Method and system for spatial anchor point content publishing based on ultra-wideband broadcast

Abstract

This invention provides a method and system for publishing content using spatial anchor points based on ultra-wideband broadcasting (UWB), belonging to the field of augmented reality (AR) technology. It involves broadcasting data packets at fixed intervals using multiple UWB anchor points deployed in physical space. An AR terminal receives these data packets, simultaneously extracting location information segments and content information segments. It performs TDoA (Time-of-Age Alignment) self-localization calculation using the location information segments from at least three data packets. Raw head pose data is collected via an IMU (Integrated Device Unit) and converted into pose quaternions. The pose quaternions, 3D position, and content information segments are then encapsulated into data frames and sent to a mobile computing terminal. The mobile computing terminal receives these data frames and renders them according to rendering priority and style using a rendering engine, updating the AR terminal's field of view. This invention solves the mismatch problem between location data and content data. It is applicable to scenarios such as indoor positioning and navigation, industrial inspection information push, digital navigation in commercial spaces, and public safety alarms.

Description

Technical Field

[0001] This invention belongs to the field of augmented reality technology, and specifically relates to a method and system for publishing content using spatial anchor points based on ultra-wideband broadcasting. Background Technology

[0002] Currently, augmented reality glasses are undergoing a critical technological transition from head-fixed display (3DoF) to world-fixed display (6DoF). World-fixed display not only means that virtual information will not shift with the user's head movements, but also requires it to be stably attached to a specific location in the real environment, such as a wall, shelf, or device surface. The foundation for achieving this capability relies first and foremost on the terminal's high-precision spatial positioning within an indoor environment.

[0003] In the industry, visual simultaneous localization and mapping (Visual SLAM) is the dominant technical solution. This solution uses a camera to acquire environmental images, then extracts key feature points, and estimates the device's position and orientation using triangulation. Preliminary engineering verification revealed several technical challenges in practical applications: First, high power consumption: the overall system power consumption is approximately 8.8 watts (including GPU, CPU, and camera driver), significantly exceeding the limited power supply capacity of the AR glasses' temple batteries; second, significant environmental constraints: its performance is highly dependent on ambient light and texture richness, and it may malfunction in dimly lit scenes or areas lacking texture (such as white walls); third, privacy compliance controversies: the continuous operation of the camera is difficult to reconcile with privacy regulations in public places.

[0004] Ultra-wideband (UWB) radio is another technical solution for indoor positioning, achieving centimeter-level positioning accuracy with significantly lower power consumption than visual SLAM methods. However, existing UWB positioning systems generally share a common design feature: positioning and data functions are isolated. Specifically, the positioning anchor only transmits positioning reference signals, which the terminal receives and calculates its own location. If the terminal needs to obtain information associated with that location (such as commercial push notifications, device status, or security alarms), it must do so through a separate communication channel (such as BLE, Wi-Fi, or cloud query). This architecture requires the terminal to maintain two radio frequency channels simultaneously: the UWB channel for positioning and the BLE or Wi-Fi channel for content acquisition. This technical approach suffers from three structural flaws.

[0005] Defect 1: There is a time delay between location data and content data. The terminal first obtains its location via UWB at time T1, and then initiates a content query at time T1+Δ. Assuming a walking speed of 1.4 meters per second, if Δ is 200 milliseconds, the terminal's position has shifted by approximately 28 centimeters—meaning the content obtained by the terminal actually corresponds to a previous location, not the current one. In fast-moving scenarios, the deviation will further increase. This defect is not due to insufficient engineering optimization, but rather an inherent structural contradiction in the separate architecture: as long as the location signal and content signal are transmitted through different physical channels, the time gap cannot be completely eliminated.

[0006] Second drawback: The terminal needs to maintain two independent radio frequency channels simultaneously. UWB reception operates in the 6GHz to 8GHz band, while BLE or WiFi uses the 2.4GHz or 5GHz band. These two radio frequency front-ends impose additional burdens on antenna layout, power consumption allocation, and firmware complexity, and the intermodulation products generated when operating simultaneously may reduce reception sensitivity. For wearable devices such as AR glasses, which are highly sensitive to power consumption and size, the hardware overhead of this dual-channel architecture is particularly significant.

