A movable platform system

Abstract

The application discloses a movable platform system, comprising a first hardware device and a second hardware device, the first hardware device comprising a first multifunction module, and the second hardware device comprising a second multifunction module; the first multifunction module comprising at least three receiving antennas configured as an antenna array; the first multifunction module being configured to receive a first signal sent by the second multifunction module through the antenna array, and determine first positioning data based on the first signal; the first multifunction module being configured to receive first attitude data sent by the second multifunction module through the antenna array; the first hardware device further comprising a first processing module configured to acquire the first positioning data, the first attitude data and second attitude data, and determine position information and / or attitude information of the second hardware device relative to the first hardware device based on the first positioning data, the first attitude data and the second attitude data.

Description

Technical Field

[0001] This application relates to the field of mobile platform technology. Background Technology

[0002] Mobile platforms (such as unmanned aerial vehicles, wheeled robots, and hybrid mobility vehicles) have been used in various fields, including consumer and industrial applications. For example, consumer applications include aerial photography for entertainment, real-time streaming, and personal logistics delivery; industrial applications include geospatial data acquisition, logistics and transportation networks, industrial facility inspection, emergency response, and agricultural pesticide application.

[0003] A mobile platform system typically includes a mobile platform and one or more control terminals that communicate with the mobile platform. The mobile platform can move under the control of the control terminals. When one or more control terminals include a motion sensing device, the mobile platform can perform related operations in response to changes in the posture of the motion sensing device. Therefore, determining the pose of the motion sensing device relative to the mobile platform is a necessary step in motion sensing. Existing technologies typically use a combination of a compass and an inertial measurement unit (IMU) to determine the pose information of the motion sensing device. However, when the device is in an environment with magnetic field interference (such as an environment containing metal structures or strong electromagnetic equipment), the pointing accuracy of the magnetometer will decrease significantly, resulting in significant deviations or inaccuracies in the horizontal positioning results, which seriously affects the user experience. Utility Model Content

[0004] To address the aforementioned technical problems, embodiments of this application provide a mobile platform system.

[0005] The mobile platform system provided in this application includes a first hardware device and a second hardware device. The first hardware device includes one of a mobile platform and a first control terminal, and the second hardware device includes a second control terminal. The first hardware device includes a first multi-functional module, and the second hardware device includes a second multi-functional module.

[0006] The first multi-functional module includes at least three receiving antennas, which are configured as an antenna array; the first multi-functional module is configured as follows:

[0007] The antenna array receives the first signal sent by the second multi-function module and determines the first positioning data of the second hardware device relative to the first hardware device based on the first signal.

[0008] Receive first attitude data, the first attitude data including the attitude data of the second hardware device;

[0009] The first hardware device further includes a first processing module, which is configured to:

[0010] The first positioning data, the first attitude data, and the second attitude data are acquired, and based on the first positioning data, the first attitude data, and the second attitude data, the position information and / or attitude information of the second hardware device relative to the first hardware device are determined; wherein the second attitude data includes the attitude data of the first hardware device.

[0011] In the technical solution of this application embodiment, the mobile platform system includes a first hardware device and a second hardware device. The first hardware device is equipped with a first multi-functional module, and the second hardware device is equipped with a second multi-functional module. The first multi-functional module has positioning and communication functions. Regarding the positioning function, the first multi-functional module receives a first signal sent by the second multi-functional module through an antenna array, and determines the first positioning data of the second hardware device relative to the first hardware device based on the first signal. Regarding the communication function, the first multi-functional module receives the first attitude data (i.e., the attitude data of the second hardware device) sent by the second multi-functional module through an antenna array. Based on this, by combining the obtained first positioning data with the first attitude data and the second attitude data (i.e., the attitude data of the first hardware device), the position information and / or attitude information of the second hardware device relative to the first hardware device are determined. Since the positioning of the second hardware device relative to the first hardware device considers not only the first attitude data and the second attitude data, but also the first positioning data, the positioning of the second hardware device relative to the first hardware device is more accurate. Furthermore, since the communication between the first hardware device and the second hardware device is based on the multi-function module, and the operating frequency band of the multi-function module is different from that of the Bluetooth module (2.4G band), the communication between the first hardware device and the second hardware device is not easily interfered with by other wireless communication modules operating in the 2.4G band. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of a mobile platform system provided in an embodiment of this application. Figure 1 ;

