A pointing remote control system and a cursor positioning method

Abstract

The application provides a pointing remote control system and a cursor positioning method. When the angle of the pointing remote controller pointing at the display device exceeds the first angle range, the UWB 3+2 antenna combination is degraded into the UWB 1+2 antenna combination, so that the whole machine end uses one antenna and the remote controller end uses two antennas to interact with the ultra-wideband signal, and the motion information measured by the inertial navigation sensor in the pointing remote controller is combined, the six-degree-of-freedom pose is obtained through the extended Kalman filter fusion calculation, and the three-degree-of-freedom attitude fixed anchor point is not directly degraded. Therefore, on the basis of maintaining the cost advantage, the positioning failure problem of the pointing remote controller in the horizontal and vertical direction large-angle pointing can be effectively solved, the pointing remote controller has the real full-range six-degree-of-freedom pointing capability, and the operation experience of the user in the large-screen scene is improved.

Description

Technical Field

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

[0002] In large-screen TV interaction scenarios, pointing remote control, as a novel interaction method, integrates an ultra-wideband module into a traditional remote control. It utilizes positioning algorithms to calculate the pose relationship between the remote control and the TV, using the projection of the pointing direction onto the screen as the interactive cursor, achieving precise pointing operation similar to a laser pointer. To adapt to the market trend of cost reduction, current pointing remote control products have gradually iterated from the UWB 3+3 solution to the UWB 3+2 solution. This means the main unit integrates three antennas, and the remote control integrates two antennas. Distance and two azimuth angles are measured using the ultra-wideband signal time-of-flight difference between the antenna arrays, and this data is fused with the inertial measurement unit to calculate the six-degree-of-freedom pose of the remote control relative to the screen.

[0003] However, the UWB3+2 scheme is limited by the physical characteristics of multi-antenna ultra-wideband positioning. When the horizontal or vertical angle pointed by the remote controller exceeds the effective threshold range given by the UWB manufacturer, the resolution capability of the multiple antennas for the signal angle of arrival drops sharply, leading to a significant increase in measurement noise and failure of fusion calculation with the IMU. Existing solutions degrade the system from six-degree-of-freedom attitude calculation to a three-degree-of-freedom attitude mode relying solely on the IMU, i.e., locking the pointing anchor point and no longer updating the position, only retaining attitude calculation. This method can maintain a basic pointing experience when the user is stationary, but once the user moves, the fixed anchor point will cause a significant deviation between the cursor position and the user's subjective pointing intention, severely affecting the interactive experience. Therefore, it is necessary to solve the problem of UWB pointing remote controllers failing to position at large angles in the horizontal and vertical directions to achieve continuous six-degree-of-freedom pointing capability across the entire angle range. Summary of the Invention

[0004] This application provides a pointing remote control system and cursor positioning method, which can effectively solve the problem of positioning failure when pointing at large angles, based on the UWB 3+2 antenna combination, and realize omnidirectional six-degree-of-freedom pointing capability.

[0005] In a first aspect, this application provides a pointing remote control system, comprising: a main unit deployed on a display device side, the main unit having a first antenna array comprising three antennas; and a pointing remote control having a second antenna array comprising two antennas; wherein the main unit and the pointing remote control interact via an antenna pattern composed of the first and second antenna arrays to measure relative position information; wherein the relative position information includes the distance between the main unit and the pointing remote control, and the angle at which the pointing remote control points towards the main unit; the pointing remote control further comprises an inertial navigation sensor configured to: collect the motion of the pointing remote control. The information, including the motion information, includes the angular velocity and acceleration of the pointing remote controller; an extended Kalman filter; and a processor configured to: when the angle at which the pointing remote controller points towards the device exceeds a first angle range, adopt a first antenna mode; wherein the first antenna mode refers to a mode in which one antenna from the first antenna array and the second antenna array form an antenna combination; and to fuse and calculate the first measurement information and the first prediction information through the extended Kalman filter to obtain the six-degree-of-freedom pose of the pointing remote controller; wherein the first measurement information is the relative position information measured based on the first antenna mode; and the first prediction information is the information predicted based on the motion information measured by the inertial navigation sensor.

[0006] In this way, when the angle at which the remote control points at the display device exceeds the first angle range, the UWB 3+2 antenna combination is degraded to a UWB 1+2 antenna combination. This allows for ultra-wideband signal interaction between one antenna on the device and two antennas on the remote control. Combined with motion information measured by the inertial navigation sensor in the remote control, a six-degree-of-freedom pose is calculated through extended Kalman filter fusion, instead of directly degrading to a three-degree-of-freedom fixed anchor point. Therefore, while maintaining cost advantages, this effectively solves the problem of positioning failure when the remote control points at large angles in the horizontal and vertical directions, giving the remote control true omnidirectional six-degree-of-freedom pointing capability and improving the user experience in large-screen scenarios.

[0007] In some embodiments of this application, the processor is further configured to: calculate the horizontal pointing angle of the remote controller relative to the device in the horizontal direction and the vertical pointing angle in the vertical direction; compare the horizontal pointing angle with a preset horizontal angle threshold and compare the vertical pointing angle with a preset vertical angle threshold; if the horizontal pointing angle exceeds the horizontal angle threshold and / or the vertical pointing angle exceeds the vertical angle threshold, then determine that the angle of the remote controller pointing to the device exceeds the first angle range; if the horizontal pointing angle does not exceed the horizontal angle threshold and the vertical pointing angle does not exceed the vertical angle threshold, then determine that the angle of the remote controller pointing to the device does not exceed the first angle range.

[0008] In this way, by setting thresholds for the horizontal and vertical pointing angles respectively, it is possible to accurately identify whether the remote control is pointing at a large angle, providing a reliable trigger condition for switching antenna modes.

[0009] In some embodiments of this application, the processor is further configured to: employ a second antenna mode when it detects that the angle at which the pointing remote controller points towards the device does not exceed the first angle range; wherein, the second antenna mode refers to a mode in which the three antennas included in the first antenna array and the second antenna array form an antenna combination; to obtain the rotational attitude three degrees of freedom of the pointing remote controller by fusing the second measurement information and the second prediction information through the extended Kalman filter; and to obtain the translational position three degrees of freedom of the pointing remote controller based on the second measurement information; wherein, the second measurement information is the relative position information measured based on the second antenna mode; and the second prediction information is the information predicted based on the motion information measured by the inertial navigation sensor.

[0010] In this way, by using the UWB 3+2 antenna combination within the normal pointing angle range, and making full use of the complete position information provided by the three antennas on the whole device, the rotation attitude and translation position of the pointing remote control can be accurately calculated, ensuring high accuracy and stability of six-degree-of-freedom pose calculation in normal use scenarios.

[0011] In some embodiments of this application, the processor is further configured to: after determining that an antenna mode switching operation needs to be performed, generate a control command based on the target antenna mode; wherein the control command indicates the enable state of each antenna in the first antenna array; and based on the control command, control the first antenna in the first antenna array to be enabled, and control the second antenna in the first antenna array to be disabled.