[0007] Defect 3: Uncertain arrival time of content data. BLE and Wi-Fi use CSMA / CA (Carrier Sense Multiple Access / Collision Avoidance) contention access mechanisms, where devices share channel resources and random backoff and retransmission are required after a collision. In congested Wi-Fi network environments, a single content push may require multiple retransmissions to reach the terminal, with latency fluctuating from tens to hundreds of milliseconds, with no deterministic upper limit. In industrial security scenarios, if sensors detect excessive device parameters and trigger alarms, this probabilistic delay makes it difficult to guarantee the timeliness of alarms. Summary of the Invention

[0008] The technical problem solved by this invention is to provide a spatial anchor point content publishing method and system based on ultra-wideband broadcasting, which solves the existing mismatch problem between location data and content data.

[0009] The technical solution adopted by this invention to solve the above-mentioned technical problems is: a spatial anchor point content publishing method based on ultra-wideband broadcasting, comprising the following steps: Multiple UWB anchors deployed in physical space broadcast data packets at fixed intervals. Each data packet includes a location information segment and a content information segment. The location information segment includes an anchor identifier, a transmission timestamp, and anchor spatial coordinates. The content information segment includes a content type identifier field, a display priority field, a content validity condition field, and display text. The content type identifier is used to determine the service category of the content; the display priority is used to determine the rendering priority when the content enters the field of view; the content validity condition field is used to determine whether to render the content corresponding to the display text; the display text includes a directly decodeable string, an index identifier pointing to a pre-set text resource on the terminal, or a hash value. The AR terminal receives the data packet, synchronously extracts the positioning information segment and the content information segment from the data packet, performs TDoA self-localization calculation using the positioning information segment from no less than three data packets, and obtains the three-dimensional position of the AR terminal in the anchor point coordinate system; it collects the original head posture data through the IMU, converts the original head posture data into posture quaternions, encapsulates the posture quaternions, three-dimensional position and content information segment into a data frame and sends it to the mobile computing terminal. The mobile computing terminal receives the data frame and determines the rendering content based on the displayed text, determines the rendering priority based on the display priority field, determines the rendering style based on the content type identifier field, and determines whether to render based on the content validity condition field. When rendering, the rendering engine renders according to the rendering priority and rendering style to update the field of view of the AR terminal.

[0010] Furthermore, content type identifiers include business information, navigation information, cultural information, social information, security information, spatial art, mission information, sensor data, alarm information, device status, and environmental snapshots.

[0011] Furthermore, the content validity condition field is a validity condition bitmask, which includes at least one of time restriction conditions, weather restriction conditions, crowd density restriction conditions, user identity restriction conditions, interaction trigger conditions, sensor threshold alarm conditions, or sensor trend anomaly conditions; when the restriction conditions indicated by the content validity condition field are met, the AR content is rendered.

[0012] Furthermore, the UWB anchor point includes a processor and a UWB transceiver module. The UWB anchor point is also externally connected to a sensor. The processor reads the sensor data and compares it with a preset threshold. When the sensor reading exceeds the threshold, the processor modifies the content type identifier field and the display priority field in the next broadcast data packet. During rendering, the broadcast data packet corresponding to the UWB anchor point whose sensor reading exceeds the threshold is rendered first.

[0013] Furthermore, during rendering, the AR display mode is determined based on UWB positioning and broadband streaming, and the AR display mode includes: When UWB positioning and broadband streaming are normal, complete 3D spatial rendering is performed, and users get a full-featured AR experience. When UWB positioning is normal but broadband streaming is abnormal, execute the text or icon floating window rendering mode and display basic spatial information at the corresponding physical coordinates based on the content information segment. UWB positioning is affected by multipath interference, which degrades its accuracy. However, when the broadband streaming is normal, IMU inertial calculation is used to assist positioning, and the user is notified that the current positioning accuracy has decreased. When UWB positioning deteriorates and broadband streaming is interrupted, only text-level content display and IMU-calculated positioning are maintained. When UWB positioning completely fails or the connection is completely lost, the user will be clearly informed that spatial information is unavailable, and the system will revert to the normal glasses display mode.

