A pointing remote controller, display device and cursor positioning method

Abstract

This application provides a pointing remote controller, a display device, and a cursor positioning method. The pointing remote controller can acquire ultra-wideband data measured by a first ultra-wideband device and a second ultra-wideband device, as well as motion data of the pointing remote controller measured by an inertial measurement unit. Based on the ultra-wideband data and motion data, target parameters are calculated. Based on the motion data, the motion state of the pointing remote controller is determined. Based on the anchor point update mode corresponding to the motion state, the anchor point parameters corresponding to the target parameters are updated so that the anchor point parameters approach the target parameters. Based on the updated anchor point parameters, the cursor position is calculated and sent to the display device so that the display device moves the cursor according to the cursor position. By combining ultra-wideband data and motion data, and based on the anchor point update algorithm, a fast and smooth cursor response effect is achieved while ensuring tracking accuracy.

Description

Technical Field

[0001] This application relates to the field of remote control technology, and in particular to a pointing remote control, display device and cursor positioning method. Background Technology

[0002] A pointing remote control is a control device that enables pointing operation. Users control the cursor by pointing the remote control directly at a specific location on the display screen to perform various operations, achieving a "point-and-click" interactive experience and improving interaction efficiency.

[0003] After the display device establishes a communication connection with the pointing remote control, the pointing remote control can control the display device. The display device can display a cursor based on the position pointed to by the pointing remote control in three-dimensional space. To achieve high-precision spatial pointing, high-precision wireless positioning can be achieved based on Ultra Wideband (UWB) technology. However, the measurement frequency of the UWB positioning method is limited by the physical layer protocol and power consumption, making it difficult to meet the requirements for a real-time, smooth, and responsive cursor interaction experience. If the measurement frequency is insufficient, direct mapping will result in perceptible stuttering and jerking during cursor movement. Furthermore, the signal of the UWB positioning method is susceptible to interference from the external environment, causing jumps or errors in the measurement data, thus affecting the stability and accuracy of the cursor. Summary of the Invention

[0004] This application provides a pointing remote control, display device, and cursor positioning method to solve the problems of cursor jumping and stuttering when performing pointing operations based on UWB positioning methods.

[0005] In a first aspect, this application provides a pointing remote control, comprising: A first ultra-wideband device with dual antennas is configured to communicate with a second ultra-wideband device with a single antenna in a display device to measure ultra-wideband data, the ultra-wideband data including the distance and azimuth between the first ultra-wideband device and the second ultra-wideband device; An inertial measurement unit is configured to measure motion data of the pointing remote controller, the motion data including acceleration and angular velocity; A first communication device is configured to establish a communication connection with the display device; the user interface displayed on the display device includes a cursor, which is used to indicate the position pointed to by the remote control on the user interface; The first controller is configured as follows: Acquire the ultra-wideband data measured by the first ultra-wideband device and the second ultra-wideband device, and acquire the motion data of the pointing remote controller measured by the inertial measurement unit; Based on the ultra-wideband data and the motion data, target parameters are calculated; the target parameters include the target horizontal azimuth angle, the target horizontal projection distance, and the target vertical position component. Based on the motion data, the motion state of the pointing remote controller is determined; the motion state includes translational motion and non-translational motion. Based on the anchor point update mode corresponding to the motion state, the anchor point parameters corresponding to the target parameters are updated so that the anchor point parameters approach the target parameters; the anchor point parameters include the anchor point horizontal azimuth angle, the anchor point horizontal projection distance, and the anchor point vertical position component. Based on the updated anchor point parameters, calculate the cursor position. The cursor position is sent to the display device so that the display device moves the cursor according to the cursor position.

[0006] The above technical solution has the following beneficial effects or advantages: The pointing remote control employs a dual-antenna first ultra-wideband device, while the display device uses a single-antenna second ultra-wideband device, forming a minimized and usable ultra-wideband positioning baseline, reducing the number of antennas and the cost of supporting hardware resources. By combining ultra-wideband data and motion data, and introducing anchor point parameters, the anchor point update mode corresponding to the motion state is dynamically selected based on the motion data of the pointing remote control. This overcomes the shortcomings of low frequency and jitter in the original measurement data, achieving accurate, dynamic, and smooth cursor positioning.

[0007] In some embodiments of this application, the first controller calculates target parameters based on the ultra-wideband data and the motion data, and is configured as follows: Based on the ultra-wideband data and the motion data, the rotational attitude of the pointing remote controller in the world coordinate system and the first position vector of the second ultra-wideband device relative to the pointing remote controller in the coordinate system of the pointing remote controller are calculated; the world coordinate system is established with the second ultra-wideband device as the origin and the user interface displayed by the display device as the reference. Obtain the preset pointing vector of the remote controller; Based on the rotation attitude and the preset pointing vector, calculate the current pointing vector of the pointing remote controller in the world coordinate system; Based on the rotational attitude and the first position vector, calculate the second position vector of the second ultra-wideband device relative to the pointing remote controller in the world coordinate system; The target parameters are calculated based on the current pointing vector and the second position vector.

[0008] The above technical solution has the following beneficial effects or advantages: By establishing a world coordinate system, the rotational attitude of the pointing remote controller and the first position vector of the second ultra-wideband device relative to the pointing remote controller are accurately calculated. The current pointing vector in the world coordinate system is derived by combining the preset pointing vector. Finally, the target parameters are calculated based on the above vectors, the calculation process of the target parameters is refined, and the calculation accuracy of the target parameters is improved.

[0009] In some embodiments of this application, the first controller calculates the target parameters based on the current pointing vector and the second position vector, and is configured as follows: Calculate the angle between the horizontal projection of the current pointing vector and the horizontal projection of the second position vector to obtain the target horizontal azimuth angle; Calculate the length of the horizontal projection of the second position vector to obtain the horizontal projection distance of the target; The vertical component of the second position vector is determined to obtain the target vertical position component.

[0010] The above technical solution has the following beneficial effects or advantages: Define the specific calculation methods for the target's horizontal azimuth, horizontal projected distance, and vertical position components. Transform complex spatial vector relationships into clear and computable geometric operations, reducing computational load while ensuring calculation accuracy.

[0011] In some embodiments of this application, the first controller updates the anchor point parameters corresponding to the target parameters based on the anchor point update mode corresponding to the motion state, and is configured as follows: When the motion state of the pointing remote control is the translational motion, the anchor point parameters are updated based on a first-order low-pass filter. When the motion state of the pointer to the remote control is the non-translational motion, the anchor point parameters are updated based on an optimization problem.

[0012] The above technical solution has the following beneficial effects or advantages: For different motion states of the pointing remote control, different anchor point update modes are matched. Translational motion uses first-order low-pass filtering, while non-translational motion uses optimization problems to achieve dynamic adaptation of anchor point parameter updates.

