A pointing remote control method and system

Abstract

This invention provides a pointing remote control method and system, relating to the field of remote control technology, and applied to pointing control devices. The pointing control device includes a handheld end and a receiving end, with the receiving end connected to a display screen. The method includes: responding to pointing operation commands; acquiring signal propagation time and phase difference information between the handheld end and the receiving end; determining spatial distance parameters between the handheld end and the receiving end based on the signal propagation time; determining the signal incident angle between the handheld end and the receiving end based on the phase difference information; collecting sensor data from the handheld end in real time; determining the spatial pose of the handheld end relative to the receiving end based on the sensor data, spatial distance parameters, and signal incident angle; generating an indication position on the display screen based on the spatial pose; and controlling the indicator on the display screen to move to the indication position. This invention solves the problem of insufficient accuracy in spatial pointing positioning of traditional pointing remote controls, and improves pointing positioning accuracy and interactive smoothness.

Description

Technical Field

[0001] This invention relates to the field of remote control technology, and in particular to a pointing remote control method and system. Background Technology

[0002] With the widespread adoption of smart TVs, projectors, interactive large screens, and other display devices in homes, offices, and educational settings, users have placed higher demands on long-distance, efficient human-computer interaction methods. Traditional button-type remote controls use a step-by-step menu operation method, resulting in long interaction paths, low efficiency, and difficulty in meeting users' habits of quick location and intuitive operation.

[0003] Currently, to solve the above-mentioned problems, existing pointing remote control technology is mainly implemented in the following ways: one is based on the laser pointer spot projection scheme, where the user points by the position of the laser spot on the screen; the other is based on the infrared or ultrasonic positioning scheme, which calculates the pointing direction of the remote control through triangulation.

[0004] However, the aforementioned existing technologies still have significant shortcomings in practical applications: firstly, laser pointer solutions are limited by screen brightness and ambient light interference, making it difficult to identify the light spot; secondly, infrared and ultrasonic solutions have low positioning accuracy and poor anti-interference capabilities. Therefore, existing pointing remote control technologies have significant shortcomings in spatial pointing positioning. Summary of the Invention

[0005] To address the aforementioned shortcomings in existing technologies, the present invention aims to provide a pointing remote control method that improves pointing positioning accuracy and interaction smoothness.

[0006] The above-mentioned objective of this invention is achieved through the following technical solution: A pointing remote control method is applied to a pointing control device, the pointing control device including a handheld end and a receiver end, the receiver end being connected to a display screen, the method comprising: In response to a pointing operation command, the signal propagation information and phase difference information between the handheld terminal and the receiving terminal are obtained; Based on the signal propagation information, the spatial distance parameter between the handheld device and the receiving device is determined; Based on the phase difference information, the signal incident angle of the handheld terminal relative to the receiving terminal is determined; Real-time acquisition of sensor data from the handheld device; Based on the sensor data, the spatial distance parameters, and the signal incident angle, the spatial pose of the handheld device relative to the receiver is determined. Based on the spatial pose, an indicator position is generated on the display screen, and the indicator on the display screen is controlled to move to the indicator position.

[0007] By adopting the above technical solution and integrating UWB ranging and angle measurement with IMU sensing data, the three-dimensional spatial pose of the handheld terminal relative to the receiver can be accurately calculated, improving the accuracy of pointing and positioning and anti-interference capability. At the same time, IMU data is used to smooth the positioning jitter, improving the smoothness of the movement of the indicator and the real-time response speed.

[0008] Preferably, the receiving end is provided with an array antenna; The signal propagation information includes a first moment, a second moment, a third moment, and a fourth moment; The response to the operation command acquires signal propagation information and phase difference information between the handheld terminal and the receiving terminal, including: In response to a pointing operation command, the handheld terminal is controlled to send a first signal to the receiving terminal, and the first moment when the handheld terminal sends the first signal is recorded; The receiving end is controlled to receive the first signal through the array antenna, the second moment when the receiving end receives the first signal is recorded, and the phase difference information is generated based on the phase difference of the first signal arriving at different antennas in the array antenna; Control the receiving end to return a second signal to the handheld end, and record the third moment when the receiving end sends out the second signal; Control the handheld device to receive the second signal, and record the fourth moment when the handheld device receives the second signal.

[0009] By adopting the above technical solution, and using a combination of bidirectional ranging and single-sided array antenna angle measurement, the signal propagation time and phase difference information can be accurately obtained. At the same time, based on the timestamp exchange mechanism of bidirectional ranging, the impact of clock synchronization error on ranging accuracy is effectively eliminated, thereby improving the accuracy of spatial positioning.

[0010] Preferably, determining the spatial distance parameter between the handheld terminal and the receiving terminal based on the signal propagation information includes: Based on the difference between the fourth time point and the first time point, the signal propagation time from the time the handheld terminal sends out the first signal to the time it receives the second signal is determined; Based on the difference between the third time point and the second time point, the processing delay time from receiving the first signal to sending the second signal at the receiving end is determined; The one-way flight time of the signal is determined based on the difference between the signal propagation time and the processing delay time. The signal propagation speed is obtained, and the spatial distance parameter is determined based on the signal propagation speed and the one-way flight time of the signal.

[0011] By adopting the above technical solution, the difference between the signal propagation time and the receiving end processing delay time is calculated to obtain the one-way flight time, eliminating the interference of the internal processing delay of the receiving end on the ranging result, thereby enabling accurate calculation of the spatial distance between the handheld end and the receiving end.

[0012] Preferably, the phase difference information includes a horizontal phase difference and a vertical phase difference; Determining the signal incident angle of the handheld terminal relative to the receiver based on the phase difference information includes: Obtain the antenna spacing of the array antenna and the wavelength of the first signal; The horizontal direction angle is determined based on the horizontal phase difference, the antenna spacing, and the wavelength. The elevation angle is determined based on the vertical phase difference, the antenna spacing, and the wavelength. The horizontal direction angle and the pitch direction angle are used as the signal incident angle.

[0013] By adopting the above technical solution, and utilizing the phase difference between the horizontal and vertical directions between different antennas when the array antenna receives the signal, combined with the known antenna spacing and signal wavelength, the horizontal and vertical angles of the signal can be accurately calculated, thereby obtaining the complete incident angle information of the handheld end relative to the receiving end.