[0014] The present invention also provides a spatial anchor content publishing system based on ultra-wideband broadcasting, which implements the spatial anchor content publishing method based on ultra-wideband broadcasting as described above. The system includes multiple UWB anchors, an AR terminal, and a mobile computing terminal. The plurality of UWB anchor points are used to broadcast data packets at fixed intervals; the data packets include a location information segment and a content information segment; the location information segment includes an anchor point identifier, a sending timestamp, and anchor point spatial coordinates; the content information segment includes a content type identifier field, a display priority field, a content validity condition field, and display text; the content type identifier is used to determine the service category of the content, the display priority is used to determine the rendering priority when the content enters the field of view, the content validity condition field is used to determine whether to render the content corresponding to the display text, and the display text includes a string that can be directly decoded and displayed, an index identifier pointing to a pre-set text resource on the terminal, or a hash value; The AR terminal is used to receive the data packets, synchronously extract positioning information segments and content information segments from the data packets, perform TDoA self-localization calculation using positioning information segments from no less than three data packets, and obtain the three-dimensional position of the AR terminal in the anchor point coordinate system; collect raw head posture data through IMU, convert the raw head posture data into posture quaternions, encapsulate the posture quaternions, three-dimensional position and content information segments into data frames and send them to the mobile computing terminal. The mobile computing terminal is used to receive the data frame, determine the rendering content based on the displayed text, determine the rendering priority based on the display priority field, determine the rendering style based on the content type identifier field, and determine whether to perform rendering based on the content validity condition field. When rendering, the rendering engine performs rendering based on the rendering priority and rendering style to update the field of view of the AR terminal.

[0015] Furthermore, content type identifiers include business information, navigation information, cultural information, social information, security information, spatial art, mission information, sensor data, alarm information, device status, and environmental snapshots.

[0016] Furthermore, the content validity condition field is a validity condition bitmask, which includes at least one of time restriction conditions, weather restriction conditions, crowd density restriction conditions, user identity restriction conditions, interaction trigger conditions, sensor threshold alarm conditions, or sensor trend anomaly conditions; when the restriction conditions indicated by the content validity condition field are met, the AR content is rendered.

[0017] Furthermore, the UWB anchor point includes a processor and a UWB transceiver module. The UWB anchor point is also externally connected to a sensor. The processor reads the sensor data and compares it with a preset threshold. When the sensor reading exceeds the threshold, the processor modifies the content type identifier field and the display priority field in the next broadcast data packet. During rendering, the broadcast data packet corresponding to the UWB anchor point whose sensor reading exceeds the threshold is rendered first.

[0018] Furthermore, during rendering, the AR display mode is determined based on UWB positioning and broadband streaming, and the AR display mode includes: When UWB positioning and broadband streaming are normal, complete 3D spatial rendering is performed, and users get a full-featured AR experience. When UWB positioning is normal but broadband streaming is abnormal, execute the text or icon floating window rendering mode and display basic spatial information at the corresponding physical coordinates based on the content information segment. UWB positioning is affected by multipath interference, which degrades its accuracy. However, when the broadband streaming is normal, IMU inertial calculation is used to assist positioning, and the user is notified that the current positioning accuracy has decreased. When UWB positioning deteriorates and broadband streaming is interrupted, only text-level content display and IMU-calculated positioning are maintained. When UWB positioning completely fails or the connection is completely lost, the user will be clearly informed that spatial information is unavailable, and the system will revert to the normal glasses display mode.

[0019] The beneficial effects of this invention are as follows: This invention provides a spatial anchor point content publishing method and system based on ultra-wideband broadcasting. Multiple UWB anchor points deployed in physical space broadcast data packets at fixed intervals. An AR terminal receives the data packets and synchronously extracts positioning information segments and content information segments from them. The positioning information segments from at least three data packets are used for TDoA self-localization calculation. Raw head pose data is collected via an IMU and converted into pose quaternions. The pose quaternions, 3D position, and content information segments are encapsulated into data frames and sent to a mobile computing terminal. The mobile computing terminal receives the data frames and, during rendering, uses a rendering engine to render according to rendering priority and style, updating the AR terminal's field of view. This solves the mismatch problem between positioning data and content data.

[0020] This invention achieves synchronous acquisition of location information and spatially associated content by encapsulating the location information segment and content information segment in the same UWB broadcast data packet for transmission. It eliminates the time gap between location and content acquisition in traditional separate designs from the architectural level, solves the problem of content mismatch with current location, and ensures accurate correspondence between content and spatial location even in scenarios where users move quickly.

[0021] Secondly, this invention only requires one UWB radio frequency channel to simultaneously complete positioning and content acquisition, eliminating the hardware overhead of additional BLE and Wifi channels, reducing the power consumption, size and design complexity of the terminal, while avoiding intermodulation interference caused by multiple radio frequency front-ends working at the same time, effectively improving the receiving sensitivity, especially suitable for wearable terminals such as AR glasses with strict constraints on power consumption and size.