[0013] In some embodiments of this application, the first controller updates the anchor point parameters based on a first-order low-pass filter, and is configured as follows: Obtain the preset filter coefficients; the filter coefficients are greater than 0 and less than 1; The anchor point parameter at the previous moment is multiplied by the difference between 1 and the filter coefficient to obtain the anchor point parameter at the current moment.

[0014] The above technical solution has the following beneficial effects or advantages: The specific logic of updating anchor point parameters by first-order low-pass filtering is clarified. By preset the filter coefficient between 0 and 1, the smoothness and response speed can be flexibly adjusted to achieve stable and controllable updating of anchor point parameters in translation mode, effectively suppressing signal noise and operation jitter in the translation process, and avoiding large cursor swings or positioning deviations.

[0015] In some embodiments of this application, the first controller updates the anchor point parameters based on an optimization problem, and is configured as follows: Based on the motion data, predict the natural change in the cursor position; Establish a linear mapping relationship between the change in the cursor position and the change in the anchor point parameters; Set constraints; the constraints are that the change in the cursor position is in the same direction as the natural change, and the ratio between the change in the cursor position and the natural change is within a preset ratio range. Under the constraints, based on the linear mapping relationship, the incremental coefficients that maximize the update amount of the anchor parameter to the target parameter are solved. The difference between the anchor point parameter and the target parameter at the previous moment is calculated, and then multiplied by the increment coefficient to obtain the anchor point parameter at the current moment.

[0016] The above technical solution has the following beneficial effects or advantages: By predicting the natural changes in the cursor, establishing a linear mapping relationship, and setting constraints, the incremental coefficient that maximizes the update of the anchor point parameters towards the target parameters is solved. Finally, the anchor point parameters at the current moment are calculated, achieving accurate and efficient updates of the anchor point parameters in non-translation states. The constraints ensure that the cursor changes are consistent with the movement of the remote control, avoiding cursor deviation and response disconnect. By maximizing the update amount, the anchor point parameters quickly approach the target parameters, improving the sensitivity and accuracy of cursor positioning and preventing cursor jitter caused by over-updates.

[0017] In some embodiments of this application, after the first controller predicts the natural change in the cursor position based on the motion data, it is further configured to: When the motion state of the remote control is at rest, the natural variation is set to 0, and the proportional coefficient is set to 0; When the motion state of the pointer to the remote control is horizontal, the vertical component of the natural variation is set to 0; When the motion state of the remote control is vertical, the horizontal component of the natural variation is set to 0.

[0018] The above technical solution has the following beneficial effects or advantages: When the pointer to the remote control is detected to be stationary, the cursor coordinates are forced to remain unchanged. When the pointer to the remote control moves horizontally, the cursor moves only horizontally. When the pointer to the remote control moves vertically, the cursor moves only vertically. This effectively solves the problems of cursor positioning deviation and false response under different movement states, making the cursor movement match the user's operation intention and improving the user experience.

[0019] In some embodiments of this application, the first controller calculates the cursor position of the cursor based on the updated anchor point parameters, and is configured as follows: Determine the mapping function; the mapping function is one of the following: the horizontal azimuth angle of the anchor point, the tangent value of the horizontal azimuth angle of the anchor point, and the sine value of the horizontal azimuth angle of the anchor point; The horizontal coordinates of the cursor are obtained by calculating the product of the horizontal projection distance of the anchor point and the mapping function; Calculate the pitch angle; the pitch angle is the angle between the current pointing vector of the pointing remote controller and the horizontal projection of the current pointing vector; Multiply the horizontal projection distance of the anchor point by the tangent of the pitch angle, and then add it to the vertical position component of the anchor point to obtain the vertical coordinates of the cursor. The horizontal and vertical coordinates are converted into pixel coordinates of the display device to obtain the cursor position.

[0020] The above technical solution has the following beneficial effects or advantages: By introducing a mapping function, the problem of missing horizontal information caused by the display device being equipped with only a single antenna is compensated for. Furthermore, the mapping function is used to calculate the cursor position, ensuring that the cursor position accurately reflects the direction pointed to by the remote control in real time, thus improving cursor positioning accuracy.

[0021] Secondly, this application provides a display device, comprising: The second communication device is configured to establish a communication connection with the pointing remote control described in the first aspect; A second ultra-wideband device with a single antenna is configured to communicate with a first ultra-wideband device with dual antennas in the pointing remote controller to measure ultra-wideband data, the ultra-wideband data including the distance and azimuth between the first ultra-wideband device and the second ultra-wideband device; A display is configured to display a user interface, the user interface including a cursor for indicating the position on the user interface pointed to by the pointing remote control; The second controller is configured as follows: Receive the cursor position sent by the remote control; Control the display to move the cursor according to the cursor position.

[0022] The above technical solution has the following beneficial effects or advantages: The display device works in conjunction with the pointing remote control to complete positioning measurements through its second ultra-wideband device with a single antenna. It receives the high-precision, smooth cursor position calculated by the pointing remote control and then displays and moves the cursor according to the cursor position.

[0023] Thirdly, this application provides a cursor positioning method applied to a pointing remote control and a display device. The pointing remote control includes a first ultra-wideband device with dual antennas and an inertial measurement unit. The display device includes a second ultra-wideband device with a single antenna. The user interface displayed on the display device includes a cursor, which is used to indicate the position pointed to by the pointing remote control on the user interface. The method includes: The system acquires ultra-wideband data measured by the first ultra-wideband device and the second ultra-wideband device, and acquires motion data of the pointing remote controller measured by the inertial measurement unit; the ultra-wideband data includes the distance and azimuth angle between the first ultra-wideband device and the second ultra-wideband device; the motion data includes acceleration and angular velocity. Based on the ultra-wideband data and the motion data, target parameters are calculated; the target parameters include the target horizontal azimuth angle, the target horizontal projection distance, and the target vertical position component. Based on the motion data, the motion state of the pointing remote controller is determined; the motion state includes translational motion and non-translational motion. Based on the anchor point update mode corresponding to the motion state, the anchor point parameters corresponding to the target parameters are updated so that the anchor point parameters approach the target parameters; the anchor point parameters include the anchor point horizontal azimuth angle, the anchor point horizontal projection distance, and the anchor point vertical position component. Based on the updated anchor point parameters, calculate the cursor position. Move the cursor according to the cursor position.