[0014] Figure 2 This is a schematic diagram of a mobile platform system provided in an embodiment of this application. Figure 2 ;

[0015] Figure 3 This is a schematic diagram of a mobile platform system provided in an embodiment of this application. Figure 3 ;

[0016] Figure 4 This is a schematic diagram of the positioning function implemented by the multifunctional module provided in this application embodiment. Figure 1 ;

[0017] Figure 5 This is a schematic diagram of the positioning function implemented by the multifunctional module provided in this application embodiment. Figure 2 ;

[0018] Figure 6 This is a schematic diagram of a mobile platform system provided in an embodiment of this application. Figure 4 . Detailed Implementation

[0019] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] It should be noted that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0021] In this embodiment, the mobile platform can be a mobile device such as an unmanned aerial vehicle (UAV), an unmanned vehicle (or a mobile car), an unmanned boat, or a mobile robot. The control terminal is an intelligent device that can control the mobile platform to perform tasks, such as at least one of a wearable device, a remote control, and a mobile terminal. The wearable device can be smart glasses (such as flight goggles), a smart helmet, or similar devices. The remote control can be a handle or similar device with motion-sensing control functionality.

[0022] A mobile platform system typically includes a mobile platform and one or more control terminals that communicate with the mobile platform. The mobile platform can move under the control of the control terminals. When one or more control terminals include a motion sensing device, the mobile platform can perform related operations in response to changes in the posture of the motion sensing device. Therefore, determining the pose of the motion sensing device relative to the mobile platform is a necessary step in motion sensing. Existing technologies typically use a combination of a compass and an inertial measurement unit (IMU) to determine the pose information of the motion sensing device. However, when the device is in an environment with magnetic field interference (such as an environment containing metal structures or strong electromagnetic equipment), the pointing accuracy of the magnetometer will decrease significantly, resulting in significant deviations or inaccuracies in the horizontal positioning results, which seriously affects the user experience. Furthermore, after determining the pose, it is also necessary to transmit the relevant pose information. In existing technologies, the communication modules used for transmitting pose are usually deployed in the 2.4 GHz band, which is susceptible to interference from 2.4 GHz band modules such as Bluetooth.

[0023] To address the aforementioned problems, this application aims to provide a mobile platform system. Each of the two hardware devices in the mobile platform system is equipped with a multi-functional module, which simultaneously possesses positioning and communication functions. The positioning function of the multi-functional module compensates for the attitude data obtained through the inertial measurement unit and the magnetic unit, thereby improving the positioning accuracy between the two hardware devices. The communication function of the multi-functional module enables communication between the two hardware devices without interference from other wireless communication modules. In one embodiment, the mobile platform system includes a mobile platform and a motion-sensing remote controller. The mobile platform acquires the pose information of the motion-sensing remote controller and determines its pose information relative to the motion-sensing remote controller. In another embodiment, the mobile platform system includes a mobile platform, a head-mounted display device, and a motion-sensing remote controller. The mobile platform can communicate with both the head-mounted display device and the motion-sensing remote controller to acquire their respective pose information. In one embodiment, the mobile platform system includes a mobile platform, a head-mounted display device, and a motion-sensing remote control. The mobile platform can communicate with at least one of the head-mounted display device and the motion-sensing remote control, and the head-mounted display device and the motion-sensing remote control can communicate with each other. In this scenario, the terminal in the head-mounted display device and the motion-sensing remote control that communicates with the mobile platform needs to forward the posture information of the other to the mobile platform.