[0022] Furthermore, this invention uses UWB periodic broadcasting to distribute content, eliminating the need for terminals to actively initiate content requests. This avoids the uncertainties and delays caused by traditional shared channel contention access mechanisms, and the content arrival time is controllable. This can meet the needs of scenarios with high latency determinism requirements, such as industrial safety alarms, and ensure the timeliness of critical information delivery.

[0023] This invention designs a structured content information segment that includes content type, display priority, and valid conditions. It can be adapted to various application scenarios such as commercial shopping guides, industrial inspections, cultural tours, and public safety. It supports dynamic content updates and triggering based on sensor data, user attributes, and environmental conditions. When abnormal operating conditions occur, it can quickly increase the priority of alarm content and ensure that key information is rendered and displayed first.

[0024] This invention also features a tiered AR display mode that adaptively switches display strategies based on UWB positioning quality and broadband streaming status. This ensures the availability of core spatial information even in complex environments, balancing a full-featured AR experience with basic usability in extreme scenarios. Its simple architecture and high reliability make it ideal for indoor AR spatial information dissemination. Furthermore, by leveraging the low power consumption and visual independence of UWB, this invention avoids the problems of high power consumption, environmental constraints, and privacy compliance risks associated with pure visual SLAM solutions, providing more stable and practical technical support for fixed displays in the AR world. Attached Figure Description

[0025] Figure 1 This is a flowchart illustrating a spatial anchor point content publishing method based on ultra-wideband broadcasting provided by the present invention. Figure 2 This is a schematic diagram of the framework structure of a spatial anchor content publishing system based on ultra-wideband broadcasting provided by the present invention. Detailed Implementation

[0026] This invention addresses the mismatch between existing location data acquisition and content data acquisition by providing a spatial anchor point content publishing method based on ultra-wideband broadcasting, such as... Figure 1 As shown, it includes the following steps: Multiple UWB anchors deployed in physical space broadcast data packets at fixed intervals. Each data packet includes a location information segment and a content information segment. The location information segment includes an anchor identifier, a transmission timestamp, and anchor spatial coordinates. The content information segment includes a content type identifier field, a display priority field, a content validity condition field, and display text. The content type identifier is used to determine the service category of the content; the display priority is used to determine the rendering priority when the content enters the field of view; the content validity condition field is used to determine whether to render the content corresponding to the display text; the display text includes a directly decodeable string, an index identifier pointing to a pre-set text resource on the terminal, or a hash value. The AR terminal receives the data packet, synchronously extracts the positioning information segment and the content information segment from the data packet, performs TDoA self-localization calculation using the positioning information segment from no less than three data packets, and obtains the three-dimensional position of the AR terminal in the anchor point coordinate system; it collects the original head posture data through the IMU, converts the original head posture data into posture quaternions, encapsulates the posture quaternions, three-dimensional position and content information segment into a data frame and sends it to the mobile computing terminal. The mobile computing terminal receives the data frame and determines the rendering content based on the displayed text, determines the rendering priority based on the display priority field, determines the rendering style based on the content type identifier field, and determines whether to render based on the content validity condition field. When rendering, the rendering engine renders according to the rendering priority and rendering style to update the field of view of the AR terminal.

[0027] This invention also provides a spatial anchor content publishing system based on ultra-wideband broadcasting, which implements the spatial anchor content publishing method based on ultra-wideband broadcasting as described above. The system, as... Figure 2 As shown, it includes multiple UWB anchor points, AR terminals, and mobile computing terminals; The plurality of UWB anchor points are used to broadcast data packets at fixed intervals; the data packets include a location information segment and a content information segment; the location information segment includes an anchor point identifier, a sending timestamp, and anchor point spatial coordinates; the content information segment includes a content type identifier field, a display priority field, a content validity condition field, and display text; the content type identifier is used to determine the service category of the content, the display priority is used to determine the rendering priority when the content enters the field of view, the content validity condition field is used to determine whether to render the content corresponding to the display text, and the display text includes a string that can be directly decoded and displayed, an index identifier pointing to a pre-set text resource on the terminal, or a hash value; The AR terminal is used to receive the data packets, synchronously extract positioning information segments and content information segments from the data packets, perform TDoA self-localization calculation using positioning information segments from no less than three data packets, and obtain the three-dimensional position of the AR terminal in the anchor point coordinate system; collect raw head posture data through IMU, convert the raw head posture data into posture quaternions, encapsulate the posture quaternions, three-dimensional position and content information segments into data frames and send them to the mobile computing terminal. The mobile computing terminal is used to receive the data frame, determine the rendering content based on the displayed text, determine the rendering priority based on the display priority field, determine the rendering style based on the content type identifier field, and determine whether to perform rendering based on the content validity condition field. When rendering, the rendering engine performs rendering based on the rendering priority and rendering style to update the field of view of the AR terminal.