[0024] The above technical solution has the following beneficial effects or advantages: The pointing remote control employs a dual-antenna first ultra-wideband device, while the display device uses a single-antenna second ultra-wideband device, forming a minimized and usable ultra-wideband positioning baseline, reducing the number of antennas and the cost of supporting hardware resources. By combining ultra-wideband data and motion data, and introducing anchor point parameters, the anchor point update mode corresponding to the motion state is dynamically selected based on the motion data of the pointing remote control. This overcomes the shortcomings of low frequency and jitter in the original measurement data, achieving accurate, dynamic, and smooth cursor positioning. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram illustrating an operational scenario between a display device and a control device provided in some embodiments of this application; Figure 2 A schematic diagram of the hardware configuration of a remote controller provided for some embodiments of this application; Figure 3 This is a schematic diagram of the hardware configuration of a display device provided in some embodiments of this application; Figure 4 This is a schematic diagram of the software configuration of a display device provided in some embodiments of this application; Figure 5 This application provides structural schematic diagrams of a pointing remote control and a display device for some embodiments; Figure 6 This application provides interactive diagrams of a remote control and a display device for some embodiments; Figure 7 This application provides schematic diagrams of cursor positioning processes for pointing at a remote control in some embodiments; Figure 8 A schematic diagram illustrating the calculation of the horizontal coordinates of a cursor provided in some embodiments of this application; Figure 9 A schematic diagram illustrating the calculation of the vertical coordinates of a cursor provided in some embodiments of this application; Figure 10 This is a schematic diagram of a cursor positioning module provided in some embodiments of this application. Detailed Implementation

[0027] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.

[0028] In this embodiment, the pointing remote control 100 is a control device capable of pointing control. The display device 200 generally refers to a device with screen display and data processing capabilities. For example, the display device 200 includes, but is not limited to, smart TVs, mobile terminals, computers, monitors, advertising screens, wearable devices, virtual reality devices, and augmented reality devices.

[0029] Figure 1 This is a schematic diagram illustrating an operational scenario between a display device 200 and a pointing remote control 100, as provided in some embodiments of this application. Figure 1 As shown, after establishing a communication connection with the pointing remote control 100, the display device 200 can be controlled by the pointing remote control 100. The pointing remote control 100 can simultaneously support button functions and pointing functions. Users can control the cursor movement by directly pointing the pointing remote control 100 to a specific position on the screen of the display device 200 to complete various operations and achieve a "point-and-click" interactive experience.

[0030] Figure 2 This is a hardware configuration block diagram of a remote controller 100 provided for some embodiments of this application.

[0031] The remote control 100 is configured to control the display device 200, and to receive user input operation commands and convert the operation commands into commands that the display device 200 can recognize and respond to, thus acting as an intermediary for interaction between the user and the display device 200.

[0032] The remote control 100 includes at least one of the following: a first controller 110, a first communication device 120, a user input / output interface 130, a memory, and a power supply.

[0033] The first controller 120 may include at least one of a processor, random access memory (RAM), and read-only memory (ROM). The first controller 110 is used to control the operation of the remote controller 100, as well as communication and cooperation between internal components and external and internal data processing functions.

[0034] The first communication device 120, under the control of the first controller 110, enables communication of control signals and data signals with the display device 200. The first communication device 120 may include at least one of the following modules: WiFi chip, Bluetooth module, NFC module, etc., and can send user input commands to the display device 200 via WiFi protocol, Bluetooth protocol, or NFC protocol.

[0035] User input / output interface 130 may include at least one of other input interfaces such as microphone, touchpad, sensor, and buttons.

[0036] Figure 3 This is a hardware configuration block diagram of a display device 200 provided in some embodiments of this application.

[0037] In some embodiments, the display device 200 may include at least one of a tuner 210, a second communication device 220, a detector 230, a device interface 240, a second controller 250, a display 260, an audio output device 270, a memory, a power supply, and a user input interface 280.

[0038] In some embodiments, detector 230 is used to acquire signals from the external environment or to interact with the outside world. For example, detector 230 includes a light receiver, a sensor for acquiring ambient light intensity; or, detector 230 includes an image acquisition device, such as a camera, which can be used to acquire external environmental scenes, user attributes, or user interaction gestures; or, detector 230 includes a sound acquisition device, such as a microphone, for receiving external sounds.

[0039] In some embodiments, the display 260 includes display function components for presenting an image and driving components for driving the image display. The display 260 is used to receive and display image signals output from the second controller 250. For example, the display 260 can be used to display video content, image content, menu control interface components, and user control UI interfaces, etc.

[0040] In some embodiments, the second communication device 220 is a component used to communicate with external devices or the server 400 according to various communication protocol types. The display device 200 may have multiple second communication devices 220 depending on the supported communication methods. For example, when the display device 200 supports wireless network communication, it may have a second communication device 220 with WiFi functionality. When the display device 200 supports Bluetooth connection communication, it needs to have a second communication device 220 with Bluetooth functionality.

[0041] The second communication device 220 enables the display device 200 to communicate with external devices or the server 400 via wireless or wired connections. Wired connections utilize data cables, interfaces, or other components to connect the display device 200 to external devices. Wireless connections utilize wireless signals or wireless networks. The display device 200 can directly establish a connection with external devices or indirectly through gateways, routers, or other connection devices.

[0042] In some embodiments, the second controller 250 may include at least one of a central processing unit, a video processor, an audio processor, a graphics processor, and a power processor, and a first to an nth interface for input / output. The second controller 250 controls the operation of the display device and responds to user operations through various software control programs stored in memory. The second controller 250 controls the overall operation of the display device 200.

[0043] In some embodiments, the second controller 250 and the tuner 210 may be located in different separate devices, that is, the tuner 210 may also be located in an external device of the main device where the second controller 250 is located, such as an external set-top box.

[0044] In some embodiments, a user can input user commands through a graphical user interface (GUI) displayed on a display 260, and the user input interface 280 receives the user input commands through the graphical user interface (GUI).

[0045] In some embodiments, the audio output device 270 can be a built-in speaker of the display device 200 or an external audio output device connected to the display device 200. For the external audio output device connected to the display device 200, the display device 200 may also be provided with an external audio output terminal, through which the audio output device can be connected to the display device 200 to output sound from the display device 200.

[0046] In some embodiments, the user input interface 280 can be used to receive instructions from user input.

[0047] To enable user interaction, in some embodiments, the display device 200 may run an operating system. The operating system is a computer program used to manage and control the hardware and software resources of the display device 200. The operating system can control the display device to provide a user interface; for example, the operating system can directly control the display device to provide a user interface, or it can provide a user interface by running an application. The operating system also allows users to interact with the display device 200.

[0048] It should be noted that the operating system can be a native operating system based on a specific operating platform, a third-party operating system that is deeply customized based on a specific operating platform, or an independent operating system specifically developed for display devices.

[0049] An operating system can be divided into different modules or levels based on the functions it implements, for example... Figure 4 As shown, in some embodiments, the system is divided into four layers, from top to bottom: the Applications layer (referred to as the "Application Layer"), the Application Framework layer (referred to as the "Framework Layer"), the System Runtime Library layer, and the Kernel Layer.

[0050] In some embodiments, the application layer provides services and interfaces for applications, enabling the display device 200 to run applications and interact with the user based on the applications. The application layer may contain at least one application, which may be a built-in Windows program, system settings program, or clock program of the operating system; or it may be an application developed by a third-party developer. In specific implementations, the application packages in the application layer are not limited to the examples above.