[0012] In this way, by generating control commands to selectively enable or disable the corresponding antennas in the antenna array at the device end, hardware switching between the two antenna modes, UWB 3+2 and UWB 1+2, can be flexibly realized, reducing system overhead and improving the response speed of mode switching.

[0013] In some embodiments of this application, the processor is further configured to: in the second antenna mode, if it is detected that the angle at which the remote control points to the device exceeds a second angle range but does not exceed a first angle range, activate the first antenna mode and keep the second antenna mode activated; provide initial values ​​for fusion calculation of the first antenna mode from the calculation results of the second antenna mode; and perform fusion filtering on the calculation results of the second antenna mode and the calculation results of the first antenna mode; and deactivate the second antenna mode and keep the first antenna mode activated when it is detected that the angle at which the remote control points to the device exceeds the first angle range, so as to switch from the second antenna mode to the first antenna mode.

[0014] In this way, by setting a small angle buffer before the large angle threshold, starting the first antenna mode in advance and using the calculation result of the second antenna mode as the initial value for fusion filtering, a smooth transition between UWB 3+2 and UWB 1+2 can be achieved, suppressing cursor jumps during the switching process and ensuring the continuity and naturalness of the user experience.

[0015] In some embodiments of this application, in the first antenna mode, the second translation state variable is equivalently represented by the first translation state variable; the first translation state variable includes the first direction angle and the second direction angle between the whole device and the pointing remote controller; the second translation state variable includes the three-dimensional translation position of the pointing remote controller; wherein, the first direction angle can be directly measured based on the first antenna mode; the second direction angle is calculated by the first antenna mode in the pitch direction.

[0016] In this way, when the UWB 1+2 antenna combination can only directly measure one azimuth angle, by introducing a second azimuth angle calculated from the elevation direction, the complete three-dimensional translation position can be represented with less measurement information, thus maintaining the six-degree-of-freedom pose calculation capability while reducing the amount of information.

[0017] In some embodiments of this application, the processor fuses the first measurement information and the first prediction information using the extended Kalman filter to obtain the six-degree-of-freedom pose of the pointing remote controller. Specifically, the processor is configured to: in the first antenna mode, based on the current first translation state variable, perform state prediction using the motion information to obtain the first prediction information; use the ultra-wideband measurement value in the first antenna mode as the first measurement information, and use the extended Kalman filter to update the first prediction information to obtain the updated first translation state variable; based on the updated first translation state variable, calculate the three degrees of freedom of the translation position of the pointing remote controller.

[0018] In this way, by performing state prediction and observation updates in the first antenna mode using an extended Kalman filter, the updated translational state variables can be obtained even with limited measurement information, and then the accurate three degrees of freedom of the translational position can be calculated.

[0019] In some embodiments of this application, in the second antenna mode, a second translation state variable is used; wherein, the second translation state variable includes the three-dimensional translation position of the pointing remote controller; the processor obtains the three degrees of freedom of the translation position of the pointing remote controller based on the second measurement information, specifically configured to: use the ultra-wideband measurement value in the second antenna mode as the second measurement information; and calculate the three degrees of freedom of the translation position of the pointing remote controller based on the second measurement information.

[0020] In this way, in the second antenna mode, the three-dimensional translation position can be calculated directly using the complete ultra-wideband measurement information provided by the three antennas, and a higher accuracy position estimate can be obtained within the effective angle range.

[0021] Secondly, this application also provides a cursor control method applied to a pointing remote control system, the pointing remote control system comprising: a terminal unit deployed on a display device side, the terminal unit having a first antenna array including three antennas; a pointing remote control having a second antenna array, the second antenna array including two antennas; the pointing remote control also having an inertial navigation sensor; the method comprising: performing ultra-wideband signal interaction through an antenna pattern composed of the first antenna array and the second antenna array, measuring relative position information; wherein, the relative position information includes the distance between the terminal unit and the pointing remote control, and the angle at which the pointing remote control points towards the terminal unit; acquiring the pointing... The motion information of the remote controller includes the angular velocity and acceleration of the pointing remote controller; when the angle at which the pointing remote controller points towards the device exceeds a first angle range, a first antenna mode is adopted; wherein, the first antenna mode refers to a mode in which one antenna from the first antenna array and the second antenna array form an antenna combination; the six-degree-of-freedom pose of the pointing remote controller is obtained by fusing the first measurement information and the first prediction information through an extended Kalman filter; wherein, the first measurement information is the relative position information measured based on the first antenna mode; the first prediction information is the information predicted based on the motion information measured by the inertial navigation sensor.

[0022] In this way, when the angle at which the remote control points at the display device exceeds the first angle range, the UWB 3+2 antenna combination is degraded to a UWB 1+2 antenna combination. This allows for ultra-wideband signal interaction between one antenna on the device and two antennas on the remote control. Combined with motion information measured by the inertial navigation sensor in the remote control, a six-degree-of-freedom pose is calculated through extended Kalman filter fusion, instead of directly degrading to a three-degree-of-freedom fixed anchor point. Therefore, while maintaining cost advantages, this effectively solves the problem of positioning failure when the remote control points at large angles in the horizontal and vertical directions, giving the remote control true omnidirectional six-degree-of-freedom pointing capability and improving the user experience in large-screen scenarios.

[0023] In some embodiments of this application, the method further includes: when the angle at which the pointing remote controller points towards the device does not exceed the first angle range, adopting a second antenna mode; wherein, the second antenna mode refers to a mode in which the three antennas included in the first antenna array and the second antenna array form an antenna combination; fusing the second measurement information and the second prediction information through the extended Kalman filter to obtain the three degrees of freedom of rotational attitude of the pointing remote controller; and obtaining the three degrees of freedom of translational position of the pointing remote controller based on the second measurement information; wherein, the second measurement information is the relative position information measured based on the second antenna mode; and the second prediction information is the information predicted based on the motion information measured by the inertial navigation sensor.

[0024] In this way, by using the UWB 3+2 antenna combination within the normal pointing angle range, and making full use of the complete position information provided by the three antennas on the whole device, the rotation attitude and translation position of the pointing remote control can be accurately calculated, ensuring high accuracy and stability of six-degree-of-freedom pose calculation in normal use scenarios. Attached Figure Description