[0028] In some alternative implementations, content type identifiers include business information, navigation information, cultural information, social information, security information, spatial art, mission information, sensor data, alarm information, device status, and environmental snapshots, used to determine the business category of the content.

[0029] In some optional implementations, the content validity condition field is a validity condition bitmask. The validity condition bitmask includes at least one of the following: time restriction condition, weather restriction condition, crowd density restriction condition, user identity restriction condition, interaction trigger condition, sensor threshold alarm condition, or sensor trend anomaly condition. This bitmask is used to determine whether to display the AR content. When the restriction conditions indicated by the content validity condition field are met, the AR content is rendered. The AR content refers to the rendered content corresponding to the displayed text, including directly decoded and displayed strings or index identifiers or hash values ​​pointing to pre-set text resources on the mobile computing terminal. The directly decoded and displayed strings may include phrases such as "A coffee shop, buy one get one free latte" or "A factory pipe wall actual temperature 52.3℃, safety threshold 50℃," etc. The index identifier or hash value pointing to the pre-set text resources on the terminal is generally used to correspond to standardized AR resources pre-stored on the mobile computing terminal, such as safety exit icons in public places, brand store logos, and standardized model resources of industrial equipment. It does not require the complete resource data to be broadcast each time, which can effectively control the length of UWB broadcast data packets, adapt to the small load of a single transmission of UWB broadcast, and at the same time significantly reduce the transmission overhead of the UWB channel.

[0030] In some optional implementations, the UWB anchor point includes a processor and a UWB transceiver module. The UWB anchor point is also externally connected to sensors, including temperature and humidity sensors, gas sensors, and vibration sensors. The processor reads sensor data and compares it with a preset threshold. When a sensor reading exceeds the threshold, the processor modifies the content type identifier field and display priority field in the next broadcast data packet. During rendering, the broadcast data packet corresponding to the UWB anchor point whose sensor reading exceeds the threshold is rendered first. For example, the content type identifier is changed from sensor data to alarm information, the display priority field is changed to optimal priority, the content validity condition field is changed to sensor threshold alarm condition, and the display text is changed to alarm text containing the current sensor data and a preset threshold, such as actual temperature 52.3℃, safety threshold 50℃.

[0031] In some optional implementations, during rendering, the AR display mode is further determined based on UWB positioning and wideband streaming, the AR display mode including: Level-0 (Full-function mode): When UWB positioning and broadband streaming are normal, complete 3D spatial rendering is performed, and users get a full-function AR experience. Level-1 (Rendering Degradation Mode): When UWB positioning is normal but broadband streaming is abnormal, a text or icon floating window rendering mode is executed, and basic spatial information is displayed at the corresponding physical coordinates based on the content information segment. Level-2 (Positioning Degradation Mode): UWB positioning accuracy deteriorates due to multipath interference, but broadband streaming is normal. IMU inertial calculation is used to assist positioning, and the user is notified that the current positioning accuracy has decreased. Level-3 (Dual Degradation Mode): When UWB positioning deteriorates and broadband streaming is interrupted, only text-level content display and IMU-calculated positioning are maintained; Level-4 (Unavailable Mode): When UWB positioning is completely unavailable or the connection is completely lost, the user is clearly informed that spatial information is unavailable, and the system reverts to the normal glasses display mode.

[0032] In some alternative implementations, the rendering engine can be Unity, Unreal, OpenGL ES, or a custom rendering pipeline, etc.

[0033] This invention transmits the location information segment and the content information segment in the same broadcast data packet, simultaneously obtaining location data and content data. There is no time difference between the two, and the content always corresponds to the physical location at the time of location data collection. This eliminates the time gap between location and content acquisition in traditional separate designs from the architectural level, and solves the problem of content mismatch with the current location.