[0051] The framework layer provides application programming interfaces (APIs) and a programming framework for applications. The application framework layer includes predefined functions. It acts as a central processing unit, determining the actions taken by applications within the application layer. Through the API, applications can access system resources and obtain system services during execution.

[0052] like Figure 4 As shown, the application framework layer in this embodiment includes a view system, managers, and content providers. The view system designs and implements the application's interface and interactions, and includes lists, grids, text boxes, and buttons. The managers include at least one of the following modules: an activity manager for interacting with all running activities in the system; a location manager for providing system services or applications with access to system location services; a package manager for retrieving various information related to application packages currently installed on the device; a notification manager for controlling the display and clearing of notification messages; and a window manager for managing icons, windows, toolbars, wallpapers, and desktop widgets on the user interface.

[0053] In some embodiments, the Activity Manager manages the lifecycle of individual applications and common navigation and back functions, such as controlling application exit, opening, and back actions. The Window Manager manages all window programs, such as obtaining the screen size, determining if a status bar is present, locking the screen, capturing the screen, and controlling changes to the display window, such as shrinking the display window, shaking the display, or distorting the display.

[0054] In some embodiments, the system runtime library layer can provide support for the framework layer. When the framework layer is used, the operating system runs the instruction library contained in the system runtime library layer, such as the C / C++ instruction library, to implement the functions to be performed by the framework layer.

[0055] In some embodiments, the kernel layer is a functional layer situated between the hardware and software of the display device 200. The kernel layer can implement functions such as hardware abstraction, multitasking, and memory management. For example, ... Figure 4 As shown, hardware drivers can be configured in the kernel layer. The kernel layer can contain at least one of the following drivers: audio driver, display driver, Bluetooth driver, camera driver, WIFI driver, USB driver, HDMI driver, sensor driver (such as fingerprint sensor, temperature sensor, pressure sensor, etc.), and power driver, etc.

[0056] It should be noted that the above examples are merely a simple division of operating system functions and do not limit the specific form of the operating system of the display device 200 in this application embodiment. Depending on the function of the display device, the type of operating system, and other factors, the number of levels and the specific level type of the operating system may be expressed in other forms.

[0057] After the display device 200 establishes a communication connection with the pointing remote control 100, the pointing remote control 100 can control the display device 200. The pointing remote control 100 can calculate the intersection point of its pointing direction in three-dimensional space and the screen of the display device 200, i.e., the cursor position, and send the cursor position to the display device 200 so that the display device 200 displays the cursor at that cursor position. In other words, the position of the cursor on the user interface is determined by the position pointed to by the pointing remote control 100 in three-dimensional space.

[0058] To achieve high-precision spatial pointing, high-precision wireless positioning can be achieved based on Ultra Wideband (UWB) technology. In some embodiments, the pointing remote controller 100 can be equipped with a first UWB device, and the display device 200 can be equipped with a second UWB device. The first and second UWB devices can each include one or more antennas. The first and second UWB devices can transmit and receive high-frequency, short-duration wireless pulse signals to measure the distance and azimuth between them, thereby calculating the pointing position of the pointing remote controller 100 in three-dimensional space. Specifically, one antenna can only measure distance, two antennas can measure distance and one azimuth, and three antennas can measure distance and two azimuths.

[0059] To achieve a smooth cursor tracking experience, a high position update rate is required. However, the measurement frequency of the UWB positioning method is limited by the physical layer protocol and power consumption, making it difficult to meet the requirements for a real-time, smooth, and responsive cursor interaction. If the measurement frequency is insufficient, direct mapping will result in perceptible stuttering and jerking during cursor movement. Furthermore, the signal of the UWB positioning method is susceptible to interference from the external environment, causing jumps or errors in the measurement data, thereby affecting the stability and accuracy of the cursor.

[0060] In some embodiments, an inertial measurement unit (IMU) can be introduced for sensor fusion. However, the inertial measurement unit itself has integral drift error. Although it can provide a smooth tracking feel in the short term, long-term use will cause the cursor to gradually deviate from the user's actual pointing position, making it difficult to guarantee the accuracy of the cursor position.

[0061] To address the aforementioned issues, this application provides a cursor positioning method applied to the aforementioned pointing remote control 100 and display device 200. Figure 5 This is a schematic diagram of the structure of the remote controller 100 and the display device 200 provided in the embodiments of this application, as shown below. Figure 5 As shown, the pointing remote controller 100 includes a first ultra-wideband device with dual antennas, an inertial measurement unit, a first communication device 120, and a first controller 110. The first ultra-wideband device is configured to communicate with a second ultra-wideband device with a single antenna in the display device 200 to measure ultra-wideband data. The inertial measurement unit is configured to measure motion data of the pointing remote controller 100. The first communication device 120 is configured to establish a communication connection with the display device 200, and the first controller 110 is configured to execute the specific steps of the cursor positioning method.

[0062] Display device 200 includes a second ultra-wideband device with a single antenna, a second communication device 220, a display 260, and a second controller 250. The second communication device 220 is configured to establish a communication connection with the pointing remote controller 100. The display 260 is configured to display a user interface, including a cursor that indicates the position pointed to by the pointing remote controller 100 on the user interface. The second controller 250 is configured to execute the specific steps of the cursor positioning method.

[0063] like Figure 6The diagram illustrates the interaction between the pointing remote controller 100 and the display device 200 according to an embodiment of this application. The first ultra-wideband device (dual antennas) and the second ultra-wideband device (single antenna) can transmit and receive high-frequency, short-duration wireless pulse signals to measure ultra-wideband data. The first ultra-wideband device then sends the ultra-wideband data to the first controller 110 of the pointing remote controller 100, such as a microcontroller unit (MCU). The inertial measurement unit measures the motion data of the pointing remote controller 100 and sends it to the first controller 110. The first controller 110 calculates the intersection point (cursor position) between the pointing direction of the pointing remote controller 100 and the screen of the display device 200 based on the ultra-wideband data and the motion data. This cursor position is then sent to the display device 200 via the first communication device 120. The second communication device 220 of the display device 200 receives the cursor position and sends it to the second controller 250. The second controller 250 controls the display 260 to display and move the cursor according to its position.

[0064] In some embodiments, the second communication device 220 can be either built-in or external. For example, the second communication device 220 can be a wireless receiver, such as a dongle, connected to the display device 200 via a device interface 240 such as a USB interface. This wireless receiver receives the cursor position sent by the remote control 100 via wireless communication methods such as Bluetooth, and sends it to the second controller 250 via the device interface 240. The second controller 250 controls the display 260 to display and move the cursor according to the cursor position.

[0065] like Figure 7 The diagram shown is a schematic of the cursor positioning process applied to the remote controller 100 according to an embodiment of this application, which specifically includes the following steps: S701, acquire ultra-wideband data measured by the first ultra-wideband device and the second ultra-wideband device.

[0066] The ultra-wideband data includes the distance and azimuth between the first ultra-wideband device and the second ultra-wideband device.

