of a pointing and clicking operation of a remote controller, characterized in that: include: Step 1: Real-time monitoring of the usage status of the buttons on the remote control and the distance between the remote control and the TV. and the pixel coordinates of the cursor on the screen; Step 2: When a user tap is detected, obtain the pixel coordinates of the cursor at the time the screen is pressed. And lock the cursor so that it does not move; Step 3: Lock the cursor while the remote is swinging until the user releases the remote control after clicking. Record the pixel coordinates of the click and release frames on the screen. ; Step 4: Calculate the pixel coordinates of the cursor in the screen frame at the time of pressing. The pixel coordinates of the cursor to be displaced in the screen frame at the time of release The Euclidean distance dist between them is used to determine whether the Euclidean distance dist is greater than the set cursor jump optimization threshold. , and control the cursor separately according to the comparison results.

2. The method for improving the accuracy of a pointing and clicking operation of a remote controller according to claim 1, characterized in that: The step 3 specifically includes: Step 3.1: Lock the cursor when the button is pressed and the key status is still "0"; Step 3.2: When the status of the tap-and-release button is "1", the monitoring end receives the return signal of the user tapping and releasing the remote control, and records the cursor pixel coordinates of the tap-and-release frame on the screen at this time .

3. The method for improving the accuracy of a pointing and clicking operation of a remote controller according to claim 1, characterized in that: The step 4 specifically includes: Step 4.1: Use the distance calculation formula to calculate the Euclidean distance dist between the pixel coordinates of the screen cursor when the remote control is pressed and the pixel coordinates of the screen cursor when it is released: Formula (1); Step 4.2: Set the cursor jump threshold to be optimized , and judge whether dist is The size relationship of It is based on the distance between the user's pointing remote control and the TV. And the size of the TV screen.

4. The method for improving the accuracy of a pointing and clicking operation of a remote controller according to claim 3, characterized in that: In step 4, the threshold to be optimized The calculation formula is as follows: Formula (2); in, Indicates the distance between the remote control and the TV. It means that for monitors of all sizes, if the remote control is swung in any direction and the angle exceeds a certain angle, it is considered a large swing angle.

5. A method for improving the accuracy of a pointing and clicking operation on a remote controller according to any one of claims 1 to 4, characterized in that: The method further comprises: Step 5: If the value is less than or equal to the cursor jump threshold to be optimized , then after the button is released during the tap operation, the cursor will keep the screen pixel coordinates where the cursor is pressed and will not move, that is, the screen pixel coordinates after the button is released during the tap operation will be displayed. ; Step 6: If the value is greater than the cursor jump threshold to be optimized , the Kalman filter algorithm is used to smooth the cursor displacement trajectory of all frames during the tap operation, and then the cursor is smoothly moved to the new position on the screen.

6. The method for improving the accuracy of a pointing and clicking operation of a remote controller according to claim 5, characterized in that: The step 6 specifically includes: Step 6.1: Frame cursor pixel coordinates based on the pressed frame during the tap operation , release frame cursor pixel coordinates And the pixel coordinates of the cursor to be moved after releasing the key The formed cursor moving trajectory is smoothed, and the screen refresh rate is obtained to calculate the time difference between each frame of the cursor moving pixels after releasing the key. , from which the cursor speed of each frame is calculated ; Step 6.2: In the released 𝑁 frame, do not directly input the actual pixel coordinates obtained , but with the original fixed value To make a smooth transition, set the N value according to the actual situation to ensure that the cursor moves naturally and smoothly during the release process. The pixel coordinates of the i-th frame are calculated as follows: Formula (3); Formula (4); in, ; Step 6.3: Initialize the state vector of the Kalman filter and covariance matrix P, state vector Contains the coordinates of each cursor pixel in the cursor's trajectory and the vertical and horizontal velocities. The covariance matrix P is used to represent the uncertainty of the state estimation. Step 6.4: Use the Kalman filter algorithm to update the next moment according to the system state transition model The coordinates of the cursor to be moved, combined with the pixel coordinates of the cursor to be moved at the next frame , the update equation compares the predicted value with the actual collected value, and uses the Kalman update equation to update the state estimation and covariance matrix, and updates the cursor trajectory to obtain a smoothed cursor trajectory; Step 6.5: Update the state vector prediction of the i-th frame The predicted coordinates in As the target position of the cursor, predict the cursor movement speed Used to assist in judging movement trends or dynamically adjusting the degree of smoothness; combined with time intervals , you can calculate the trajectory of the cursor moving smoothly from the current frame to the next frame, and achieve natural and continuous cursor update; It is directly reflected on the screen, achieving accurate response and visual continuity of the user's pointing actions.

7. The method for improving the accuracy of a pointing and clicking operation of a remote controller according to claim 6, characterized in that: In step 6.3, the state vector of the i-th frame As shown below: Formula (5); in, Represents the pixel coordinates of the i-th frame, that is , Indicates the cursor movement speed of the i-th frame, which is calculated by the pixel coordinate difference and the time interval between frames.

8. The method for improving the accuracy of a pointing and clicking operation of a remote controller according to claim 7, characterized in that: In step 6.4, the system transfer equation and observation equation for predicting the state and coordinates at the next moment in the Kalman filter algorithm are expressed as follows: Formula (6): Formula (7): in, Represents the observation value of the i-th frame (the actual sampled pixel coordinates), The time interval between frames, , are process noise and measurement noise, respectively, and are the covariance matrices of process noise and measurement noise, respectively.

9. The method for improving the accuracy of a pointing and clicking operation of a remote controller according to claim 8, characterized in that: In step 6.4, The Kalman filter prediction equation is as follows: Formula (8): Formula (9): in, represents the state vector prediction for the i-th frame, represents the state vector predicted for the i-1th frame, represents the covariance matrix of the predicted state vector, is the covariance matrix of the previous frame state estimate, is the state transition matrix, i.e. ; Represents matrix transpose; The Kalman update equation is as follows: Formula (10); Formula (11); Formula (12); in, is the Kalman gain, which determines the fusion weight between measurement and prediction, is the observation matrix, is the residual (forecast error), is the updated prediction of the i-th frame state vector, is the updated state covariance matrix; represents the covariance matrix of the measurement noise, Represents the identity matrix.

10. A system for improving the accuracy of pointing and clicking operations on a remote controller, characterized in that: include: The tap operation data collection module is used to obtain tap operation behaviors in real time; The click operation amplitude judgment module is used to calculate the distance between the pixel coordinates of the pressed frame cursor and the pixel coordinates of the released frame cursor during the click operation and determine whether the displacement trajectory needs to be smoothed. If the distance is less than the optimization threshold, no processing is performed. If the distance is greater than the optimization threshold, the displacement trajectory needs to be smoothed. The cursor displacement trajectory smoothing module with large tap operation amplitude is used to smooth the displacement trajectory, using interpolation transition input and Kalman filter algorithm to smooth the trajectory.

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