[0014] Preferably, the sensing data includes triaxial acceleration data and triaxial angular velocity data; The real-time acquisition of sensor data from the handheld device includes: The handheld device's built-in accelerometer collects triaxial acceleration data. The handheld device uses a built-in gyroscope to collect three-axis angular velocity data.

[0015] By adopting the above technical solution, and using accelerometers and gyroscopes to collect three-axis acceleration data and three-axis angular velocity data of the handheld device in real time, it is possible to comprehensively perceive the motion state and attitude changes of the handheld device.

[0016] Preferably, determining the spatial pose of the handheld device relative to the receiver based on the sensing data, the spatial distance parameter, and the signal incident angle includes: Based on the spatial distance parameters and the signal incident angle, the initial three-dimensional spatial position of the handheld terminal relative to the receiving terminal is determined; Based on the sensor data, the motion trajectory and posture changes of the handheld device are determined; The initial three-dimensional spatial position is fused with the motion trajectory and posture changes to obtain the spatial pose of the handheld terminal relative to the receiving terminal.

[0017] By adopting the above technical solution, the spatial distance and incident angle obtained by UWB ranging and angle measurement are first calculated as the initial three-dimensional spatial position, and then fused with the motion trajectory and attitude change calculated by IMU sensing data. This can combine the absolute positioning advantage of UWB and the continuous tracking advantage of IMU, thereby obtaining an accurate and smooth handheld spatial pose, effectively suppressing the jumps and jitters that may exist in pure UWB positioning.

[0018] Preferably, generating the indicator position on the display screen based on the spatial pose and controlling the indicator on the display screen to move to the indicator position includes: Obtain the three-dimensional spatial parameters of the display screen; Based on the three-dimensional spatial position and attitude in the spatial pose and the three-dimensional spatial parameters, the indication position of the indication position is generated on the display screen; Control the indicator on the display screen to move to the generated indicator position.

[0019] By adopting the above technical solution, the indicator position on the receiving end is calculated based on the three-dimensional spatial position and attitude of the handheld terminal, and the indicator is controlled to move to the indicator position, ensuring the real-time tracking of the cursor and the smooth experience of pointing operation.

[0020] The second objective of this invention is to provide a pointing remote control system that improves pointing positioning accuracy and interaction smoothness.

[0021] The second objective of this invention is achieved through the following technical solution: A pointing remote control system is applied to a pointing control device, the pointing control device including a handheld end and a receiver end, the receiver end being connected to a display screen, the system comprising: The information acquisition module is used to respond to pointing operation commands and acquire signal propagation information and phase difference information between the handheld terminal and the receiving terminal; The distance determination module is used to determine the spatial distance parameter between the handheld terminal and the receiving terminal based on the signal propagation information. An angle determination module is used to determine the signal incident angle of the handheld terminal relative to the receiving terminal based on the phase difference information; The sensor acquisition module is used to acquire sensor data from the handheld device in real time. The pose determination module is used to determine the spatial pose of the handheld terminal relative to the receiver based on the sensing data, the spatial distance parameters, and the signal incident angle. The indicator control module is used to generate an indicator position on the display screen based on the spatial pose, and control the indicator on the display screen to move to the indicator position.

[0022] By adopting the above technical solution, the modules work together. First, the information acquisition, distance determination, and angle determination modules use UWB signals to accurately calculate the spatial distance and signal incident angle between the handheld end and the receiver. Then, combined with the inertial data acquired by the sensor acquisition module, the pose determination module fuses and calculates a stable and smooth spatial pose. Finally, the indication control module generates and moves the indicator mark of the receiver, thereby constructing a high-precision, low-latency, and anti-jitter pointing remote control system.

[0023] The third objective of this invention is to provide an electronic device that improves pointing and positioning accuracy and enhances interactive smoothness.

[0024] The above-mentioned objective three of this invention is achieved through the following technical solution: An electronic device includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the preceding remote control methods.

[0025] The fourth objective of this invention is to provide a computer-readable storage medium capable of storing corresponding programs, which facilitates improved pointing and positioning accuracy and smooth interaction.

[0026] The fourth objective of this invention is achieved through the following technical solution: A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described remote control methods.

[0027] In summary, the present invention has at least one of the following beneficial technical effects: 1. This invention integrates UWB two-way ranging (TOF) and array antenna angle measurement (PDoA) technologies to accurately obtain the spatial distance and three-dimensional incident angle between the handheld end and the receiver. Compared with traditional laser pointer, infrared or ultrasonic solutions, it effectively eliminates ambient light interference and clock synchronization errors, and greatly improves the accuracy and stability of long-distance pointing and positioning. 2. This invention integrates UWB positioning data with IMU sensor data such as accelerometers and gyroscopes, and uses inertial data to compensate and filter positioning jitter in real time. This effectively suppresses the cursor lag caused by jumps and signal processing delays that may exist in pure UWB positioning, and improves the smoothness of cursor movement and real-time response speed. Attached Figure Description

[0028] Figure 1This is a diagram of a pointing control device for a pointing remote control method provided in Embodiment 1 of the present invention.

[0029] Figure 2 This is a principle block diagram of a pointing remote control method provided in Embodiment 1 of the present invention.

[0030] Figure 3 This is a flowchart illustrating the steps of a pointing remote control method provided in Embodiment 1 of the present invention.

[0031] Figure 4 This is a data transmission flowchart of a pointing remote control method provided in Embodiment 1 of the present invention.

[0032] Figure 5 This is a data fusion principle diagram of a pointing remote control method provided in Embodiment 1 of the present invention.

[0033] Figure 6 This is a structural block diagram of a pointing remote control system provided in Embodiment 2 of the present invention. Detailed Implementation

[0034] This invention provides a pointing remote control method and system to address the technical problem of insufficient accuracy in spatial pointing positioning of traditional pointing remote controls. It improves pointing positioning accuracy and enhances interactive smoothness.

[0035] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0036] It should be noted that in this embodiment of the invention, all content involving object data must be obtained with the object's authorization and consent, and must comply with current laws and standards. If the embodiment involves personal information, it must ensure that the individual's consent has been obtained; if it involves sensitive information, the separate consent of the information subject must be obtained. The implementation of the entire embodiment should also be based on the object's authorization and consent.

[0037] It should be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this disclosure.