[0025] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the remote control system 100 in an embodiment of this application; Figure 2 Provided for some embodiments of this application Figure 1 Hardware configuration block diagram of display device 200; Figure 3 This is a diagram showing the operating system configuration of the display device 200 in this embodiment of the application; Figure 4 These are schematic diagrams of the coordinate systems involved in the embodiments of this application; Figure 5 This is a flowchart illustrating the calculation of six-degree-of-freedom pose when the pointing remote control system 100 uses a UWB3+2 antenna combination in this embodiment of the application. Figure 6 This is a schematic diagram showing the horizontal pointing angle of the remote controller 400 in an embodiment of this application; Figure 7 This is a flowchart illustrating the process of determining the angle range to which the pointing angle belongs in an embodiment of this application. Figure 8A This is a diagram illustrating the algorithm framework for cursor positioning based on the UWB3+2 combination in the embodiments of this application. Figure 8B This is a schematic diagram of an algorithm framework for cursor positioning based on the UWB1+2 combination in an embodiment of this application; Figure 8C This is a diagram illustrating another algorithm framework for cursor positioning based on the UWB1+2 combination in the embodiments of this application. Figure 9 This is a flowchart illustrating the calculation of the three degrees of freedom of translational position when the pointing remote control system 100 uses a UWB3+2 antenna combination in the embodiments of this application; Figure 10 This is a flowchart illustrating the calculation of six-degree-of-freedom pose when the pointing remote control system 100 uses a UWB1+2 antenna combination in this embodiment of the application. Figure 11 This is a schematic diagram of the UWB1+2 angle calculation in the embodiments of this application; Figure 12 This is a schematic diagram illustrating the calculation of the first direction angle in an embodiment of this application; Figure 13 This is a flowchart illustrating the calculation of the three degrees of freedom of translational position when the pointing remote control system 100 uses a UWB1+2 antenna combination in the embodiments of this application; Figure 14 This is a flowchart illustrating the process of switching antenna modes in the remote control system 100 as described in this application embodiment; Figure 15 This is a flowchart illustrating the smooth transition of the pointing remote control system 100 from UWB3+2 to UWB1+2 in this embodiment of the application. Detailed Implementation

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

[0028] Before introducing the various embodiments of this application, the core concepts and symbol definitions involved in this application will be explained first.

[0029] The pointing remote controller involved in this application incorporates two types of sensors: UWB (Ultra-Wideband) and IMU (Inertial Measurement Unit). The pointing orientation (angle) is primarily calculated by the IMU, while the starting position (anchor point) is primarily calculated by the UWB. This is determined by the characteristics of the two types of sensors: the IMU is relatively accurate in calculating 3DoF attitude, but has a larger error in calculating position; while the multi-antenna combination of UWB can provide rotation and position information, which can just compensate for the shortcomings of the IMU, achieving true 6DoF pose calculation.

[0030] The basic principle of UWB (Ultra-Wideband) positioning is as follows: UWB positioning consists of two base stations, each with 1 to 3 antennas. The base stations transmit high-frequency, short-duration coded radio pulses to each other, measuring the distance and azimuth of the other base station. Specifically, one antenna can only measure distance, two antennas can measure distance and one azimuth, and three antennas can measure distance and two azimuths, constructing a complete direction and position relationship. Conversely, increasing the number of antennas at the base stations yields the reverse result; UWB3+3 can calculate the pose relationship between the base station and the terminal, representing the most complete UWB positioning scheme.

[0031] Figure 1 This is a schematic diagram pointing to the remote control system 100 in an embodiment of this application. Figure 1 As shown, the pointing remote control system 100 includes a display device 200, a terminal 300 deployed on the side of the display device 200, and a pointing remote control 400 with pointing function.

[0032] Among them, the complete unit 300, also known as the Dongle end or R end, has a first antenna array, which integrates 3 UWB antennas.

[0033] The remote controller 400, also known as the I-end, has a second antenna array that integrates two UWB antennas.

[0034] In some embodiments, the device 300 and the pointing remote controller 400 interact via an antenna pattern composed of a first antenna array and a second antenna array to measure relative position information. This relative position information includes the distance between the device 300 and the pointing remote controller 400, and the angle at which the pointing remote controller 400 points towards the device 300.

[0035] In some embodiments, motion information pointing toward the remote controller 400 is collected by an inertial navigation sensor, the motion information including the angular velocity and acceleration pointing toward the remote controller 400.

[0036] In this embodiment, UWB3+2 represents the antenna combination of enabling three antennas on the main unit 300 and enabling two antennas pointing to the remote controller 400. UWB3+2 can provide range and two azimuth angles, and when fused with the IMU, it can calculate a true 6DoF pose.

[0037] In this embodiment, UWB1+2 represents the antenna combination of one enabled antenna on the main unit 300 and two enabled antennas pointing to the remote controller 400. UWB1+2 can only provide distance and azimuth angle, which is insufficient information. It is necessary to introduce calculated angles through a hypothetical model to approximate the 6DoF pose.

[0038] In the embodiments of this application, 6DoF (six degrees of freedom) refers to pose information that simultaneously includes three degrees of freedom in rotational attitude and three degrees of freedom in translational position. The three degrees of freedom in rotational attitude include three rotational angles: pitch, yaw, and roll; the three degrees of freedom in translational position include three translational displacement components: horizontal (x), vertical (y), and depth (z).

[0039] In some embodiments, if only the three degrees of freedom of rotational attitude can be calculated, but the three degrees of freedom of translational position cannot be calculated, the anchor point (pointing to the starting position) will no longer be updated and will remain fixed.

[0040] In some embodiments, the pointing remote control system 100 further includes an extended Kalman filter.

[0041] In some embodiments, the remote control system 100 further includes a processor.

[0042] In some embodiments, the extended Kalman filter and processor can be integrated into the display device 200, or into the pointing remote controller 400, or deployed separately in the display device 200 and the pointing remote controller 400. It is understood that the data and instruction transmission paths will be adjusted accordingly based on the different deployment methods of the extended Kalman filter and processor.

[0043] In some embodiments, the display device 200 may provide broadcast television reception functionality, and may also provide intelligent network television functionality with computer support, including but not limited to network television, smart television, Internet Protocol television (IPTV), etc.

[0044] In one example, display device 200 is a large-screen display device with a size greater than the threshold.

[0045] Figure 2 Provided for some embodiments of this application Figure 1 Hardware configuration block diagram of display device 200.

[0046] In some embodiments, the display device 200 may include at least one of a tuner 210, a communication device 220, a detector 230, a device interface 240, a controller 250, a display 260, an audio output device 270, a user input interface 280, a memory, and a power supply.

[0047] In some embodiments, the communication device 220 is a component for communicating with external devices or the server 400 according to various communication protocol types. The display device 200 may be equipped with multiple communication devices 220 depending on the supported communication methods. The communication devices 220 can enable the display device 200 to communicate with the external devices or the server 400 via wireless or wired connections.

[0048] In some embodiments, detector 230 is used to acquire signals from the external environment or to interact with the outside world. For example, detector 230 includes a light receiver, a sensor for acquiring ambient light intensity; or, detector 230 includes an image acquisition device, such as a camera, which can be used to acquire external environmental scenes, user attributes, or user interaction gestures; or, detector 230 includes a sound acquisition device, such as a microphone, for receiving external sounds.

[0049] In this embodiment, the detector 230 further includes a microphone array for acquiring the user's voice and ambient audio. The microphone array can include various forms such as linear arrays and circular arrays. Through signal processing between multiple microphones, sound source localization and beamforming can be achieved, improving the quality of far-field voice acquisition.

[0050] In some embodiments, device interface 240 is used to connect to an external device.