[0034] Example 1: The invention is further illustrated using an indoor space with six UWB anchors as an application scenario. The six UWB anchors utilize commercially available UWB and BLE dual-mode integrated SoC modules, housed in a custom casing (approximately 30mm × 30mm × 15mm). They are mounted on walls and ceilings using fasteners—one at each of the four corners (installation height approximately 2.0m), and two in the center of the ceiling. Each anchor is powered by a standard button battery.

[0035] The glasses terminal includes: a low-power UWB receiver chip, a microcontroller (such as the ESP32-S3 series), and a nine-axis inertial measurement unit (IMU). These components are integrated in a lightweight manner into the temples of the optical see-through AR glasses, employing either a detachable external mount or an integrated embedded structure, the specific form depending on the productization stage. The additional module is equipped with an independent power management module and battery, physically isolated from the AR terminal's main power supply.

[0036] The glasses terminal communicates with the mobile computing terminal, which serves as the computing power unit, via a wired or wireless high-speed data interface. The specific interface form does not constitute a limitation on the scope of protection of this invention.

[0037] After power-on, the six UWB anchors synchronize their clocks using the FiRa wireless clock synchronization protocol. According to the FiRaCore 3.0 specification, clock convergence between the six UWB anchors typically takes approximately 2 to 5 seconds, depending on the level of multipath interference in the environment. After synchronization, data packets are broadcast every 10ms in turn according to the TDMA timing sequence, with a total of 60ms for each round for the six anchors. The broadcast data packet contains both a location information segment (29 bytes) and a content information segment (62 bytes).

[0038] The positioning information segment includes an anchor identifier, a transmission timestamp, anchor spatial coordinates, a clock level, and reserved bits. The anchor identifier occupies 4 bytes, the transmission timestamp occupies 8 bytes, each coordinate in the anchor spatial coordinates occupies 4 bytes, the clock level occupies 1 byte, and the reserved bits occupies 4 bytes, for a total of 29 bytes.

[0039] The content information segment includes a content type identifier field, a display priority field, a content validity condition field, a group identifier, a content verification code, a reserved field, and display text. The content type identifier field includes the content type and the content identifier. The content type (content_type) occupies 1 byte, and the content identifier (content_id) occupies 8 bytes. The display priority field (priority) occupies 1 byte, with a value of 0-255. The larger the value, the higher the priority. The content validity condition field (validity_cond) occupies 1 byte, which is the validity condition bitmask. The group identifier (group_id) occupies 2 bytes, and the content verification code (content_crc) occupies 2 bytes. The reserved field (reserved) occupies 5 bytes. The display text includes the directly decoded display string and the index identifier or hash value pointing to the terminal's local preset text resource. The directly decoded display string (display_text) occupies 40 bytes, and the index identifier or hash value pointing to the terminal's local preset text resource (template_ref) occupies 2 bytes, for a total of 62 bytes. For the content type field `content_type`, 0x01 represents business, 0x02 represents navigation, 0x03 represents culture, 0x04 represents social, 0x05 represents security, 0x06 represents spatial art, 0x07 represents task, 0x08 represents sensor data, 0x09 represents alarm information, 0x0A represents device status, 0x0B represents environmental snapshot, and 0x0C-0xFF are reserved. For the content validity condition field `validity_cond`, bit 0 represents time limit, bit 1 represents weather limit, bit 2 represents crowd limit, bit 3 represents user limit, bit 4 represents interaction limit, bit 5 represents sensor threshold alarm, bit 6 represents sensor trend anomaly, and bit 7 is reserved.

[0040] The UWB receiver chip of the glasses terminal continuously and passively receives broadcast packets from each anchor point. After successfully receiving signals from at least three different anchor points, the microcontroller extracts positioning information segments from each broadcast packet and uses these segments to perform TDoA (Time Difference of Arrival) self-localization calculation to obtain the AR terminal's three-dimensional position in the anchor point coordinate system. It also extracts content information segments from the same broadcast packet to obtain the content type, displayed text, and display priority of that anchor point. Simultaneously, the IMU acquires raw head posture data at a frequency of 200Hz, and the first microcontroller runs a quaternion-based posture fusion algorithm (such as the Madgwick algorithm or Mahony algorithm) to output posture quaternions. The posture quaternions, three-dimensional position, and content information segments are encapsulated into a data frame and sent to the mobile computing terminal via the high-speed data interface.