[0038] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship. Example 1

[0039] Please see Figures 1 to 5 This invention provides a pointing remote control method applied to a pointing control device, which includes a handheld end and a receiving end, the receiving end being connected to a display screen. The method includes: See Figures 1 to 2 The pointing control device includes a handheld end and a receiver end. The handheld end is a remote control unit (RCU) held by the user, which is also the transmitter end. It integrates an array antenna, a UWB unit, a Bluetooth unit, a power management unit, and an inertial measurement unit. The UWB unit includes an Ultra-Wideband System-on-Chip (UWB SoC) and its peripheral circuits. The Bluetooth unit includes a Bluetooth System-on-Chip (Bluetooth SoC). The inertial measurement unit includes a gyroscope and an accelerometer. At the same time, the handheld end is also equipped with corresponding buttons and a touch module.

[0040] It is worth mentioning that the handheld antenna uses a 1T1R or 1T2R configuration. When using a 1T2R configuration, the two receiving antennas are arranged horizontally in space to receive the second signal returned from the receiver, thereby improving the reliability of signal reception and multipath resistance. It should be noted that the handheld device does not perform incident angle measurement; its horizontal and elevation angles are calculated by the array antennas at the receiver by measuring the arrival phase difference of the first signal.

[0041] The receiver is an adapter connected to the screen (Dongle on TV), which integrates an array antenna, a UWB unit, a Bluetooth unit, and a power management unit. The UWB unit includes an Ultra-Wideband System-on-Chip (SoC) and its peripheral circuitry, while the Bluetooth unit includes a Bluetooth System-on-Chip (SoC). Notably, the receiver connects to the display screen via USB, HDMI, or other interfaces, typically mounted at the top center of the display screen for optimal signal reception. The display screen can be the television itself.

[0042] It should be noted that the receiver's antenna uses a 1T3R configuration, consisting of one transmitting antenna and three receiving antennas arranged in an array and electrically connected to the UWB SoC. The transmitting antenna is used to return a second signal to the handheld device, while the three receiving antennas are used to receive the first signal transmitted by the handheld device. The three receiving antennas are arranged in a specific spatial configuration: two receiving antennas are positioned horizontally to measure the phase difference in the horizontal direction, thereby calculating the horizontal angle of the handheld device relative to the receiver; the third receiving antenna, along with at least one of the aforementioned two receiving antennas, is positioned vertically to measure the phase difference in the vertical direction, thereby calculating the pitch angle of the handheld device relative to the receiver. Through this 1T3R array antenna arrangement, the receiver can simultaneously acquire the horizontal and pitch angles of the handheld device, and by combining this with ranging information, the three-dimensional spatial position of the handheld device relative to the receiver can be calculated.

[0043] It should be noted that the handheld device employs a six-degree-of-freedom (6-DoF) inertial measurement unit (IMU). This IMU integrates a three-axis accelerometer and a three-axis gyroscope to acquire real-time acceleration and angular velocity data of the handheld device in three-dimensional space, thus meeting the requirements for motion tracking and attitude calculation. The three-axis accelerometer also detects the motion state of the handheld device. When the accelerometer detects that the handheld device has been stationary for more than a preset time threshold (e.g., 5 seconds), it enters a sleep state, and the UWB unit and IMU unit operate in low-power mode or are turned off. When the system detects that the handheld device has been picked up or has generated a movement exceeding a preset threshold, it enters a standby state. The UWB unit and IMU unit are activated but do not perform pointing and positioning calculations for the time being. When the user presses a preset pointing activation button (such as the "confirm" button or "pointing button") on the handheld device in the standby state, it responds to the pointing operation command, enters the pointing activation state, and performs the pointing positioning and cursor following operations in steps 101 to 106. When the user releases the pointing activation button, or when no valid pointing operation is detected for more than a second preset time threshold (e.g., 2 seconds), it exits the pointing activation state and returns to the standby state.

[0044] Step 101: Respond to the pointing operation command and obtain the signal propagation information and phase difference information between the handheld terminal and the receiving terminal.

[0045] Preferably, step 101 may include the following sub-steps: The receiver is equipped with an array antenna.

[0046] The information propagated by the signal includes the first moment, the second moment, the third moment, and the fourth moment.

[0047] S11. Respond to the pointing operation command, control the handheld terminal to send the first signal to the receiving terminal, and record the first moment when the handheld terminal sends the first signal.

[0048] Pointing operation commands refer to the trigger signals issued by the user to activate the pointing remote control function by pressing a button, touching the touchpad, or waving the hand.

[0049] The first signal refers to the UWB ranging request signal sent by the handheld terminal to the receiving terminal, which is used to trigger the two-way ranging process.

[0050] The first moment (T1) refers to the timestamp recorded when the handheld device sends the first signal.

[0051] In this embodiment of the invention, when the user presses a button on the handheld device, touches the touch module, or picks up the handheld device, the UWB unit of the handheld device generates a first signal in response to the user's command, and sends the first signal to the receiving end through the transmitting antenna of the handheld device. At the same time, the UWB unit inside the handheld device records the time when the first signal is emitted, which is denoted as the first time T1.

[0052] S12. Control the receiving end to receive the first signal through the array antenna, record the second moment when the receiving end receives the first signal, and generate phase difference information based on the phase difference of the first signal arriving at different antennas in the array antenna.

[0053] The second moment (T2) refers to the timestamp recorded when the receiver receives the first signal.

[0054] Phase difference information refers to the phase difference when the first signal arrives at different antenna elements in the receiving array antenna, and is used to calculate the incident angle of the signal.

[0055] It should be noted that the phase difference information is generated by the receiving end.

[0056] Understandably, the array antenna at the receiving end listens to the UWB signal from the handheld device in real time. When the first signal arrives at the receiving end, multiple antenna elements in the array antenna at the receiving end receive the first signal respectively. The UWB unit inside the receiving end records the time when the first signal arrives, which is denoted as the second time T2.

[0057] It is worth mentioning that the second moment can be the moment when the leading edge of the first signal first arrives at any reference antenna in the array antenna, or it can be a time reference determined by combining the reception times of multiple antennas.

[0058] Assume the receiver's array antennas are configured as a 1T3R, with two receiving antennas, denoted as antenna A and antenna B, positioned horizontally and spaced apart by a distance d. The first signal transmitted by the handheld device is a fixed-frequency UWB continuous wave signal with a wavelength of λ. When the handheld device is directly in front of the receiver, the wavefront of the first signal arrives at both antennas A and B simultaneously, and the signals received by both antennas are in phase with a phase difference of 0 degrees. When the handheld device is deflected to the right by a certain angle, the wavefront of the first signal arrives at antenna A first, followed by antenna B. Due to the path difference, a phase difference arises between the signals received by antennas A and B.