[0051] In some embodiments, the controller 250 is used to control the overall operation of the display device 200. The controller 250 may include at least one of a central processing unit (CPU), a video processor, an audio processor, a graphics processing unit (GPU), and a power processor, and a first to an nth interface for input / output. The controller 250 controls the operation of the display device 200 and responds to user operations through various software control programs stored in memory.

[0052] In this embodiment, the controller 250 works in conjunction with the main chip. The main chip, in its operational state, is responsible for running far-field voice services and performing complex speech recognition and natural language processing tasks.

[0053] In some embodiments, the controller 250 and the tuner 210 may be located in different separate devices, that is, the tuner 210 may also be located in an external device of the main device where the controller 250 is located, such as an external set-top box.

[0054] In some embodiments, the display 260 is used to receive and display image signals output from the controller 250. The display 260 may include display function components for presenting images and driving components for driving image display.

[0055] In some embodiments, a user can input user commands on a graphical user interface (GUI) displayed on a display 260, and a user input interface 280 can receive user commands through the GUI.

[0056] In some embodiments, the audio output device 270 may be a built-in speaker of the display device 200 or an external audio output device connected to the display device 200.

[0057] In some embodiments, the user input interface 280 can be used to receive instructions from user input.

[0058] In some embodiments, to enable user interaction, the display device 200 may run an operating system. An operating system is a computer program that manages and controls the hardware and software resources of the display device 200. The operating system can control the display device to provide a user interface; for example, the operating system can directly control the display device to provide a user interface, or it can provide a user interface by running applications. The operating system also allows users to interact with the display device 200.

[0059] The operating system can be a native operating system based on a specific operating platform, a third-party operating system that is deeply customized based on a specific operating platform, or an independent operating system specifically developed for display devices 200.

[0060] An operating system can be divided into different modules or levels based on the functions it implements, for example... Figure 3 As shown, in some embodiments, the system can be divided into four layers, from top to bottom: the Applications layer (referred to as the "Application Layer"), the Application Framework layer (referred to as the "Framework Layer"), the System Runtime Library layer, and the Kernel layer.

[0061] In some embodiments, the application layer is used to provide services and interfaces for applications so that the display device 200 can run the applications and interact with the user based on the applications.

[0062] The framework layer provides application programming interfaces (APIs) and programming frameworks for applications. The application framework layer includes predefined functions. It acts as a central processing unit, determining the actions taken by applications within the application layer. Applications can access system resources and obtain system services during execution through the API interface.

[0063] In some embodiments, the system runtime library layer can provide support for the framework layer. When the framework layer is used, the operating system runs the instruction library contained in the system runtime library layer, such as the C / C++ instruction library, to implement the functions to be performed by the framework layer.

[0064] In some embodiments, the kernel layer is a functional layer situated between the hardware and software of the display device 200. The kernel layer can implement functions such as hardware abstraction, multitasking, and memory management.

[0065] It should be noted that the above examples are merely a simple division of operating system functions and do not limit the specific form of the operating system of the display device 200 in this application embodiment. Depending on the function of the display device, the type of operating system, and other factors, the number of levels and the specific level type of the operating system may be expressed in other forms.

[0066] Figure 4 This is a schematic diagram of the coordinate systems involved in the embodiments of this application.

[0067] In some embodiments, see Figure 2 The screen coordinate system (index s) has its origin at the upper left corner of the screen of the display device 200, with the x-axis pointing horizontally to the right and the y-axis pointing vertically downwards.

[0068] In some embodiments, see Figure 2 The world coordinate system (index w) has its origin at 300 on the device side, and its coordinate axes are parallel to the screen coordinate system s.

[0069] In some embodiments, see Figure 2 , which points to the IMU coordinate system of remote controller 400 (index b), and , which points to the coordinate system of remote controller 400 itself.

[0070] In some embodiments, the origin of the UWB R-end coordinate system is at 300 on the end of the machine, with the x-axis pointing horizontally to the left and the y-axis pointing vertically upward.

[0071] In some embodiments, the coordinate axes of the I-end coordinate system of the UWB are parallel to the IMU coordinate system. However, the x-axis of the I-end coordinate system is the y-axis of the IMU coordinate system, the y-axis of the I-end coordinate system is the z-axis of the IMU coordinate system, and the z-axis of the I-end coordinate system is the x-axis of the IMU coordinate system.

[0072] In the EKF design of this application embodiment, scalars are represented by lowercase letters, vectors by bold lowercase letters, and matrices by uppercase letters. The letter representations involved in this application embodiment are given below: The subscript 't' represents time, and the subscript 'Δt' represents time interval; the superscript 'T' represents matrix transpose; 'exp' and 'log' represent exponential and logarithmic functions, respectively. 'q' represents quaternion rotation, 'v' represents the velocity vector, 'p' represents the position vector, 'n' represents noise or pointing vector, 'R' represents a 3×3 rotation matrix, and 'P' represents the covariance matrix. '⊗' represents quaternion multiplication. The superscript '∧' represents skew operation, transforming a 3×1 vector into a 3×3 antisymmetric matrix; the superscript '∨' represents the inverse of the skew operation. Furthermore, the function is defined to return a rotation that makes a vector coincide with another vector.

[0073] Figure 5 This is a flowchart illustrating the calculation of six-degree-of-freedom pose when the pointing remote control system 100 uses a UWB3+2 antenna combination in this embodiment of the application. The specific steps are as follows: Step S501: When it is detected that the angle of the remote control pointing to the whole unit does not exceed the first angle range, the second antenna mode is adopted.

[0074] The second antenna mode refers to an antenna combination consisting of three antennas from the first antenna array and two antennas from the second antenna array. Specifically, all three UWB antennas on the main unit (300) are activated, forming a UWB3+2 combination with the two antennas pointing towards the remote controller (400). This UWB3+2 combination provides sufficient information, including range and two azimuth angles, allowing for direct calculation of the complete pose relationship between the remote controller and the main unit.

[0075] In some embodiments, the first angle range is a preset angle range, wherein angles within the first angle range can be considered as valid angles for UWB3+2 combined solution, and angles outside the first angle range can be considered as invalid angles for UWB3+2 combined solution, i.e., large angles.

[0076] Figure 6 This is a schematic diagram illustrating the horizontal pointing angle of the remote control 400 in an embodiment of this application. The angle range is illustrated using the horizontal pointing angle of the remote control 400 as an example; please refer to [the provided text]. Figure 6 The first angle range is 601. When the pointing direction of the remote control 400 is 602, the angle it points in the horizontal direction is within the first angle range of 601. When the pointing direction of the remote control 400 is 603, the angle it points in the horizontal direction is within the first angle range of 601.

[0077] Figure 7This is a flowchart illustrating the process of determining the angle range to which the pointing angle belongs in this embodiment of the application. The specific steps are as follows: Step S701: Calculate the horizontal pointing angle of the remote control relative to the whole unit in the horizontal direction and the vertical pointing angle in the vertical direction.