[0024] Figure 1 This is a schematic diagram of a mobile platform system provided in an embodiment of this application. Figure 1 ,like Figure 1As shown, the mobile platform system includes a first control terminal 11 and a second control terminal 12. Taking the first control terminal 11 as flight goggles and the second control terminal 12 as a remote controller (e.g., a handle) as an example, the flight goggles correspond to the first hardware device in this embodiment, and the remote controller corresponds to the second hardware device in this embodiment. The flight goggles have a multi-function module #1 and an attitude measurement module #1. The attitude measurement module #1 includes an inertial measurement unit #1 and a magnetic unit #1. The remote controller has a multi-function module #2 and an attitude measurement module #2. The attitude measurement module #2 includes an inertial measurement unit #2 and a magnetic unit #2. The multi-function module #1 may include an ultra-wideband (UWB) module #1, and the multi-function module #2 may include a UWB module #2.

[0025] Figure 2 This is a schematic diagram of a mobile platform system provided in an embodiment of this application. Figure 2 ,like Figure 2 As shown, the mobile platform system includes a mobile platform 13 and a second control terminal 12. Taking the mobile platform 13 as a drone and the second control terminal 12 as a remote controller (e.g., a handle) as an example, the drone corresponds to the first hardware device in this embodiment, and the remote controller corresponds to the second hardware device in this embodiment. The drone has a multi-function module #1 and an attitude measurement module #1, the attitude measurement module #1 including an inertial measurement unit #1 and a magnetic unit #1. The remote controller has a multi-function module #2 and an attitude measurement module #2, the attitude measurement module #2 including an inertial measurement unit #2 and a magnetic unit #2. The multi-function module #1 may include a UWB module #1, and the multi-function module #2 may include a UWB module #2.

[0026] Figure 3 This is a schematic diagram of a mobile platform system provided in an embodiment of this application. Figure 3 ,like Figure 3 As shown, the mobile platform system includes a first control terminal 11, a second control terminal 12, and a mobile platform 13. Taking the first control terminal 11 as flight goggles, the second control terminal 12 as a remote controller (e.g., a handle), and the mobile platform 13 as a drone as an example, the flight goggles correspond to the first hardware device in this embodiment, the remote controller corresponds to the second hardware device in this embodiment, and the mobile platform corresponds to the third hardware device in this embodiment. The flight goggles have a multi-function module #1, an attitude measurement module #1, and a wireless communication module #1. The attitude measurement module #1 includes an inertial measurement unit #1 and a magnetic unit #1. The remote controller has a multi-function module #2 and an attitude measurement module #2. The attitude measurement module #2 includes an inertial measurement unit #2 and a magnetic unit #2. The drone has a wireless communication module #2. The multi-function module #1 may include a UWB module #1, and the multi-function module #2 may include a UWB module #2.

[0027] Figure 4 This is a schematic diagram of the positioning function implemented by the multifunctional module provided in this application embodiment. Figure 1 The multi-functional module #1 includes at least three receiving antennas, specifically Rx antenna #1, Rx antenna #2, and Rx antenna #3, which form a specific antenna array. The multi-functional module #2 includes at least one transmitting antenna, specifically a Tx antenna. During the positioning process of the flight goggles with the remote controller, the Tx antenna transmits a first signal, which is received by Rx antenna #1, Rx antenna #2, and Rx antenna #3. Based on the flight time T1 and velocity C of the received first signal, the distance D1 between Rx antenna #1 and Tx antenna can be calculated, where D1 = T1 × C; similarly, based on the flight time T2 and velocity C of the received first signal, the distance D2 between Rx antenna #2 and Tx antenna can be calculated, where D2 = T2 × C; and based on the flight time T3 and velocity C of the received first signal, the distance D3 between Rx antenna #3 and Tx antenna can be calculated, where D3 = T3 × C. Based on the distances between Rx antennas #1, #2, and #3 relative to the Tx antenna, the two-dimensional coordinate position of the Tx antenna can be calculated. Specifically, assuming the coordinate position of Rx antenna #1 is (x1, y1), the coordinate position of Rx antenna #2 is (x2, y2), the coordinate position of Rx antenna #3 is (x3, y3), and the coordinate position of the Tx antenna is (x0, y0), where (x1, y1), (x2, y2), and (x3, y3) are known, and (x0, y0) is unknown, then the two-dimensional coordinate position of the Tx antenna can be obtained through the following system of equations:

[0028] (x0-x1) 2 +(y0-y1) 2 =D1 2 ;

[0029] (x0-x2) 2 +(y0-y2) 2 =D2 2 ;

[0030] (x0-x3) 2 +(y0-y3) 2 =D3 2 .