[0059] For example, assuming the path difference is 2.5 cm, and since the wavelength λ is 10 cm, the phase difference corresponding to 2.5 cm is 90 degrees (i.e., 2.5 / 10 × 360° = 90°). If the UWB unit at the receiving end detects a 90-degree phase difference between antenna A and antenna B, then it generates a 90-degree horizontal phase difference. Similarly, for receiving antennas positioned vertically (antenna C and antenna A or antenna B), the same principle applies. When the handheld device is deflected upwards or downwards, a vertical phase difference is generated; for example, a 45-degree vertical phase difference is detected. Ultimately, the UWB unit at the receiving end generates phase difference information, which includes a 90-degree horizontal phase difference and a 45-degree vertical phase difference.

[0060] In this embodiment of the invention, when the receiving end receives the first signal sent by the control end through the array antenna, it records the second moment and records the phase difference based on the arrival of the first signal at different antennas in the array antenna as phase difference information.

[0061] S13. Control the receiver to return the second signal to the handheld device, and record the third moment when the receiver sends the second signal.

[0062] The second signal refers to the UWB ranging response signal returned by the receiving end to the handheld end after receiving the first signal, which is used to cooperate with the first signal to complete bidirectional ranging.

[0063] The third moment (T3) refers to the timestamp recorded when the receiver sends the second signal.

[0064] It is worth mentioning that after receiving the first signal, the receiver needs a certain amount of processing time to complete the signal decoding, phase difference extraction, and generation and transmission of the second signal. By recording the time interval between the third time T3 and the second time T2, the processing delay can be accurately obtained.

[0065] In this embodiment of the invention, after the receiver completes the reception of the first signal and the extraction of phase difference information, in response to the triggering of the first signal, the receiver controls its internal UWB unit to generate a second signal and returns the second signal to the handheld terminal through the transmitting antenna of the receiver. At the same time, the UWB unit inside the receiver records the time when the second signal is emitted, which is denoted as the third time T3, thereby improving the ranging accuracy.

[0066] S14. Control the handheld terminal to receive the second signal and record the fourth moment when the handheld terminal receives the second signal.

[0067] The fourth time (T4) refers to the timestamp recorded when the handheld device receives the second signal.

[0068] In this embodiment of the invention, after the handheld terminal sends out the first signal, it enters the signal listening state and waits for the second signal returned by the receiving terminal. When the second signal arrives at the handheld terminal, the receiving antenna in the array antenna of the handheld terminal captures the second signal, and the UWB unit inside the handheld terminal records the time when the second signal arrives, which is denoted as the fourth time T4.

[0069] Combining the above S11-S14, it can be understood that the first time T1, the second time T2, the third time T3, and the fourth time T4 together constitute the complete timestamp sequence of two-way ranging. Specifically, the handheld terminal records T1 when it sends the first signal, the receiving terminal records T2 when it receives the first signal, the receiving terminal records T3 when it returns the second signal, and the handheld terminal records T4 when it receives the second signal. Based on the difference between the first time T1 and the second time T2, the duration of transmission from the UWB handheld terminal to the receiving terminal can be determined. Based on the difference between the third time T3 and the fourth time T4, the duration of the UWB receiving terminal's response to the handheld terminal can be determined. Based on the difference between the first time T1 and the fourth time T4, the duration from sending the signal to receiving the response from the UWB handheld terminal can be determined. Based on the difference between the second time T2 and the third time T3, the duration from receiving the signal to sending the response signal from the UWB receiving terminal can be determined.

[0070] Step 102: Based on the signal propagation information, determine the spatial distance parameters between the handheld device and the receiver.

[0071] Preferably, step 102 may include the following sub-steps: S21. Based on the difference between the fourth time and the first time, determine the signal propagation time from the time the handheld terminal sends out the first signal to the time it receives the second signal.

[0072] Signal propagation time refers to the total time from when the handheld device sends out the first signal to when it receives the second signal. This time includes the one-way flight time of the signal from the handheld device to the receiver, the processing delay time inside the receiver, and the one-way flight time of the signal from the receiver back to the handheld device.

[0073] In this embodiment of the invention, T1 and T4 are read, and the difference between the fourth time point and the first time point is calculated, i.e. This difference represents the signal propagation time from when the handheld device sends the first signal to when it receives the second signal. In this way, the error in time interval measurement using a single-sided clock can be eliminated.

[0074] S22. Based on the difference between the third time point and the second time point, determine the processing delay time from the receiving end receiving the first signal to sending the second signal.

[0075] Processing delay time refers to the time required for the receiver to transmit the second signal from receiving the first signal. This time includes the signal processing time, phase difference information extraction time, and the preparation time for generating and transmitting the second signal within the receiver.

[0076] In this embodiment of the invention, the processor inside the receiver (or the computing unit integrated inside the UWB unit) reads T2 and T3, and calculates the difference between the third time point and the second time point, i.e. = T3 - T2, this difference is the processing delay time from receiving the first signal to transmitting the second signal at the receiving end. This processing delay time is accurately measured and recorded. This can effectively eliminate the impact of the internal processing time of the receiver on the ranging results, and further improve the ranging accuracy.

[0077] S23. Determine the one-way flight time of the signal based on the difference between the signal propagation time and the processing delay time.

[0078] One-way flight time refers to the time required for a signal to travel from the handheld device to the receiver (or from the receiver to the handheld device). Under the symmetric channel assumption, the one-way flight time of the signal from the handheld device to the receiver is equal to the one-way flight time of the signal from the receiver back to the handheld device.

[0079] In this embodiment of the invention, the signal propagation time (i.e., T4 - T1) and processing delay time determined in the aforementioned steps are obtained. (i.e., T3 - T2), calculate the difference between the two. The round-trip flight time of the signal is obtained, i.e. Since the signal propagates along the same path from the handheld device to the receiver and back, the two-way flight time is exactly twice the one-way flight time. Therefore, dividing the two-way flight time by two gives the one-way flight time of the signal, ToF. , that is .

[0080] S24. Obtain the signal propagation speed, and determine the spatial distance parameters based on the signal propagation speed and the one-way flight time of the signal.

[0081] The speed of signal propagation refers to the speed at which a UWB signal travels through the air. This speed is approximately equal to the speed of light, i.e., approximately... meters per second.

[0082] The spatial distance parameter refers to the straight-line distance between the handheld device and the receiver.