[0067] In some embodiments, the remote controller 100 can also acquire the confidence level of the ultra-wideband (UWB) data. If the confidence level is less than a preset confidence threshold, the UWB data is discarded; if the confidence level is greater than or equal to the preset confidence threshold, the UWB data is retained. Here, the confidence level represents the reliability of the UWB data; the higher the value, the more accurate and reliable the UWB data measured by the first and second UWB devices. The confidence level can be calculated by the first UWB device based on various factors such as the signal strength between the first and second UWB devices, the signal-to-noise ratio, and the degree of multipath effect.

[0068] S702, acquire motion data of pointing at the remote controller 100 obtained by the inertial measurement unit.

[0069] The motion data includes acceleration and angular velocity. Acceleration describes the linear acceleration of the remote control 100 along its three axes. Angular velocity describes the rotational rate of the remote control 100 about its three axes.

[0070] S703 calculates target parameters based on ultra-wideband data and motion data.

[0071] After acquiring UWB data and motion data by pointing the remote controller 100, the target parameters can be calculated based on the UWB data and motion data. The target parameters are parameters calculated under ideal conditions based on the UWB data and motion data.

[0072] Target parameters include the target horizontal azimuth angle. Target horizontal projection distance Vertical position component of the target Among them, the target horizontal azimuth angle It is the angle between the pointing direction of the remote controller 100 and the line connecting the remote controller 100 to the second ultra-wideband device on the horizontal plane. Target horizontal projection distance. It is the horizontal distance of the line connecting the remote controller 100 to the second ultra-wideband device, and the target vertical position component. It refers to the vertical height difference between the remote controller 100 and the second ultra-wideband device.

[0073] In some embodiments, for the calculation of target parameters, after the pointing remote controller 100 acquires ultra-wideband data and motion data, it can calculate the rotational attitude of the pointing remote controller 100 in the world coordinate system based on the ultra-wideband data and motion data using fusion algorithms such as Extended Kalman Filter (EKF). and in the coordinate system pointing to the remote controller 100, the second ultra-wideband device relative to the first position vector pointing to the remote controller. .

[0074] The screen coordinate system of the display device 200 has its origin at the top left corner of the screen, with the x-axis pointing horizontally to the right and the y-axis pointing vertically downwards. The world coordinate system is established with the second ultra-wideband device as its origin and the user interface displayed on the display device 200 as its reference. In the world coordinate system, the x-axis points horizontally to the right, the y-axis points vertically downwards, and the z-axis points perpendicular to the screen of the display device 200 outwards. The coordinate system pointing to the remote controller 100 has its origin at the inertial measurement unit, with the x-axis pointing along the length of the remote controller 100 (towards the display device 200). The y-axis points along the width of the remote controller 100, and the z-axis points along the thickness of the remote controller.

[0075] Point the remote control 100 to obtain the rotation attitude and the first position vector After that, a preset pointing vector pointing to the remote control 100 can also be obtained. Based on the rotation attitude and the preset pointing vector Calculate the current pointing vector pointing to remote controller 100 in the world coordinate system. Among them, the preset pointing vector It is a fixed value pre-calibrated in the remote control 100, representing the unit vector corresponding to its pointing direction in the coordinate system pointing to the remote control 100. For example, it can correspond to the length direction pointing to the remote control.

[0076] For example, the current pointing vector pointing to the remote controller 100 in the world coordinate system can be calculated based on Formula 1. Formula 1 is shown below: ; in, This represents the current pointing vector pointing to remote controller 100 in the world coordinate system. This represents the rotational attitude pointing towards remote control 100 in the world coordinate system, and is a quaternion. This represents the preset pointing vector that points to the remote control 100. This represents quaternion multiplication. Index b represents the coordinate system pointing to remote control 100, and index w represents the world coordinate system. Formula 1's function is to set the preset pointing vector in the coordinate system pointing to remote control 100. By rotating the posture Transform to the world coordinate system.

[0077] Pointing the remote control 100 can adjust the rotation posture and the first position vector Calculate the second position vector of the second ultra-wideband device relative to the pointer remote controller 100 in the world coordinate system. .

[0078] For example, the second position vector of the second ultra-wideband device relative to the remote controller 100 in the world coordinate system can be calculated based on Formula 2. Formula 2 is shown below: ; in, This represents the second position vector of the second ultra-wideband device relative to the pointer to the remote controller 100 in the world coordinate system. The distance between the first ultra-wideband device and the second ultra-wideband device. This indicates the rotational attitude pointing towards remote control 100 in the world coordinate system. This represents the position vector of the second ultra-wideband device relative to the first position vector pointing to the remote controller 100 in the coordinate system. This represents quaternion multiplication. Index b represents the coordinate system pointing to remote control 100, and index w represents the world coordinate system. Formula 2's function is to convert the first position vector in the coordinate system pointing to remote control 100... By rotating the posture Transform to the world coordinate system.

[0079] Pointing to remote control 100 to obtain the current pointing vector Second position vector Then, it can be based on the currently pointing vector Second position vector Calculate the target parameters.

[0080] Specifically, the remote control 100 can calculate the current pointing vector. Horizontal projection Second position vector Horizontal projection The angle between them gives the target's horizontal azimuth. .

[0081] For example, the target horizontal azimuth angle can be calculated based on Formula 3. Formula 3 is shown below: ; = ; in, Indicates the target's horizontal azimuth. = This represents the horizontal projection matrix, which is the x-axis and z-axis components of the orientation quantity, ignoring the y-axis component. Indicates the vector currently being pointed to. Horizontal projection, Represents the second position vector Horizontal projection.

[0082] Pointing to remote control 100 can calculate the second position vector. Horizontal projection The length is used to obtain the horizontal projection distance of the target. .

[0083] For example, the horizontal projection distance of the target can be calculated based on Formula 4. Formula 4 is shown below: ; = ; in, Indicates the horizontal projection distance of the target. Represents the second position vector Horizontal projection The length, i.e., the module length, Represents the second position vector x-axis component, Represents the second position vector The z-axis component. The index w represents the world coordinate system.

[0084] Pointing to remote control 100 can determine the second position vector. The vertical component is used to obtain the target's vertical position component. That is, directly extract the second position vector. The y-axis component is used to obtain the target's vertical position component. .

[0085] S704 determines the motion state of the pointer to the remote control 100 based on motion data.

[0086] After the remote controller 100 obtains the motion data measured by the inertial measurement unit, the motion state of the remote controller 100 can be determined based on the motion data.

[0087] S705 updates the anchor point parameters corresponding to the target parameters based on the anchor point update mode corresponding to the motion state, so that the anchor point parameters approach the target parameters.

[0088] The anchor point parameters are smoothed and optimized parameters that follow the changes in the target parameters, and are used for cursor position calculation. The anchor point parameters include the anchor point horizontal azimuth angle. Horizontal projection distance of anchor point Components perpendicular to the anchor point .