[0041] The mobile computing terminal receives the data frame and determines the rendering content based on the displayed text, determines the rendering priority based on the display priority field, determines the rendering style based on the content type identifier field, and determines whether to render based on the content validity condition field. When rendering, the rendering engine renders according to the rendering priority and rendering style, updates the field of view of the AR terminal, and makes the virtual information stably anchored to the corresponding coordinates in the physical space.

[0042] Specifically, when the content information segment of the data frame received by the mobile computing terminal only contains the content type identifier (such as 0x09 alarm), the highest priority (255) and the sensor threshold alarm condition, but no text field is displayed, the rendering engine directly calls the local preset red warning icon and alarm sound effect template, and performs spatial anchoring rendering at the three-dimensional coordinates corresponding to the anchor point.

[0043] Example 2: In areas with poor broadband network (Wi-Fi / cellular) signal coverage, such as underground shopping malls, large industrial plants, and mine tunnels, traditional AR navigation solutions cannot function properly because they cannot download cloud-based 3D models and rich media content. Using this invention, even if the broadband network is completely interrupted, the AR terminal can still continuously receive the directly decoded and displayed string `display_text` broadcast from each anchor point via a single UWB channel. The terminal rendering engine automatically downgrades from full-featured 3D rendering mode to a text floating window mode, displaying core prompt text at the physical coordinates of the corresponding anchor point, such as "Safety exit 5 meters ahead," "Insufficient stock on shelf A03," or "Abnormal temperature in the current area." This embodiment verifies that this invention can maintain the deterministic delivery of basic spatial information through a UWB broadcast channel.

Claims

1. A method for spatial anchor point content publishing based on ultra-wideband broadcasting, characterized in that, Includes the following steps: Multiple UWB anchors deployed in physical space broadcast data packets at fixed intervals. Each data packet includes a location information segment and a content information segment. The location information segment includes an anchor identifier, a transmission timestamp, and anchor spatial coordinates. The content information segment includes a content type identifier field, a display priority field, a content validity condition field, and display text. The content type identifier is used to determine the service category of the content; the display priority is used to determine the rendering priority when the content enters the field of view; the content validity condition field is used to determine whether to render the content corresponding to the display text; the display text includes a directly decodeable string, an index identifier pointing to a pre-set text resource on the terminal, or a hash value. The AR terminal receives the data packet, synchronously extracts the positioning information segment and the content information segment from the data packet, performs TDoA self-localization calculation using the positioning information segment from no less than three data packets, and obtains the three-dimensional position of the AR terminal in the anchor point coordinate system; it collects the original head posture data through the IMU, converts the original head posture data into posture quaternions, encapsulates the posture quaternions, three-dimensional position and content information segment into a data frame and sends it to the mobile computing terminal. The mobile computing terminal receives the data frame and determines the rendering content based on the displayed text, determines the rendering priority based on the display priority field, determines the rendering style based on the content type identifier field, and determines whether to render based on the content validity condition field. When rendering, the rendering engine renders according to the rendering priority and rendering style to update the field of view of the AR terminal.

2. The space anchor content publishing method based on ultra-wideband broadcast according to claim 1, characterized in that, Content type identifiers include business information, navigation information, cultural information, social information, security information, spatial art, mission information, sensor data, alarm information, device status, and environmental snapshots.

3. The space anchor content publishing method based on ultra-wideband broadcast according to claim 1, characterized in that, The content validity condition field is a validity condition bitmask, which includes at least one of time restriction conditions, weather restriction conditions, crowd density restriction conditions, user identity restriction conditions, interaction trigger conditions, sensor threshold alarm conditions, or sensor trend anomaly conditions; when the restriction conditions indicated by the content validity condition field are met, the AR content is rendered.

4. The spatial anchor content publishing method based on ultra-wideband broadcasting according to claim 1, characterized in that, The UWB anchor point includes a processor and a UWB transceiver module. The UWB anchor point is also connected to a sensor. The processor reads the sensor data and compares it with a preset threshold. When the sensor reading exceeds the threshold, the processor modifies the content type identifier field and the display priority field in the next broadcast data packet. During rendering, the broadcast data packet corresponding to the UWB anchor point whose sensor reading exceeds the threshold is rendered first.