[0083] It should be noted that the signal propagation speed will vary slightly due to factors such as ambient temperature and humidity. The propagation speed can be appropriately calibrated and compensated according to the actual environment to further improve the ranging accuracy.

[0084] In this embodiment of the invention, the processor obtains the preset signal propagation speed v (usually the speed of light) and substitutes the one-way flight time ToF of the signal into the distance calculation formula, i.e., d = v × ToF, where d is the spatial distance parameter. Since the one-way flight time of the signal has eliminated the errors caused by the processing delay of the receiving end and the clock asynchrony, the calculated spatial distance parameter has high accuracy.

[0085] Step 103: Based on the phase difference information, determine the signal incident angle of the handheld end relative to the receiver.

[0086] Preferably, step 103 may include the following sub-steps: Phase difference information includes horizontal phase difference and vertical phase difference.

[0087] S31. Obtain the antenna spacing of the array antenna and the wavelength of the first signal.

[0088] Antenna spacing refers to the physical distance between two adjacent antenna elements in the receiver array antenna. This distance directly affects the sensitivity and accuracy of phase difference measurement.

[0089] The wavelength of the first signal refers to the wavelength of the UWB signal emitted by the handheld device as it propagates in space, and this wavelength is determined by the center frequency of the UWB signal.

[0090] It should be noted that the antenna spacing is a fixed value determined by the hardware design.

[0091] The wavelength of the first signal is determined by the center frequency f of the UWB signal emitted by the handheld device, satisfying the formula λ = c / f, where c is the speed of light (approximately). The wavelength (λ) is 6.5 GHz (m / s). Since the handheld and receiver communicate using a fixed-frequency UWB signal, this center frequency is a pre-set, known value. Therefore, the receiver can directly calculate the corresponding signal wavelength λ based on this frequency. For example, when the center frequency of the UWB signal is 6.5 GHz, its wavelength is approximately 4.6 cm.

[0092] It is worth mentioning that the antenna spacing is usually designed to be less than or equal to half the signal wavelength to ensure that the phase difference measurement does not have angular ambiguity, thereby improving the accuracy of angle calculation.

[0093] In this embodiment of the invention, the antenna spacing of the array antenna and the wavelength of the first signal are obtained.

[0094] S32. Determine the horizontal direction angle based on the horizontal phase difference, antenna spacing, and wavelength.

[0095] The horizontal direction angle refers to the deviation angle of the handheld end relative to the receiver end in the horizontal direction, that is, the angle between the projection of the handheld end on the horizontal plane and the direction directly in front of the receiver end.

[0096] It is understandable that the UWB unit at the receiving end has acquired the horizontal phase difference. Given the antenna spacing d and the signal wavelength λ, according to the principle of array antenna angle measurement, the path difference ΔL and phase difference when the signal reaches the two horizontal antennas are... The relationship between them is satisfied Meanwhile, since the antenna spacing d is usually much smaller than the distance between the handheld device and the receiver, the path difference ΔL and the horizontal angle... They satisfy an approximate relationship Therefore, the horizontal direction angle can be calculated using the following formula: .

[0097] For example, when the horizontal phase difference is 90 degrees (i.e., π / 2 radians), the antenna spacing d is 2.5 cm, and the wavelength λ is 5 cm, the horizontal angle can be calculated by substituting these values ​​into the formula. Spend.

[0098] In this embodiment of the invention, the horizontal angle of the handheld end relative to the receiver end is determined based on the horizontal phase difference, antenna spacing, and wavelength.

[0099] S33. Determine the elevation direction angle based on the vertical phase difference, antenna spacing, and wavelength.

[0100] The pitch angle refers to the vertical deviation angle of the handheld device relative to the receiver, that is, the angle between the line connecting the handheld device and the receiver and the horizontal plane, reflecting the up and down orientation of the handheld device relative to the receiver.

[0101] It is understandable that the UWB unit at the receiving end has acquired the vertical phase difference. The calculation principle for antenna spacing d and signal wavelength λ is the same as that for the horizontal direction angle. When the signal reaches the two antennas in the vertical direction, the path difference is... Phase difference with vertical direction The relationship between them is satisfied At that time, path difference Because the antenna spacing d is much smaller than the distance between the handheld device and the receiver, the path difference... With pitch angle They satisfy an approximate relationship Therefore, the pitch angle is calculated using the following formula: .

[0102] For example, when the vertical phase difference is 45 degrees (i.e., π / 4 radians), the antenna spacing d is 2.5 cm, and the wavelength λ is 5 cm, the elevation angle can be calculated by substituting these values ​​into the formula. = arcsin((π / 4 × 5) / (2π × 2.5)) = arcsin(0.25) ≈ 14.5 degrees.

[0103] In this embodiment of the invention, the pitch angle of the handheld end relative to the receiver end is determined based on the vertical phase difference, antenna spacing, and wavelength.

[0104] S34. Use the horizontal and vertical angles as the signal incident angles.

[0105] The signal incident angle refers to the spatial angle at which the UWB signal transmitted by the handheld device reaches the receiving device. This angle is described by both the horizontal and vertical angles and is used to characterize the three-dimensional spatial orientation of the handheld device relative to the receiving device.

[0106] In this embodiment of the invention, the calculated horizontal direction angle is... Combination of pitch and azimuth angles This is the signal incident angle information, i.e., signal incident angle = ( ).

[0107] Step 104: Collect sensor data from the handheld device in real time.

[0108] Preferably, step 104 may include the following sub-steps: The sensor data includes triaxial acceleration data and triaxial angular velocity data.

[0109] S41. Collect three-axis acceleration data from the handheld device using the built-in accelerometer.

[0110] It should be noted that the triaxial acceleration data includes acceleration components in the X, Y, and Z axes, reflecting the motion of the handheld device in the forward, backward, left, right, and vertical directions.

[0111] The accelerometer's sampling frequency is set to no less than 100Hz to ensure that it can capture rapid motion changes at the handheld end.

[0112] The collected acceleration data needs to be filtered to remove high-frequency noise introduced by hand shaking or environmental vibration.

[0113] In this embodiment of the invention, acceleration components in the X, Y, and Z axes are collected using an accelerometer.

[0114] S42. Collect three-axis angular velocity data of the handheld device using the gyroscope built into the handheld device.

[0115] It should be noted that the three-axis angular velocity data includes rotational angular velocity components around the X-axis (roll angle), Y-axis (pitch angle), and Z-axis (yaw angle), reflecting the rate of attitude change of the handheld device.