[0089] After determining the motion state of the remote controller 100, an anchor point update mode can be determined based on the motion state. In some embodiments, the anchor point update mode includes a fast update mode and a constraint update mode. The fast update mode refers to updating the anchor point parameters based on a first-order low-pass filter, while the constraint update mode refers to updating the anchor point parameters based on an optimization problem.

[0090] The motion state of pointing at the remote control 100 includes translational motion and non-translational motion. For example, if the remote control 100 detects a large change in acceleration but a small change in angular velocity, the motion state is determined to be translational motion; otherwise, it is determined to be non-translational motion.

[0091] When the motion pointing at the remote controller 100 is translational, the anchor point parameters are updated using a fast update mode based on a first-order low-pass filter. When the motion pointing at the remote controller 100 is non-translational, the anchor point parameters are updated using a constraint update mode based on an optimization problem.

[0092] In some embodiments, for the fast update mode, pointing to the remote controller 100 can obtain a preset filtering coefficient. The filtering coefficient is greater than 0 and less than 1. The anchor point parameter at the previous moment is multiplied by the difference between 1 and the filtering coefficient to obtain the anchor point parameter at the current moment.

[0093] For example, the horizontal projection distance of the target can be calculated based on Formula 5. Formula 5 is shown below: ; ; ; in, Indicates the target's horizontal azimuth. Indicates the horizontal projection distance of the target. Indicates the vertical position component of the target. Indicates the horizontal azimuth of the anchor point. This indicates the horizontal projection distance of the anchor point. This represents the vertical position component of the anchor point. These are the filter coefficients. The smaller the value, the smoother the anchor point parameters follow the target parameters, but the greater the lag. The larger the value, the faster the anchor point parameters follow the target parameters, but the weaker the smoothing effect. This filter coefficient... The value can be adjusted according to actual needs.

[0094] In some embodiments, for the constraint update mode, the pointing remote controller 100 can predict the natural change amount b of the cursor position based on motion data.

[0095] For example, the cursor position change caused by the movement of the remote control 100 itself after a time interval τ can be estimated based on the angular velocity measured by the inertial measurement unit. This change is called the natural variation b. The natural variation b can be calculated based on Formula 6, as shown below: b= - ; Where b represents the natural variation. This indicates the rotational attitude pointing towards remote control 100 in the world coordinate system. Indicates angular velocity, This indicates the preset time interval. This represents quaternion multiplication, and exp represents the exponential function. The superscript indicates the skew operation, which is used to transform a 3x1 vector into a 3x3 antisymmetric matrix.

[0096] Pointing to remote control 100 can establish a linear mapping relationship between the change in cursor position and the change in anchor point parameters. For example, the linear mapping relationship between the change in cursor position and the change in anchor point parameters can be expressed by the following formula 7: ; ; ; = ; in, This indicates the change in the cursor's horizontal coordinate. This indicates the change in the cursor's vertical coordinate. This represents the change in the horizontal projected distance of the anchor point. This represents the change in the vertical position component of the anchor point. This indicates the change in the horizontal azimuth angle of the anchor point. Indicates pitch angle, Represents a mapping function. This represents the current pointing vector pointing to remote controller 100. The horizontal projection of . The index w represents the world coordinate system.

[0097] Transforming formula 7, we obtain formula 8 as shown below: ; in, This represents the Jacobian matrix.

[0098] The remote control 100 can also be configured with constraints, such as the change in cursor position being in the same direction as the natural change, and the ratio between the change in cursor position and the natural change being within a preset range.

[0099] For example, the constraints can be based on Equation 9, which is shown below: ; ; in, This represents the preset scaling factor. This represents the minimum proportionality coefficient. This represents the maximum scaling factor, used to control the sensitivity and smoothness of cursor movement.

[0100] The remote controller 100 can, under constraints, solve for the incremental coefficient that maximizes the update amount of the anchor point parameter to the target parameter based on the linear mapping relationship.

[0101] For example, the incremental coefficients can be solved based on Formula 10, which is shown below: ; ; ; in, Incremental coefficient, The weights are preset and fixed values. This optimization problem is a linear programming problem, and its optimization objective is to maximize the update amount of the anchor parameters so that the anchor parameters are as close as possible to the target parameters.

[0102] For updating the anchor point parameters, the remote controller 100 can calculate the difference between the anchor point parameters and the target parameters at the previous moment, and then multiply it by the increment coefficient to obtain the anchor point parameters at the current moment.

[0103] For example, the anchor point parameters can be updated based on Formula 11, which is shown below: ; ; ; The constraint update mode optimizes updates by following the constraints of the predicted motion, ensuring smooth and lag-free cursor movement during fine-tuning operations, while effectively suppressing noise in the measurement data.

[0104] In some embodiments, the motion state of the remote controller 100 may also include a stationary state, horizontal motion, and vertical motion. For example, the remote controller 100 may determine the motion state as a stationary state if the magnitude of the detected angular velocity and the magnitude of the detected acceleration are both below a preset minimum threshold within a preset time. The remote controller 100 may also distinguish between horizontal and vertical motion by analyzing the dominant components of the angular velocity or acceleration on a specific axis.

[0105] The pointing remote control 100 can be set to a natural variation of 0 and a proportional coefficient of 0 when the pointing remote control 100 is in a stationary state. This is a constraint. = =0 to lock the cursor.

[0106] When the motion pointing at the remote control 100 is in a horizontal motion state, set the vertical component of the natural variation. The value is 0. This indicates a constraint. =0 to lock the vertical coordinates of the cursor.

[0107] When the motion pointing at the remote control 100 is in vertical motion, set the horizontal component of the natural variation. The value is 0. This indicates a constraint. =0 to lock the horizontal coordinate of the cursor.

[0108] S706 calculates the cursor position based on the updated anchor point parameters.

[0109] After pointing to remote control 100 and confirming the updated anchor point parameters, the cursor position can be calculated based on the updated anchor point parameters.

[0110] In some embodiments, for calculating the cursor position, pointing to the remote control 100 can determine the mapping function. Mapping function The following conditions must be met: ; Understandably, since the second ultra-wideband device of the display device 200 includes an antenna, the measured value remains unchanged when the display device 200 rotates around this antenna, resulting in a lack of horizontal information and making it impossible to calculate the horizontal coordinates of the cursor. This is addressed by introducing a mapping function. This is to simulate the correct changes in the horizontal coordinates. Thus, when the horizontal azimuth angle of the anchor point... When the value is 0, the horizontal coordinate of the cursor is 0, which coincides with the actual coordinate. When the cursor moves around 0 degrees, the change in the cursor position is the same as the actual position.

[0111] The mapping function can be the horizontal azimuth angle of the anchor point. , Tangent of the horizontal azimuth of the anchor point The sine value of the horizontal azimuth angle of the anchor point One of them. That is, a mapping function. ,or ,or . The corresponding geometric meaning is that the line connecting the remote control 100 and the second ultra-wideband device is perpendicular to the screen of the display device 200.