[0031] Figure 5 This is a schematic diagram of the positioning function implemented by the multifunctional module provided in this application embodiment. Figure 2The multi-functional module #1 includes at least three receiving antennas. Taking four receiving antennas as an example, these four antennas are Rx antenna #1, Rx antenna #2, Rx antenna #3, and Rx antenna #4, forming a specific antenna array. The multi-functional module #2 includes at least one transmitting antenna. Taking one transmitting antenna as an example, this transmitting antenna is a Tx antenna. During the positioning process of the flight goggles with the remote controller, the Tx antenna transmits a first signal, and Rx antennas #1, #2, #3, and #4 respectively receive the first signal. Based on the flight time T1 and velocity C of the received first signal, the distance D1 between Rx antenna #1 and Tx antenna can be calculated, where D1 = T1 × C. Similarly, the distance D2 between Rx antenna #2 and Tx antenna can be calculated based on the flight time T2 and velocity C of the received first signal, where D2 = T2 × C. The distance D3 between Rx antenna #3 and Tx antenna can be calculated based on the flight time T3 and velocity C of the received first signal, where D3 = T3 × C. The distance D4 between Rx antenna #4 and Tx antenna can be calculated based on the flight time T4 and velocity C of the received first signal, where D4 = T4 × C. Based on the distances between Rx antennas #1, #2, #3, and #4 relative to the Tx antenna, the three-dimensional coordinate position of the Tx antenna can be calculated. Specifically, assuming the coordinate positions of Rx antenna #1 are (x1, y1, z1), Rx antenna #2 are (x2, y2, z2), Rx antenna #3 are (x3, y3, z3), Rx antenna #4 are (x4, y4, z4), and the Tx antenna is (x0, y0, z0), where (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and (x4, y4, z4) are known, and (x0, y0, z0) is unknown, the three-dimensional coordinate position of the Tx antenna can be obtained through the following system of equations:

[0032] (x0-x1) 2 +(y0-y1) 2 +(z0-z1) 2 =D1 2 ;

[0033] (x0-x2) 2 +(y0-y2) 2 +(z0-z2) 2 =D2 2 ;

[0034] (x0-x3) 2 +(y0-y3)2 +(z0-z3) 2 =D3 2 ;

[0035] (x0-x4)2+(y0-y4)2+(z0-z4)2=D4 2 .

[0036] The above scheme can realize the positioning of multi-functional module #1 to multi-functional module #2. Since multi-functional module #1 is set in the first hardware device and multi-functional module #2 is set in the second hardware device, the "positioning of multi-functional module #1 to multi-functional module #2" can also be understood as the "positioning of the first hardware device to the second hardware device".

[0037] In this embodiment, the attitude data (i.e., second attitude data) of the first hardware device is measured by the attitude measurement module (i.e., the first attitude measurement module) in the first hardware device, and the attitude data (i.e., first attitude data) of the second hardware device is measured by the attitude measurement module (i.e., the second attitude measurement module) in the second hardware device. Specifically, the first attitude measurement module includes a first inertial measurement unit and a first magnetic unit. The first inertial measurement unit can measure the acceleration and / or velocity of the first hardware device, and the first magnetic unit can measure the orientation of the first hardware device. The attitude data of the first hardware device includes the acceleration and / or velocity of the first hardware device and the orientation of the first hardware device. The second attitude measurement module includes a second inertial measurement unit and a second magnetic unit. The second inertial measurement unit can measure the acceleration and / or velocity of the second hardware device, and the second magnetic unit can measure the orientation of the second hardware device. The attitude data of the second hardware device includes the acceleration and / or velocity of the second hardware device and the orientation of the second hardware device.