[0078] The angle at which the remote controller 400 points towards the main unit 300 is a spatial angular concept, which needs to be decomposed into two components: horizontal and vertical, for effective determination. The horizontal pointing angle reflects the degree to which the remote controller 400 deviates from the direction directly in front of the main unit 300 in the horizontal direction, while the vertical pointing angle reflects the degree to which the remote controller 400 deviates from the direction directly in front of the main unit 300 in the vertical direction. Both angular components can be calculated using UWB measurement information and IMU motion information.

[0079] Step S702: Compare the horizontal pointing angle with a preset horizontal angle threshold, and compare the vertical pointing angle with a preset vertical angle threshold.

[0080] The horizontal and vertical angle thresholds are empirical thresholds set based on the multi-antenna positioning characteristics of UWB. For example, typical effective range thresholds given by UWB manufacturers are ±60° horizontally and ±45° vertically. Beyond these threshold ranges, UWB measurement errors become large and unstable, and pose calculations fused with the IMU fail (see [link to relevant documentation]). Figure 1 (The region exceeding the θ range). Therefore, the horizontal angle threshold and the vertical angle threshold are the boundary values ​​of the first angle range in the horizontal and vertical directions.

[0081] Step S703: If the horizontal pointing angle exceeds the horizontal angle threshold and / or the vertical pointing angle exceeds the vertical angle threshold, then it is determined that the angle of the remote control pointing to the whole machine exceeds the first angle range.

[0082] In other words, if the direction pointed at the remote control 400 exceeds the effective angle range in either the horizontal or vertical direction, it is determined to be a large-angle pointing scenario. This is because the measurement error of UWB multi-antenna positioning increases at large angles; if even one direction exceeds the effective range, the overall pose calculation accuracy will decrease significantly.

[0083] Step S704: If the horizontal pointing angle does not exceed the horizontal angle threshold and the vertical pointing angle does not exceed the vertical angle threshold, then it is determined that the angle of the remote control pointing to the whole machine does not exceed the first angle range.

[0084] When both the horizontal and vertical pointing angles do not exceed their respective effective thresholds, it indicates that the pointing remote control 400 is in an area with good UWB signal quality (see...). Figure 1 Within the first angle range of 601).

[0085] When it is determined that the angle between the remote control 400 and the main unit 300 does not exceed the first angle range, the second antenna mode, namely UWB3+2 combination, is adopted.

[0086] Step S502: The second measurement information and the second prediction information are fused and calculated using an extended Kalman filter to obtain the three degrees of freedom of rotational attitude pointing to the remote controller.

[0087] The second measurement information is the relative position information obtained based on the second antenna mode measurement, namely the distance and two azimuth angles measured by the UWB3+2 combination through ultra-wideband signal interaction; the second prediction information is the information predicted based on the motion information measured by the inertial navigation sensor, namely the rotation and velocity state predicted by the IMU through integrated angular velocity and acceleration.

[0088] Figure 8A This is a diagram illustrating the algorithm framework for cursor positioning based on the UWB3+2 combination in an embodiment of this application. See also... Figure 8A In the second antenna mode, the rotation attitude 3DoF tracking calculation is obtained by combining two parts: one part is the attitude result calculated by the IMU alone (IMU integral angular velocity), and the other part is the attitude result calculated by the IMU and UWB together (EKF fusion).

[0089] Step S503: Based on the second measurement information, obtain the three degrees of freedom of translation position pointing to the remote controller.

[0090] See Figure 8A The translation calculations are obtained directly from UWB calculations, rather than through EKF fusion. To reduce computational load, EKF only calculates rotation and velocity, while translation is directly derived from UWB solutions, serving as the basis for anchor point updates (merging process). In other words, the three degrees of freedom of translation position are directly calculated based on the distance and two azimuth angles measured by the UWB 3+2 combination.

[0091] Figure 9 This is a flowchart illustrating the calculation of the three degrees of freedom of translational position when the pointing remote control system 100 uses a UWB3+2 antenna combination in this embodiment of the application. The specific steps are as follows: Step S901: Use the ultra-wideband measurement value in the second antenna mode as the second measurement information.

[0092] In the second antenna mode, a second translation state variable is used. This second translation state variable includes the three-dimensional translation position p pointing towards the remote controller 400.

[0093] In the second antenna mode, all three antennas of the main unit 300 are enabled, and they interact with the two antennas of the remote control 400 via ultra-wideband signals, which can measure the distance and two azimuth angles, i.e., the second measurement information.

[0094] Step S902: Based on the second measurement information, calculate the three degrees of freedom of the translation position pointing to the remote controller.

[0095] In the second antenna mode, the translation position is directly taken from the UWB solution value, which serves as the basis for anchor point update (merging process).

[0096] In some embodiments, when using a UWB3+2 antenna combination to solve for six-degree-of-freedom attitude information, the state variables can be expressed as:

[0097] in, Represents the components of the rotation vector r along the x, y, and z axes; This represents the components of the three-dimensional translation position p of the remote control 400 along the x, y, and z axes; This represents the components of the velocity v pointing to the remote control in the 400 world coordinate system along the x, y, and z axes.

[0098] The prediction model can be: ; in, Represents the rotation vector of the remote controller IMU coordinate system relative to the world coordinate system at time t+Δt; The rotation vector of the remote controller IMU relative to the world coordinate system at time t; This represents the angular velocity vector in the body coordinate system acquired by the remote control IMU; The Gaussian noise vector representing the angular velocity measurement; Represents the velocity vector of remote controller 400 in the world coordinate system at time t+Δt; This represents the velocity vector of the remote controller in the world coordinate system at time t. Represents the body coordinate system acceleration vector acquired by the remote control IMU; This represents the constant vector of gravitational acceleration in the world coordinate system.

[0099] Compared to , This can be ignored; the observation model (3 antennas at the R end of UWB) can be: ; in, This represents a 3×3 rotation matrix between the R-coordinate system of the entire device and the S-coordinate system of the screen. This represents the three-dimensional position vector of the i-th UWB antenna of the remote control in the R coordinate system of the entire device; This represents the three-dimensional position vector of the i-th UWB antenna pointing to remote controller 400 in the world coordinate system w.

[0100] The observation model (UWB I-end 2 antennas) can be: ; in, The rotation matrix representing the remote controller's UWB antenna coordinate system I relative to the remote controller's IMU body coordinate system b; This represents the position vector of the device R in the coordinate system of the i-th UWB antenna of the remote controller; This represents the fixed installation offset of the entire remote control UWB module in the coordinate system of the remote control IMU; The transpose of the rotation matrix of the remote controller IMU relative to the world coordinate system at time t; This represents the three-dimensional position vector of the i-th UWB antenna of the remote controller in the world coordinate system.

[0101] To reduce computational load, EKF only calculates rotation and velocity; translation is not included in the EKF state variables and update process. This is because the UWB3+2 combination provides sufficient position information (distance + two azimuth angles), allowing direct calculation to obtain the accurate translation position p without further optimization through EKF fusion filtering.