5. The spatial anchor point content publishing method based on ultra-wideband broadcasting according to claim 1, characterized in that, During rendering, the AR display mode is also determined based on UWB positioning and broadband streaming, and the AR display mode includes: When UWB positioning and broadband streaming are normal, complete 3D spatial rendering is performed, and users get a full-featured AR experience. When UWB positioning is normal but broadband streaming is abnormal, execute the text or icon floating window rendering mode and display basic spatial information at the corresponding physical coordinates based on the content information segment. UWB positioning is affected by multipath interference, which degrades its accuracy. However, when the broadband streaming is normal, IMU inertial calculation is used to assist positioning, and the user is notified that the current positioning accuracy has decreased. When UWB positioning deteriorates and broadband streaming is interrupted, only text-level content display and IMU-calculated positioning are maintained. When UWB positioning completely fails or the connection is completely lost, the user will be clearly informed that spatial information is unavailable, and the system will revert to the normal glasses display mode.

6. A spatial anchor point content publishing system based on ultra-wideband broadcasting, characterized in that, The system implements the spatial anchor point content publishing method based on ultra-wideband broadcast as described in claim 1, wherein the system includes multiple UWB anchor points, an AR terminal, and a mobile computing terminal; The plurality of UWB anchor points are used to broadcast data packets at fixed intervals; the data packets include a location information segment and a content information segment; the location information segment includes an anchor point identifier, a sending timestamp, and anchor point spatial coordinates; the content information segment includes a content type identifier field, a display priority field, a content validity condition field, and display text; the content type identifier is used to determine the service category of the content, the display priority is used to determine the rendering priority when the content enters the field of view, the content validity condition field is used to determine whether to render the content corresponding to the display text, and the display text includes a string that can be directly decoded and displayed, an index identifier pointing to a pre-set text resource on the terminal, or a hash value; The AR terminal is used to receive the data packets, synchronously extract positioning information segments and content information segments from the data packets, perform TDoA self-localization calculation using positioning information segments from no less than three data packets, and obtain the three-dimensional position of the AR terminal in the anchor point coordinate system; collect raw head posture data through IMU, convert the raw head posture data into posture quaternions, encapsulate the posture quaternions, three-dimensional position and content information segments into data frames and send them to the mobile computing terminal. The mobile computing terminal is used to receive the data frame, determine the rendering content based on the displayed text, determine the rendering priority based on the display priority field, determine the rendering style based on the content type identifier field, and determine whether to perform rendering based on the content validity condition field. When rendering, the rendering engine performs rendering based on the rendering priority and rendering style to update the field of view of the AR terminal.

7. The spatial anchor content publishing system based on ultra-wideband broadcasting according to claim 6, characterized in that, Content type identifiers include business information, navigation information, cultural information, social information, security information, spatial art, mission information, sensor data, alarm information, device status, and environmental snapshots.

8. The spatial anchor content publishing system based on ultra-wideband broadcasting according to claim 6, characterized in that, The content validity condition field is a validity condition bitmask, which includes at least one of time restriction conditions, weather restriction conditions, crowd density restriction conditions, user identity restriction conditions, interaction trigger conditions, sensor threshold alarm conditions, or sensor trend anomaly conditions; when the restriction conditions indicated by the content validity condition field are met, the AR content is rendered.

9. The spatial anchor content publishing system based on ultra-wideband broadcasting according to claim 6, characterized in that, The UWB anchor point includes a processor and a UWB transceiver module. The UWB anchor point is also connected to a sensor. The processor reads the sensor data and compares it with a preset threshold. When the sensor reading exceeds the threshold, the processor modifies the content type identifier field and the display priority field in the next broadcast data packet. During rendering, the broadcast data packet corresponding to the UWB anchor point whose sensor reading exceeds the threshold is rendered first.

10. The spatial anchor content publishing system based on ultra-wideband broadcasting according to claim 6, characterized in that, During rendering, the AR display mode is also determined based on UWB positioning and broadband streaming, and the AR display mode includes: When UWB positioning and broadband streaming are normal, complete 3D spatial rendering is performed, and users get a full-featured AR experience. When UWB positioning is normal but broadband streaming is abnormal, execute the text or icon floating window rendering mode and display basic spatial information at the corresponding physical coordinates based on the content information segment. UWB positioning is affected by multipath interference, which degrades its accuracy. However, when the broadband streaming is normal, IMU inertial calculation is used to assist positioning, and the user is notified that the current positioning accuracy has decreased. When UWB positioning deteriorates and broadband streaming is interrupted, only text-level content display and IMU-calculated positioning are maintained. When UWB positioning completely fails or the connection is completely lost, the user will be clearly informed that spatial information is unavailable, and the system will revert to the normal glasses display mode.

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