[0116] The sampling frequency of the gyroscope is kept consistent with that of the accelerometer, set to no less than 100Hz, to ensure the real-time performance and accuracy of attitude calculation.

[0117] In this embodiment of the invention, the rotational angular velocity components of the X-axis, Y-axis and Z-axis of the handheld device are collected by a gyroscope.

[0118] Step 105: Based on sensor data, spatial distance parameters, and signal incident angle, determine the spatial pose of the handheld device relative to the receiver.

[0119] Preferably, step 105 may include the following sub-steps: S51. Based on the spatial distance parameters and the signal incident angle, determine the initial three-dimensional spatial position of the handheld terminal relative to the receiver.

[0120] The initial three-dimensional spatial position refers to the coordinate position of the handheld terminal in three-dimensional space calculated based on the spatial distance parameters and the signal incident angle, with the receiver as the origin. It is denoted as (x, y, z).

[0121] It should be noted that this embodiment uses an ultra-wideband positioning Kalman filter to filter the ranging and angle measurement data of multiple consecutive frames. Specifically, for each frame of UWB data, the spatial distance parameters and signal incident angle are first converted into the current position observation value according to the coordinate transformation relationship, and then filtered and smoothed by the Kalman filter.

[0122] Understandably, a three-dimensional coordinate system is established with the receiver's location as the origin O(0,0,0). The direction directly in front of the receiver is defined as the positive X-axis, the direction directly to the right of the receiver is defined as the positive Y-axis, and the direction directly above the receiver is defined as the positive Z-axis. Based on the transformation from spherical to rectangular coordinates, the coordinate observations of the current frame are calculated using the following formula:

[0123]

[0124]

[0125] Where x represents the front-to-back distance of the handheld device relative to the receiver (positive value indicates it is directly in front of the receiver, negative value indicates it is directly behind the receiver), y represents the left-to-right offset distance of the handheld device relative to the receiver (positive value indicates it is offset to the right, negative value indicates it is offset to the left), and z represents the vertical height difference of the handheld device relative to the receiver (positive value indicates it is higher than the receiver, negative value indicates it is lower than the receiver).

[0126] The coordinate observations obtained from the above calculations are input into the UWB positioning Kalman filter. This filter suppresses noise and jumps in UWB measurements through a recursive method of state prediction and observation update, and outputs the smoothed initial three-dimensional spatial position.

[0127] In this embodiment of the invention, the initial three-dimensional spatial position of the handheld terminal relative to the receiving terminal is determined by coordinate transformation and an ultra-wideband positioning Kalman filter based on spatial distance parameters and signal incident angle.

[0128] S52. Based on sensor data, determine the motion trajectory and posture changes of the handheld device.

[0129] The motion trajectory refers to the continuous path formed by the handheld device moving from its initial position in three-dimensional space, reflecting the positional change process of the handheld device.

[0130] Attitude change refers to the rotational angle changes of the handheld device around the X-axis (roll angle), Y-axis (pitch angle), and Z-axis (yaw angle) in three-dimensional space, reflecting the pointing and tilting state of the handheld device.

[0131] It should be noted that this embodiment uses a quaternion-based RK4 combined with a Madgwick attitude complementarity filter to solve the raw IMU data. Specifically, the collected three-axis acceleration data and three-axis angular velocity data are input into the filter. First, the accelerometer and gyroscope data are fused through the Madgwick attitude complementarity filter to calculate a stable attitude quaternion. Then, the quaternion differential equation is numerically integrated using the fourth-order Runge-Kutta method (RK4) to obtain the continuous handheld end attitude change. At the same time, the acceleration data is integrated twice after removing the gravity component to obtain the displacement change of the handheld end.

[0132] In this embodiment of the invention, based on sensor data, the motion trajectory and attitude changes of the handheld device are determined by combining a quaternion-based RK4 with a Madgwick attitude complementary filter.

[0133] S53. The initial three-dimensional spatial position is fused with the motion trajectory and posture changes to obtain the spatial pose of the handheld end relative to the receiver.

[0134] Spatial pose refers to the complete state of the handheld device in three-dimensional space obtained by fusing UWB absolute positioning information and IMU relative motion information, including three-dimensional spatial position and orientation, which is used to generate the indication position of the receiver.

[0135] It's worth noting that two coordinate systems were established before fusion: the receiver coordinate system {O}, with the receiver as the origin, the X-axis pointing directly in front of the receiver, the Y-axis pointing directly to the right of the receiver, and the Z-axis pointing directly above the receiver; and the handheld coordinate system {B}, with the center of the handheld IMU as the origin, the X-axis pointing directly in front of the handheld (i.e., the direction the remote control antenna is pointing), the Y-axis pointing directly to the right of the handheld, and the Z-axis pointing directly above the handheld.

[0136] To facilitate the fusion of UWB and IMU data, a navigation coordinate system {N} is defined. This coordinate system is completely aligned with the receiver coordinate system {O} (i.e., the coordinate axes point in the same direction), but its origin is not fixed. Typically, the initial position of the handheld device at system startup is taken as the origin, or the receiver coordinate system {O} can be directly used as a unified global coordinate system. In this system, the navigation coordinate system {N} is aligned with the receiver coordinate system {O}, and its origin is fixed at the receiver to simplify the coordinate transformation and fusion process.

[0137] The acceleration and angular velocity data acquired by the IMU are represented in the handheld coordinate system {B}. Through attitude calculation (such as Madgwick filtering or quaternion update), the acceleration and angular velocity can be transformed into the navigation coordinate system {N}, and further integrated to obtain the displacement and attitude changes of the handheld terminal in the {N} system.

[0138] The initial 3D spatial position obtained by UWB calculation is the absolute position in the receiver coordinate system {O}. Since the navigation coordinate system {N} is aligned with {O} and its origin coincides with (or has a known offset) its origin, the two can be directly fused under the same reference. The fusion uses an IMU / UWB fusion Kalman filter, and the specific fusion process is as follows: The fusion process employs an IMU / UWB fusion Kalman filter, as detailed below: 1. State prediction (based on IMU): Using the angular velocity and acceleration measured by the IMU, the position, velocity and attitude of the handheld device in the navigation coordinate system {N} at the next moment are predicted by a kinematic model (such as a rigid body motion model based on quaternions).

[0139] 2. Observation Update (based on UWB): The absolute position obtained from UWB calculation is used as the observation value, and Kalman correction is applied to the prediction result to suppress IMU integration drift and smooth UWB measurement noise.