[0102] Figure 10 This is a flowchart illustrating the calculation of six-degree-of-freedom pose when the pointing remote control system 100 uses a UWB1+2 antenna combination, as described in this application embodiment. The specific steps are as follows: Step S1001: When the angle at which the remote control is pointing towards the device exceeds the first angle range, the first antenna mode is adopted.

[0103] The first antenna mode refers to the antenna combination consisting of one antenna from the first antenna array and two antennas from the second antenna array. In other words, only one of the three antennas on the main unit (300) is used for UWB signal interaction, while both antennas pointing to the remote control (400) are activated, forming a UWB1+2 combination. (See reference...) Figure 11 The UWB1+2 combination can only measure the distance d and the azimuth angle α.

[0104] When the angle between the remote control 400 and the main unit 300 exceeds the first angle range (i.e., a large angle pointing to the scene), the angle and displacement errors given by the UWB3+2 combination are large, and the EKF fusion filtering of UWB and IMU becomes meaningless.

[0105] Step S1002: The first measurement information and the first prediction information are fused and calculated by the extended Kalman filter to obtain the six-degree-of-freedom pose of the remote controller.

[0106] The first measurement information is the relative position information obtained based on the first antenna mode, namely the distance d and azimuth angle α measured by the UWB1+2 combination through ultra-wideband signal interaction. The first prediction information is the information predicted based on the motion information measured by the inertial navigation sensor, namely the rotation and velocity state predicted by the IMU through integrated angular velocity and acceleration.

[0107] Figure 8B This is a framework diagram of an algorithm for cursor positioning based on the UWB1+2 combination in an embodiment of this application. Figure 8A The main difference is that, in the first antenna mode, the translation part is calculated by the translation position result (EKF) jointly calculated by the IMU and UWB, rather than being obtained directly by UWB.

[0108] In the first antenna mode, since the UWB1+2 combination only provides range and azimuth, the information is insufficient to directly calculate the complete 6DoF pose. Therefore, an extended Kalman filter is needed to fuse the UWB measurement information with the IMU prediction information. Using the attitude prediction provided by the IMU and the estimated angle introduced by the assumed model, the 6DoF pose is approximately calculated. In this way, even in large-angle regions where the UWB signal quality is weak, the pointing remote controller 400 can still output a 6DoF pose instead of degenerating into a 3DoF pose.

[0109] In this embodiment of the application, in the first antenna mode, the second translation state variable is equivalently represented by the first translation state variable. The first translation state variable includes a first directional angle and a second directional angle between the device 300 and the pointing remote controller 400.

[0110] See Figure 11 The UWB1+2 combination can only directly measure the distance d and one angle α. The other angle β needs to be calculated further using a hypothetical model. d is the UWB measured distance, α is the UWB measured angle (i.e., the first direction angle), and β is the pitch angle (i.e., the second direction angle).

[0111] In some embodiments, the first azimuth angle is obtained by direct measurement based on the first antenna mode.

[0112] Figure 12 This is a schematic diagram of calculating the first direction angle in an embodiment of this application, combined with... Figure 12 The first direction angle α can be directly calculated using the following formula: d=antenna spacing (m)TDoA=Time Difference of Arrival (m); α = arcsin (TDoA / d); TDoA (in m) =TDoA (in s)×Speed ​​of Light; Where d represents the physical distance between the two UWB antennas at the remote control end, in meters (m); TDoA represents the signal arrival time difference, which has two units: TDoA (in m) represents the time difference, in seconds; TDoA (in s) represents the distance difference, which is calculated by multiplying the time difference by the speed of light; and Speed ​​of Light represents the constant speed of light in a vacuum.

[0113] In some embodiments, the second direction angle is calculated in the pitch direction.

[0114] See Figure 11 The second azimuth angle β is the angle in the pitch direction, which cannot be directly measured using the UWB1+2 combination. It needs to be calculated in the pitch direction using a hypothetical model. This is a key design feature of the UWB1+2 scheme: since UWB1+2 can only measure one azimuth angle α and cannot directly measure the pitch angle, a hypothetical model is needed to calculate the pitch angle β. The calculation can be based on attitude information provided by the IMU, historical pitch angle data, etc.

[0115] In some embodiments, there is a mathematical transformation relationship between the first translation state variable and the second translation state variable, and the first translation state variable can be converted into the second translation state variable through coordinate transformation.

[0116] Figure 13 This is a flowchart illustrating the calculation of the three degrees of freedom of translational position when the pointing remote control system 100 uses a UWB1+2 antenna combination in this embodiment of the application. The specific steps are as follows: Step S1301: Based on the current first translation state variable, use motion information to predict the state and obtain the first prediction information.

[0117] Step S1302: The ultra-wideband measurement value in the first antenna mode is used as the first measurement information. The first prediction information is updated by using the first measurement information through an extended Kalman filter to obtain the updated first translation state variable.

[0118] Step S1303: Based on the updated first translation state variable, calculate the three degrees of freedom of the translation position pointing to the remote controller.

[0119] In some embodiments, when using the UWB1+2 antenna combination to solve the six-degree-of-freedom attitude information, the state variables of the translation part (i.e., the first translation state variable) can be expressed as: ; ; in, Represents azimuth and elevation angles The unit direction vector obtained by mapping (the unit vector from which the remote control points to the end of the device).

[0120] The prediction model for the translation portion can be: ; It can be written as: ; in, Represents the translated state variable at time t+τ, by Forming a two-dimensional vector to replace the three-dimensional position p; The unit direction vector obtained by mapping the state angle st at time t; A two-dimensional vector representing the translation state at time t. ; Simplified notation, representing the complete prediction function for the translation state.

[0121] The observation model for the translation portion can be: ; in, () represents the EKF observation residual function, which outputs the error between the UWB measured value and the predicted value; Represents the current translation state variable ; The noise scalar representing the horizontal azimuth angle α; This represents the theoretical horizontal angle predicted by the EKF state. The overall noise vector of the translation position measurement.

[0122] The state variables of the rotated part are consistent with those of UWB3+2, and can be represented as: ; in, Represents the rotational fusion state vector of UWB1+2 mode; Represents a quaternion, representing the rotational attitude of the remote controller IMU relative to the world coordinate system at time t; This represents the three-dimensional velocity vector in the world coordinate system of the remote controller.

[0123] The prediction model for the rotated portion can be: ; ; It can be written as: ; in, The quaternion representing the remote controller attitude at time t+τ; The quaternion representing the remote controller attitude at time t; Represents the velocity vector in the world coordinate system at time t+τ; Represents the velocity vector in the world coordinate system at time t; The 3×3 rotation matrix representing the remote controller IMU relative to the world coordinate system at time t is represented by quaternions. Obtained through conversion; This represents the abbreviation for the rotational state prediction function. The term "unified reference" refers to the mixed noise of IMU angular velocity and acceleration.