[0112] Pointing the remote control at 100 can calculate the horizontal projection distance of the anchor point. With mapping function The product of these two values ​​gives the horizontal coordinates of the cursor.

[0113] For example, Figure 8 This is a schematic diagram illustrating the calculation of the horizontal coordinates of the cursor provided in an embodiment of this application, as shown below. Figure 8 The diagram illustrates the relationship between the target parameters and the pointers to the remote control 100 and display device 200 during the calculation of the cursor's horizontal coordinates. It is understandable that directly using the target parameters to calculate the cursor position may lead to cursor jitter or stuttering due to factors such as momentary jitter of the pointer to the remote control 100, measurement errors in the measurement data, or environmental interference. By introducing independently updatable, smoothed, and optimized anchor point parameters to calculate the cursor position, the problem of cursor position jumps caused by factors such as momentary jitter of the pointer to the remote control 100, measurement errors in the measurement data, or environmental interference can be effectively reduced, thus improving the stability of cursor movement.

[0114] The horizontal coordinates of the cursor can be calculated using formula 12, which is shown below: ; in, Indicates the horizontal coordinate of the cursor. This indicates the horizontal projection distance of the anchor point. Represents a mapping function. This indicates the horizontal azimuth of the anchor point.

[0115] Pointing the remote control at 100 can calculate the pitch angle. Then project the horizontal distance of the anchor point and the pitch angle. Multiplying the tangent value by the coordinates and adding it to the vertical position component of the anchor point yields the vertical coordinates of the cursor. The pitch angle is the current pointing vector pointing to remote control 100. With the current pointing vector Horizontal projection The angle between them.

[0116] For example, Figure 9 This is a schematic diagram illustrating the calculation of the vertical coordinates of the cursor provided in an embodiment of this application, as shown below. Figure 9The diagram shows the target parameters and the pointers to the remote control 100 and display device 200 during the calculation of the vertical coordinates of the cursor.

[0117] The vertical coordinates of the cursor can be calculated using formula 13, which is shown below: ; ; in, Represents the vertical coordinates of the cursor. This indicates the horizontal projection distance of the anchor point. This represents the vertical position component of the anchor point. Indicates pitch angle, This represents the current pointing vector pointing to remote controller 100. The horizontal projection of . The index w represents the world coordinate system.

[0118] Calculate the horizontal coordinates of the cursor and vertical coordinates Then, pointing to the remote control 100 can convert the horizontal and vertical coordinates into pixel coordinates of the display device 200 to obtain the cursor position.

[0119] For example, horizontal and vertical coordinates can be converted to pixel coordinates based on Formula 14, which is shown below: ; ; in, These represent the pixel coordinates in the horizontal direction and the pixel coordinates in the vertical direction, respectively. Indicates the horizontal coordinate of the cursor. Represents the vertical coordinates of the cursor. These represent the physical width and physical height of the display device 200 screen, respectively. These represent the pixel width and pixel height of the display device's 200 screen, respectively. These represent the offset of the second ultra-wideband device (screen origin) in the screen coordinates of the display device 200, that is, the offset of the second ultra-wideband device relative to the upper left corner of the screen.

[0120] Figure 10 This is a schematic diagram of a cursor positioning module provided in an embodiment of this application, as shown below. Figure 10As shown, the pointing remote controller 100 includes a state estimation module, a motion state determination module, an anchor point update module, and an adaptive smoothing module. The state estimation module receives ultra-wideband data and motion data, calculates target parameters based on the ultra-wideband data and motion data using fusion algorithms such as Extended Kalman Filter (EKF), and inputs the target parameters into the anchor point update module. The motion state determination module receives motion data, determines the motion state of the pointing remote controller 100 based on the motion data, and sends the motion state to the anchor point update module. The anchor point update module updates the anchor point parameters corresponding to the target parameters according to the anchor point update mode corresponding to the motion state, and sends the updated anchor point parameters to the adaptive smoothing module. The adaptive smoothing module calculates the cursor position based on the updated anchor point parameters.

[0121] S707, send the cursor position to the display device 200 so that the display device 200 moves the cursor according to the cursor position.

[0122] After the remote control 100 calculates the cursor position, it can send the cursor position to the display device 200. The display device 200 receives the cursor position sent by the remote control 100 and controls the display 260 to move the cursor according to the cursor position.

[0123] Based on the above cursor positioning method, this application embodiment also provides a pointing remote controller 100, including a first ultra-wideband device with dual antennas, an inertial measurement unit, a first communication device 120, and a first controller 110. The first ultra-wideband device is configured to communicate with a second ultra-wideband device with a single antenna in a display device 200 to measure ultra-wideband data. The inertial measurement unit is configured to measure motion data of the pointing remote controller 100. The first communication device 120 is configured to establish a communication connection with the display device 200, and the first controller 110 is configured to perform the following steps: Acquire ultra-wideband data measured by the first ultra-wideband device and the second ultra-wideband device, and acquire motion data of the remote controller measured by the inertial measurement unit.

[0124] Target parameters are calculated based on ultra-wideband data and motion data. These parameters include the target's horizontal azimuth, horizontal projected distance, and vertical position component.

[0125] Based on the motion data, determine the motion state pointing at the remote control 100. The motion state includes translational motion and non-translational motion.

[0126] Based on the anchor point update mode corresponding to the motion state, the anchor point parameters corresponding to the target parameters are updated to make the anchor point parameters approach the target parameters. The anchor point parameters include the anchor point horizontal azimuth, the anchor point horizontal projection distance, and the anchor point vertical position component.

[0127] The cursor position is calculated based on the updated anchor point parameters.

[0128] Send the cursor position to the display device 200 so that the display device 200 moves the cursor according to the cursor position.

[0129] Based on the above cursor positioning method, this application embodiment also provides a display device 200, including a second ultra-wideband device with a single antenna, a second communication device 220, a display 260, and a second controller 250. The second communication device 220 is configured to establish a communication connection with a pointing remote controller 100. The display 260 is configured to display a user interface, which includes a cursor used to indicate the position pointed to by the pointing remote controller 100 on the user interface. The second controller 250 is configured to perform the following steps: Receive the cursor position sent by the remote control 100.

[0130] Control the display 260 to move the cursor according to the cursor position.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0132] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the described embodiments and various different variations of embodiments suitable for specific use considerations.