[0140] 3. Fusion Output: The filtered state estimate is the stable and smooth spatial pose (including three-dimensional position and attitude quaternions) of the handheld terminal relative to the receiver coordinate system {O}.

[0141] In this embodiment of the invention, the initial three-dimensional spatial position is fused with the motion trajectory and posture changes to obtain the spatial pose of the handheld end relative to the receiving end.

[0142] Step 106: Based on the spatial pose, generate the indication position of the receiver and control the movement of the indication marker.

[0143] Preferably, step 106 may include the following sub-steps: S61. Obtain the three-dimensional spatial parameters of the display screen.

[0144] Three-dimensional spatial parameters refer to a set of data on the geometric properties of the display screen in three-dimensional space and its relative positional relationship with the receiving end. These include, but are not limited to, the screen's physical dimensions, screen spatial pose, and screen resolution. The screen's physical dimensions are its actual width W and height H, measured in meters, and are used to establish the mapping between the screen coordinate system and actual spatial distances. The screen spatial pose is the three-dimensional coordinates of the screen's center point. and the normal direction vector of the screen plane. This describes the installation position and orientation of the screen relative to the receiving end; the screen resolution is the pixel width of the display screen. and pixel height It is used to convert the coordinates of spatial intersection points into indicator position coordinates in pixels.

[0145] It should be noted that the methods for obtaining three-dimensional spatial parameters include, but are not limited to: factory pre-calibration, that is, when the receiver and the display screen are integrated into one unit (such as a smart TV), the screen parameters are pre-stored in the receiver's memory during the production stage; user manual calibration, that is, the user holds the remote control and points to the four corners of the screen in sequence, and uses UWB ranging and angle measurement and known calibration algorithms to deduce the screen parameters; automatic calibration, that is, the receiver automatically obtains the screen size and installation position information through image acquisition (such as a built-in camera) or communication with the display device (such as through the HDMI CEC protocol).

[0146] In this embodiment of the invention, the three-dimensional spatial parameters of the display screen are obtained.

[0147] S62. Based on the three-dimensional spatial position and attitude and three-dimensional spatial parameters in the spatial pose, generate the indicator position on the display screen.

[0148] The indicated position refers to the cursor position coordinates on the display screen connected to the receiving end, calculated based on the spatial pose of the handheld end relative to the receiving end through spatial geometric relationships, and denoted as (u, v).

[0149] It is worth mentioning that, firstly, a three-dimensional spatial coordinate system is established with the receiving end as the origin, and a screen plane coordinate system is established with the upper left corner of the display screen as the origin. Then, based on the posture information of the handheld end, its pointing direction is transformed from the handheld end coordinate system to the receiving end coordinate system to obtain the actual pointing direction of the handheld end in space. Next, the current three-dimensional spatial position of the handheld end is obtained, and combined with the spatial parameters of the screen plane (including the position, size and orientation of the screen), the intersection point of the ray emitted from the handheld end along the pointing direction and the screen plane is calculated. This intersection point is the landing point of the handheld end pointing on the screen. Finally, based on the physical size and resolution of the screen, the spatial coordinates of this intersection point are converted into pixel coordinates in the screen plane coordinate system to obtain the final indicated position.

[0150] It should be noted that when the pointing direction vector of the handheld device does not intersect with the display screen plane (e.g., the handheld device is pointing outside the screen range), it can be handled according to preset rules, such as keeping the indicator position at the edge of the screen or hiding the indicator.

[0151] For example, assuming the display screen is located 1 meter directly in front of the receiver, with a screen width of 1.6 meters and a height of 0.9 meters, and the center of the screen is aligned with the center of the receiver, when the handheld terminal's spatial pose is position (2.0, 0, 0.2), and the attitude is yaw angle of 10 degrees and pitch angle of 5 degrees, the indicated position is calculated as (u, v) = (800, 450) pixels (assuming the screen resolution is 1920×1080) based on the intersection of the pointing direction vector and the screen plane.

[0152] In this embodiment of the invention, based on the three-dimensional spatial position and attitude in the spatial pose, the indication position on the receiving end is generated through spatial geometric calculation.

[0153] S63. Move the indicator on the control display screen to the generated indicator position.

[0154] Indicators refer to visual elements such as cursors, pointers, or highlighted circles displayed on the screen connected to the receiving end, used to provide feedback to the user on the current pointing position.

[0155] It should be noted that the receiving end sends the generated indicator location coordinates to the display screen through the communication interface. The display screen then renders and displays the indicator at the corresponding location based on the received coordinate values.

[0156] It is worth mentioning that the movement of the indicator can be achieved using a smooth interpolation algorithm, such as low-pass filtering of the indicator position in multiple consecutive frames, to avoid jumps or jitters in the indicator and improve the user's visual experience.

[0157] In this embodiment of the invention, the indicator on the control receiver moves to the indicated position to complete the interactive process of pointing to the remote control.

[0158] In the above-described feasible embodiments, to improve data accuracy, the one-way flight time (ToF) of the signal can also be compensated, i.e., a preset ToF compensation value (ToF_Offset) is set, and after calibration and testing, it is written into the storage unit. The final ToF = ToF_Raw (original one-way flight time before compensation) + ToF_Offset (compensation value).

[0159] Similarly, the phase difference information PDoA can be compensated. A preset PDoA compensation value (PDoA_Offset) is set, and after the calibration test is completed, it is written to the storage unit. The final PDoA is equal to the original phase difference (PDoA_Raw) before compensation plus the compensation value. The angle of arrival AoA is then calculated based on the compensated PDoA.

[0160] It should be noted that the specific methods of calibration testing include, but are not limited to: placing the handheld device and the receiver at a known standard distance and standard angle, measuring ToF_Raw and PDoA_Raw, comparing them with the theoretical true values, and calculating ToF_Offset and PDoA_Offset. This calibration test can be completed once before the product leaves the factory, or it can be performed when the user uses it for the first time. Once the compensation value is written, it can be directly called in subsequent normal use. Example 2

[0161] Please see Figure 6This invention provides a pointing remote control system applied to a pointing control device. The pointing control device includes a handheld end and a receiving end, the receiving end being connected to a display screen. The system includes: The information acquisition module 201 is used to respond to the pointing operation command and acquire the signal propagation information and phase difference information between the handheld terminal and the receiving terminal.

[0162] The distance determination module 202 is used to determine the spatial distance parameters between the handheld end and the receiving end based on the signal propagation information.