[0124] The observation model for the rotating part can be: ; ; in, Represents the noise level in the translation position measurement; This represents the world coordinate system velocity predicted by IMU integration; The estimated value obtained by joint calculation of translation using UWB and IMU is used as the velocity observation; Represents the velocity estimation error noise vector; For direction With measurement direction The difference in angles of projection onto the horizontal plane; This represents the attitude quaternion obtained from the current IMU integration; This represents the noise in attitude quaternion measurements.

[0125] The error in velocity is estimated using the IMU integral value and the translation component; the error in rotation is estimated using the IMU integral value and the UWB measurement value.

[0126] Based on the above embodiments, when the angle at which the pointing remote control 400 points towards the display device 200 exceeds the first angle range, the UWB 3+2 antenna combination is degraded to a UWB 1+2 antenna combination. This allows for ultra-wideband signal interaction between one antenna on the main unit 300 and the two antennas on the pointing remote control 400. Combined with motion information measured by the inertial navigation sensor in the pointing remote control 400, a six-degree-of-freedom pose is calculated through extended Kalman filter fusion, instead of directly degrading to a three-degree-of-freedom fixed anchor point. Therefore, while maintaining cost advantages, the positioning failure problem of the pointing remote control 400 when pointing at large angles in the horizontal and vertical directions can be effectively solved, enabling the pointing remote control 400 to possess true omnidirectional six-degree-of-freedom pointing capability and improving the user's operating experience in large-screen scenarios.

[0127] In some embodiments, Figure 8CThis is a diagram illustrating another algorithmic framework for cursor positioning based on the UWB1+2 combination, as illustrated in this application. Figure 8B The main difference is that in the first antenna mode, the calculation of the rotation part can be obtained by the IMU alone, while the calculation of the translation part is the translation position result calculated jointly by the IMU and UWB.

[0128] In some embodiments, see Figure 8A , Figure 8B and Figure 8C After calculating 6DoF, coordinate transformation is performed to obtain uv coordinates mapped to the screen coordinate system of display device 200, and the cursor is displayed based on the smoothed uv coordinates.

[0129] Figure 14 This is a flowchart illustrating the process of switching antenna modes for the remote control system 100 in this embodiment of the application. The specific steps are as follows: Step S1401: After determining that an antenna mode switching operation needs to be performed, a control command is generated based on the target antenna mode.

[0130] The control commands indicate the enable status of each antenna in the first antenna array. Antenna mode switching refers to switching from the second antenna mode (UWB3+2) to the first antenna mode (UWB1+2), or switching from the first antenna mode back to the second antenna mode.

[0131] When it is necessary to switch to the first antenna mode, the target antenna mode is the first antenna mode. At this time, only one antenna is needed on the whole device to participate in UWB signal interaction.

[0132] When it is necessary to switch back to the second antenna mode, the target antenna mode is the second antenna mode. At this time, all three antennas of the whole device need to participate in the UWB signal interaction.

[0133] Step S1402: Based on control commands, enable the first antenna in the first antenna array and de-enable the second antenna in the first antenna array.

[0134] When the target antenna mode is the first antenna mode (UWB1+2), the control command enables the first antenna in the first antenna array (i.e., the antenna that needs to participate in UWB signal interaction) and disables the second antenna (the other two antennas).

[0135] When the target antenna mode is the second antenna mode (UWB3+2), the control command enables the first antenna in the first antenna array (i.e., all three antennas), and there is no second antenna that needs to be deenabled.

[0136] By controlling the enable state of each antenna, the physical switching of antenna modes is realized, thereby selecting the optimal antenna combination scheme in different angle ranges.

[0137] Figure 15 This is a flowchart illustrating the smooth transition of the remote control system 100 from UWB3+2 to UWB1+2 in this embodiment of the application. The specific steps are as follows: Step S1501: In the second antenna mode, if the angle of the remote control pointing to the device exceeds the second angle range but does not exceed the first angle range, the first antenna mode is activated and the second antenna mode is kept activated.

[0138] The second angle range is a smaller angle range set before the first angle range. For example, the first angle range threshold is set to horizontal ±60° and vertical ±45° (see...). Figure 1 If the boundary of the θ range is defined, a small angle (e.g., 5°) is set before the threshold. The second angle range is then ±55° horizontally and ±40° vertically. When the remote control's pointing angle exceeds the second angle range but not yet exceeds the first angle range, it enters the transition region. Within the transition region, both the first and second antenna modes are activated simultaneously, and the two antenna modes operate in parallel.

[0139] Step S1502: The second antenna mode provides the initial values ​​for the fusion calculation of the first antenna mode.

[0140] When the first antenna mode is activated in the transition region, the computational reliability of the second antenna mode (UWB3+2) remains high, and its calculation results can be used as the initial values ​​for the first antenna mode (UWB1+2). This solves the problem of uncertain initial state during cold start of the UWB1+2 scheme, ensuring that the first antenna mode has reasonable initial values ​​from the beginning and avoiding pose jumps that may occur during the convergence process of fusion calculation.

[0141] Within the transition region, the calculation results of UWB1+2 and UWB3+2 are merged and smoothed using a Euro filter (a low-latency smoothing filter) to ensure smooth cursor switching transitions. The fusion calculations of the two modes are performed in parallel to ensure that the interactive cursor does not abruptly change when the user moves from the effective angle region to a larger angle region.

[0142] Step S1503: When it is detected that the angle of the remote control pointing at the whole device exceeds the first angle range, the second antenna mode is disabled, while the first antenna mode is kept running, so as to switch from the second antenna mode to the first antenna mode.

[0143] When the remote control is pointed at an angle exceeding the first angle range (i.e., fully entering the large angle region), see... Figure 1When the region exceeds the range of θ, the measurement error of the second antenna mode (UWB3+2) is already large, and continuing to use its calculation results will actually reduce the pose accuracy. Therefore, the second antenna mode is turned off at this time, and only the fusion calculation result of the first antenna mode (UWB1+2) is retained as the pose output, completing the switch from UWB3+2 to UWB1+2. See also Figure 7 At this point, only the pose calculation of the UWB1+2 path takes effect, and the 6DoF pose is output.

[0144] Conversely, when the remote control returns from the large angle area to the effective angle area, the transition process of UWB1+2 switching back to UWB3+2 also adopts a flexible strategy: when entering the second angle range, UWB3+2 calculation is started in advance, with UWB1+2 providing initial values ​​for UWB3+2. Then, the results of the two are fused and filtered in the transition area to ensure a smooth transition. Finally, UWB1+2 is turned off and only UWB3+2 is retained when the angle does not exceed the second angle range.

[0145] This application also provides a cursor positioning method. For the specific implementation of each step in the corresponding method embodiment, please refer to the relevant description in the aforementioned pointing remote control system 100 embodiment, which will not be repeated here.

[0146] This application also provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the cursor control method in each step of the above method embodiments.

[0147] This application also provides an electronic device, which includes a memory and a processor. The memory stores computer program instructions, and the processor executes the computer program instructions to implement the cursor control method in each step of the above method embodiments.

[0148] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the discussion in some embodiments is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the contents of this disclosure, thereby enabling those skilled in the art to better utilize the embodiments.