Claims

1. A pointing remote control, characterized in that, include: A first ultra-wideband device with dual antennas is configured to communicate with a second ultra-wideband device with a single antenna in a display device to measure ultra-wideband data, the ultra-wideband data including the distance and azimuth between the first ultra-wideband device and the second ultra-wideband device; An inertial measurement unit is configured to measure motion data of the pointing remote controller, the motion data including acceleration and angular velocity; A first communication device is configured to establish a communication connection with the display device; the user interface displayed on the display device includes a cursor, which is used to indicate the position pointed to by the remote control on the user interface; The first controller is configured as follows: Acquire the ultra-wideband data measured by the first ultra-wideband device and the second ultra-wideband device, and acquire the motion data of the pointing remote controller measured by the inertial measurement unit; Based on the ultra-wideband data and the motion data, target parameters are calculated; the target parameters include the target horizontal azimuth angle, the target horizontal projection distance, and the target vertical position component. Based on the motion data, the motion state of the pointing remote controller is determined; the motion state includes translational motion and non-translational motion. Based on the anchor point update mode corresponding to the motion state, the anchor point parameters corresponding to the target parameters are updated so that the anchor point parameters approach the target parameters; the anchor point parameters include the anchor point horizontal azimuth angle, the anchor point horizontal projection distance, and the anchor point vertical position component. Based on the updated anchor point parameters, calculate the cursor position. The cursor position is sent to the display device so that the display device moves the cursor according to the cursor position.

2. The pointing remote control according to claim 1, characterized in that, The first controller calculates target parameters based on the ultra-wideband data and the motion data, and is configured as follows: Based on the ultra-wideband data and the motion data, the rotational attitude of the pointing remote controller in the world coordinate system and the first position vector of the second ultra-wideband device relative to the pointing remote controller in the coordinate system of the pointing remote controller are calculated; the world coordinate system is established with the second ultra-wideband device as the origin and the user interface displayed by the display device as the reference. Obtain the preset pointing vector of the remote controller; Based on the rotation attitude and the preset pointing vector, calculate the current pointing vector of the pointing remote controller in the world coordinate system; Based on the rotational attitude and the first position vector, calculate the second position vector of the second ultra-wideband device relative to the pointing remote controller in the world coordinate system; The target parameters are calculated based on the current pointing vector and the second position vector.

3. The pointing remote control according to claim 2, characterized in that, The first controller calculates the target parameters based on the current pointing vector and the second position vector, and is configured as follows: Calculate the angle between the horizontal projection of the current pointing vector and the horizontal projection of the second position vector to obtain the target horizontal azimuth angle; Calculate the length of the horizontal projection of the second position vector to obtain the horizontal projection distance of the target; The vertical component of the second position vector is determined to obtain the target vertical position component.

4. The pointing remote control according to claim 1, characterized in that, The first controller updates the anchor point parameters corresponding to the target parameters based on the anchor point update mode corresponding to the motion state, and is configured as follows: When the motion state of the pointing remote control is the translational motion, the anchor point parameters are updated based on a first-order low-pass filter. When the motion state of the pointer to the remote control is the non-translational motion, the anchor point parameters are updated based on an optimization problem.

5. The pointing remote control according to claim 4, characterized in that, The first controller updates the anchor point parameters based on a first-order low-pass filter, and is configured as follows: Obtain the preset filter coefficients; the filter coefficients are greater than 0 and less than 1; The anchor point parameter at the previous moment is multiplied by the difference between 1 and the filter coefficient to obtain the anchor point parameter at the current moment.

6. The pointing remote control according to claim 4, characterized in that, The first controller updates the anchor point parameters based on an optimization problem and is configured as follows: Based on the motion data, predict the natural change in the cursor position; Establish a linear mapping relationship between the change in the cursor position and the change in the anchor point parameters; Set constraints; the constraints are that the change in the cursor position is in the same direction as the natural change, and the ratio between the change in the cursor position and the natural change is within a preset ratio range. Under the constraints, based on the linear mapping relationship, the incremental coefficients that maximize the update amount of the anchor parameter to the target parameter are solved. The difference between the anchor point parameter and the target parameter at the previous moment is calculated, and then multiplied by the increment coefficient to obtain the anchor point parameter at the current moment.

7. The pointing remote control according to claim 6, characterized in that, After predicting the natural change in the cursor position based on the motion data, the first controller is further configured to: When the motion state of the remote control is at rest, the natural variation is set to 0, and the proportional coefficient is set to 0; When the motion state of the pointer to the remote control is horizontal, the vertical component of the natural variation is set to 0; When the motion state of the remote control is vertical, the horizontal component of the natural variation is set to 0.

8. The pointing remote control according to claim 2, characterized in that, The first controller, based on the updated anchor point parameters, calculates the cursor position of the cursor and is configured as follows: Determine the mapping function; the mapping function is one of the following: the horizontal azimuth angle of the anchor point, the tangent value of the horizontal azimuth angle of the anchor point, and the sine value of the horizontal azimuth angle of the anchor point; The horizontal coordinates of the cursor are obtained by calculating the product of the horizontal projection distance of the anchor point and the mapping function; Calculate the pitch angle; the pitch angle is the angle between the current pointing vector of the pointing remote controller and the horizontal projection of the current pointing vector; Multiply the horizontal projection distance of the anchor point by the tangent of the pitch angle, and then add it to the vertical position component of the anchor point to obtain the vertical coordinates of the cursor. The horizontal and vertical coordinates are converted into pixel coordinates of the display device to obtain the cursor position.

9. A display device, characterized in that, include: The second communication device is configured to establish a communication connection with the pointing remote control according to any one of claims 1-8; A second ultra-wideband device with a single antenna is configured to communicate with a first ultra-wideband device with dual antennas in the pointing remote controller to measure ultra-wideband data, the ultra-wideband data including the distance and azimuth between the first ultra-wideband device and the second ultra-wideband device; A display is configured to display a user interface, the user interface including a cursor for indicating the position on the user interface pointed to by the pointing remote control; The second controller is configured as follows: Receive the cursor position sent by the remote control; Control the display to move the cursor according to the cursor position.

10. A cursor positioning method, characterized in that, The invention relates to a pointing remote control and a display device, wherein the pointing remote control includes a first ultra-wideband device with dual antennas and an inertial measurement unit; the display device includes a second ultra-wideband device with a single antenna; and the user interface displayed on the display device includes a cursor for indicating the position pointed to by the pointing remote control on the user interface. The method includes: The system acquires ultra-wideband data measured by the first ultra-wideband device and the second ultra-wideband device, and acquires motion data of the pointing remote controller measured by the inertial measurement unit; the ultra-wideband data includes the distance and azimuth angle between the first ultra-wideband device and the second ultra-wideband device; the motion data includes acceleration and angular velocity. Based on the ultra-wideband data and the motion data, target parameters are calculated; the target parameters include the target horizontal azimuth angle, the target horizontal projection distance, and the target vertical position component. Based on the motion data, the motion state of the pointing remote controller is determined; the motion state includes translational motion and non-translational motion. Based on the anchor point update mode corresponding to the motion state, the anchor point parameters corresponding to the target parameters are updated so that the anchor point parameters approach the target parameters; the anchor point parameters include the anchor point horizontal azimuth angle, the anchor point horizontal projection distance, and the anchor point vertical position component. Based on the updated anchor point parameters, calculate the cursor position. Move the cursor according to the cursor position.

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