[0163] Angle determination module 203 is used to determine the signal incident angle of the handheld end relative to the receiving end based on phase difference information.

[0164] The sensor acquisition module 204 is used to acquire sensor data from the handheld device in real time.

[0165] The pose determination module 205 is used to determine the spatial pose of the handheld end relative to the receiver end based on sensor data, spatial distance parameters and signal incident angle.

[0166] The indicator control module 206 is used to generate the indicator position on the display screen based on the spatial pose, and control the indicator on the display screen to move to the indicator position.

[0167] Since the above is a system corresponding to a one-to-one pointing remote control method, its implementation principle is the same as that of a pointing remote control method. For the sake of convenience and brevity, those skilled in the art can clearly understand that the specific working process of the system and modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. Example 3

[0168] An electronic device according to an embodiment of the present invention includes: a memory and a processor, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor performs a pointing remote control method as described in any of the above embodiments.

[0169] The memory can be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. The memory has storage space for program code used to perform any of the method steps described above. For example, the storage space for program code may include individual program codes for implementing the various steps in the methods described above. This program code can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact discs (CDs), memory cards, or floppy disks. The program code may be compressed, for example, in a suitable form. When run by a computing processing device, this code causes the computing processing device to perform the various steps in the methods described above. Example 4

[0170] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed, implements the pointing remote control method of any of the above embodiments.

[0171] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0172] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0173] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0174] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0175] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0176] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pointing remote control method, characterized by, The method, applied to a pointing control device including a handheld end and a receiving end connected to a display screen, comprises: In response to a pointing operation command, the signal propagation information and phase difference information between the handheld terminal and the receiving terminal are obtained; Based on the signal propagation information, the spatial distance parameter between the handheld device and the receiving device is determined; Based on the phase difference information, the signal incident angle of the handheld terminal relative to the receiving terminal is determined; Real-time acquisition of sensor data from the handheld device; Based on the sensor data, the spatial distance parameters, and the signal incident angle, the spatial pose of the handheld device relative to the receiver is determined. Based on the spatial pose, an indicator position is generated on the display screen, and the indicator on the display screen is controlled to move to the indicator position.

2. The pointing remote control method of claim 1, wherein, The receiving end is equipped with an array antenna; The signal propagation information includes a first moment, a second moment, a third moment, and a fourth moment; The response to the operation command acquires signal propagation information and phase difference information between the handheld terminal and the receiving terminal, including: In response to a pointing operation command, the handheld terminal is controlled to send a first signal to the receiving terminal, and the first moment when the handheld terminal sends the first signal is recorded; The receiving end is controlled to receive the first signal through the array antenna, the second moment when the receiving end receives the first signal is recorded, and the phase difference information is generated based on the phase difference of the first signal arriving at different antennas in the array antenna; Control the receiving end to return a second signal to the handheld end, and record the third moment when the receiving end sends out the second signal; Control the handheld device to receive the second signal, and record the fourth moment when the handheld device receives the second signal.

3. The pointing remote control method according to claim 2, wherein Determining the spatial distance parameter between the handheld device and the receiver based on the signal propagation information includes: Based on the difference between the fourth time point and the first time point, the signal propagation time from the time the handheld terminal sends out the first signal to the time it receives the second signal is determined; Based on the difference between the third time point and the second time point, the processing delay time from receiving the first signal to sending the second signal at the receiving end is determined; The one-way flight time of the signal is determined based on the difference between the signal propagation time and the processing delay time. The signal propagation speed is obtained, and the spatial distance parameter is determined based on the signal propagation speed and the one-way flight time of the signal.

4. The pointing remote control method according to claim 2, characterized in that, The phase difference information includes horizontal phase difference and vertical phase difference; Determining the signal incident angle of the handheld terminal relative to the receiver based on the phase difference information includes: Obtain the antenna spacing of the array antenna and the wavelength of the first signal; The horizontal direction angle is determined based on the horizontal phase difference, the antenna spacing, and the wavelength. The elevation angle is determined based on the vertical phase difference, the antenna spacing, and the wavelength. The horizontal direction angle and the pitch direction angle are used as the signal incident angle.

5. The pointing remote control method according to claim 1, characterized in that, The sensing data includes triaxial acceleration data and triaxial angular velocity data; The real-time acquisition of sensor data from the handheld device includes: The handheld device's built-in accelerometer collects triaxial acceleration data. The handheld device uses a built-in gyroscope to collect three-axis angular velocity data.

6. The pointing remote control method according to claim 1, characterized in that, Determining the spatial pose of the handheld device relative to the receiver based on the sensing data, the spatial distance parameters, and the signal incident angle includes: Based on the spatial distance parameters and the signal incident angle, the initial three-dimensional spatial position of the handheld terminal relative to the receiving terminal is determined; Based on the sensor data, the motion trajectory and posture changes of the handheld device are determined; The initial three-dimensional spatial position is fused with the motion trajectory and posture changes to obtain the spatial pose of the handheld terminal relative to the receiving terminal.

7. The pointing remote control method according to claim 1, characterized in that, The step of generating an indicator position on the display screen based on the spatial pose and controlling the indicator on the display screen to move to the indicator position includes: Obtain the three-dimensional spatial parameters of the display screen; Based on the three-dimensional spatial position and attitude in the spatial pose and the three-dimensional spatial parameters, the indication position of the indication position is generated on the display screen; Control the indicator on the display screen to move to the generated indicator position.

8. A pointing remote control system, characterized in that, An application is provided in a pointing control device, the pointing control device including a handheld end and a receiving end, the receiving end being connected to a display screen, the system comprising: The information acquisition module is used to respond to pointing operation commands and acquire signal propagation information and phase difference information between the handheld terminal and the receiving terminal; The distance determination module is used to determine the spatial distance parameter between the handheld terminal and the receiving terminal based on the signal propagation information. An angle determination module is used to determine the signal incident angle of the handheld terminal relative to the receiving terminal based on the phase difference information; The sensor acquisition module is used to acquire sensor data from the handheld device in real time. The pose determination module is used to determine the spatial pose of the handheld terminal relative to the receiver based on the sensing data, the spatial distance parameters, and the signal incident angle. The indicator control module is used to generate an indicator position on the display screen based on the spatial pose, and control the indicator on the display screen to move to the indicator position.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7 for the remote control method.

10. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed as described in any one of claims 1 to 7 for remote control.

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