Claims

1. A pointing remote control system, characterized in that, include: The complete unit is deployed on the display device side, and the complete unit has a first antenna array, which includes three antennas; The remote control has a second antenna array, which includes two antennas. The device and the remote controller interact via an ultra-wideband signal through an antenna pattern composed of the first antenna array and the second antenna array to measure relative position information. The relative position information includes the distance between the device and the remote controller, and the angle at which the remote controller points at the device. The pointing remote controller also has an inertial navigation sensor, which is configured to: collect motion information of the pointing remote controller, the motion information including the angular velocity and acceleration of the pointing remote controller; Extended Kalman filter; The processor is configured as follows: When the angle at which the remote control is pointing at the device exceeds a first angle range, a first antenna mode is adopted; wherein, the first antenna mode refers to a mode in which one antenna from the first antenna array and the second antenna array form an antenna combination. The first measurement information and the first prediction information are fused and calculated using the extended Kalman filter to obtain the six-degree-of-freedom pose of the pointing remote controller; wherein, the first measurement information is the relative position information obtained based on the first antenna pattern; and the first prediction information is the information predicted based on the motion information measured by the inertial navigation sensor.

2. The pointing remote control system according to claim 1, characterized in that, The processor is also configured to: Calculate the horizontal pointing angle of the remote controller relative to the main unit in the horizontal direction and the vertical pointing angle in the vertical direction. The horizontal pointing angle is compared with a preset horizontal angle threshold, and the vertical pointing angle is compared with a preset vertical angle threshold. If the horizontal pointing angle exceeds the horizontal angle threshold, and / or the vertical pointing angle exceeds the vertical angle threshold, then it is determined that the angle at which the remote control points to the end of the device exceeds the first angle range. If the horizontal pointing angle does not exceed the horizontal angle threshold and the vertical pointing angle does not exceed the vertical angle threshold, then it is determined that the angle at which the remote control points to the end of the device does not exceed the first angle range.

3. The pointing remote control system according to claim 1, characterized in that, The processor is also configured to: When the angle at which the remote control points to the device does not exceed the first angle range, the second antenna mode is adopted; wherein, the second antenna mode refers to the mode in which the three antennas included in the first antenna array and the second antenna array form an antenna combination; The rotational attitude of the pointing remote controller is calculated by fusing the second measurement information and the second prediction information using the extended Kalman filter; and the translational position of the pointing remote controller is calculated based on the second measurement information. The second measurement information is the relative position information obtained based on the second antenna mode; the second prediction information is the information predicted based on the motion information measured by the inertial navigation sensor.

4. The pointing remote control system according to claim 3, characterized in that, The processor is also configured to: After determining that an antenna mode switching operation needs to be performed, a control command is generated based on the target antenna mode; wherein, the control command indicates the enable status of each antenna in the first antenna array; Based on the control command, enable the first antenna in the first antenna array and de-enable the second antenna in the first antenna array.

5. The pointing remote control system according to any one of claims 1-4, characterized in that, The processor is also configured to: In the second antenna mode, if it is detected that the angle at which the remote control points to the whole device exceeds the second angle range but does not exceed the first angle range, the first antenna mode is activated, and the second antenna mode is kept activated. The calculation results of the second antenna mode provide initial values ​​for the fusion calculation of the first antenna mode; Furthermore, the calculation results of the second antenna mode and the calculation results of the first antenna mode are fused and filtered. When the controller detects that the angle at which the remote control is pointing towards the device exceeds a first angle range, it adopts a first antenna mode, specifically configured as follows: When the angle at which the remote control is pointed at the device exceeds the first angle range, the second antenna mode is deactivated while the first antenna mode remains active, so as to switch from the second antenna mode to the first antenna mode.

6. The pointing remote control system according to claim 3, characterized in that, In the first antenna mode, the second translation state variable is equivalently represented by the first translation state variable; the first translation state variable includes the first direction angle and the second direction angle between the whole device and the pointing remote controller; the second translation state variable includes the three-dimensional translation position of the pointing remote controller; The first azimuth angle can be directly measured based on the first antenna pattern; the second azimuth angle is calculated from the first antenna pattern in the elevation direction.

7. The pointing remote control system according to claim 6, characterized in that, The processor fuses the first measurement information and the first prediction information using the extended Kalman filter to obtain the six-degree-of-freedom pose of the pointing remote controller, which is specifically configured as follows: In the first antenna mode, based on the current first translation state variable, the motion information is used to perform state prediction to obtain the first prediction information; Using the ultra-wideband measurement value in the first antenna mode as the first measurement information, the first prediction information is updated by the extended Kalman filter to obtain the updated first translational state variable. Based on the updated first translation state variable, the three degrees of freedom of the translation position of the pointing remote controller are calculated.

8. The pointing remote control system according to claim 3, characterized in that, In the second antenna mode, a second translation state variable is used; wherein, the second translation state variable includes the three-dimensional translation position of the remote controller; The processor obtains the three degrees of freedom of translation position of the pointing remote controller based on the second measurement information, and is specifically configured as follows: The ultra-wideband measurement value under the second antenna mode is used as the second measurement information; Based on the second measurement information, the three degrees of freedom of the translation position of the pointing remote controller are calculated.

9. A cursor positioning method, applied to a pointing remote control system, the pointing remote control system comprising: The complete unit is deployed on the display device side, and the complete unit has a first antenna array, which includes three antennas; The pointing remote controller has a second antenna array, the second antenna array comprising two antennas; the pointing remote controller also has an inertial navigation sensor; The method includes: Ultra-wideband signal interaction is performed through an antenna pattern composed of the first antenna array and the second antenna array to measure relative position information; wherein, the relative position information includes the distance between the main unit and the pointing remote controller, and the angle at which the pointing remote controller points towards the main unit; The motion information of the pointing remote controller is collected, including the angular velocity and acceleration of the pointing remote controller; When the angle at which the remote control is pointing at the device exceeds a first angle range, a first antenna mode is adopted; wherein, the first antenna mode refers to a mode in which one antenna from the first antenna array and the second antenna array form an antenna combination. The six-degree-of-freedom pose of the pointing remote controller is obtained by fusing the first measurement information and the first prediction information using an extended Kalman filter; wherein, the first measurement information is the relative position information obtained based on the first antenna pattern; and the first prediction information is the information predicted based on the motion information measured by the inertial navigation sensor.

10. The method according to claim 9, characterized in that, The method further includes: When the angle at which the remote control points to the device does not exceed the first angle range, the second antenna mode is adopted; wherein, the second antenna mode refers to the mode in which the three antennas included in the first antenna array and the second antenna array form an antenna combination; The rotational attitude of the pointing remote controller is calculated by fusing the second measurement information and the second prediction information using the extended Kalman filter; and the translational position of the pointing remote controller is calculated based on the second measurement information. The second measurement information is the relative position information obtained based on the second antenna mode; the second prediction information is the information predicted based on the motion information measured by the inertial navigation sensor.

Images