[0038] Figure 6 This is a schematic diagram of a mobile platform system provided in an embodiment of this application. Figure 4 ,like Figure 6 As shown, the mobile platform system includes a first hardware device 01 and a second hardware device 02. The first hardware device 01 includes either a mobile platform or a first control terminal. The second hardware device 02 includes a second control terminal. The first hardware device 01 includes a first multi-function module 21, and the second hardware device 02 includes a second multi-function module 22.

[0039] The first multi-function module 21 includes at least three receiving antennas, which are configured as an antenna array; the first multi-function module 21 is configured to:

[0040] The first signal sent by the second multi-function module 22 is received by the antenna array, and the first positioning data of the second hardware device 02 relative to the first hardware device 01 is determined based on the first signal.

[0041] The first attitude data sent by the second multi-function module 22 is received through the antenna array. The first attitude data includes the attitude data of the second hardware device 02.

[0042] The first hardware device 01 also includes a first processing module 23, which is configured to:

[0043] Acquire first positioning data, first attitude data, and second attitude data, and based on the first positioning data, first attitude data, and second attitude data, determine the position information and / or attitude information of the second hardware device 02 relative to the first hardware device 01; wherein the second attitude data includes the attitude data of the first hardware device 01.

[0044] In some implementations, the first multi-functional module 21 is a first UWB module.

[0045] In some implementations, the second multifunctional module 22 is a second UWB module.

[0046] In some implementations, refer to the above. Figure 1 According to the relevant description, the first hardware device 01 is the first control terminal 11, and the second hardware device 02 is the second control terminal 12. The first control terminal 11 includes a wearable device, which may include smart glasses (such as flight goggles), smart helmets, etc. The second control terminal 12 may include a remote control (such as a gamepad).

[0047] In some implementations, refer to the above. Figure 2 According to the relevant description, the first hardware device 01 is a mobile platform 13, and the second hardware device 02 is a second control terminal 12. The mobile platform 13 may include mobile devices such as drones, unmanned vehicles (or mobile cars), unmanned boats, and mobile robots. The second control terminal 12 may include a remote control (e.g., a handle).

[0048] In the technical solution of this application embodiment, a first multi-functional module is deployed in a first hardware device, and a second multi-functional module is deployed in a second hardware device. The first multi-functional module has positioning and communication functions. Regarding the positioning function, the first multi-functional module receives a first signal sent by the second multi-functional module through an antenna array, and determines the first positioning data of the second hardware device relative to the first hardware device based on the first signal. Regarding the communication function, the first multi-functional module receives the first attitude data (i.e., the attitude data of the second hardware device) sent by the second multi-functional module through an antenna array. Based on this, by combining the obtained first positioning data with the first attitude data and the second attitude data (i.e., the attitude data of the first hardware device), the position information and / or attitude information of the second hardware device relative to the first hardware device are determined. Since the positioning of the second hardware device relative to the first hardware device considers not only the first attitude data and the second attitude data, but also the first positioning data, the positioning of the second hardware device relative to the first hardware device is more accurate. In a magnetic field environment, the first attitude data / second attitude data may be inaccurate or have low accuracy. This is because the first attitude data / second attitude data are obtained by the first attitude measurement module / second attitude measurement module, and the first magnetic unit / second magnetic unit in the first attitude measurement module / second attitude measurement module is easily affected by magnetic field interference. Therefore, by fusing the first positioning data obtained by the first multi-function module and the second multi-function module with the first attitude data and the second attitude data, more accurate position information and / or attitude information of the second hardware device relative to the first hardware device can be obtained.

[0049] Furthermore, since the communication between the first hardware device and the second hardware device is based on a multi-functional module, and the operating frequency band of the multi-functional module is different from the 2.4G frequency band (such as the operating frequency band of Bluetooth modules / WIFI modules / Zigbee modules), the communication between the first hardware device and the second hardware device is not easily interfered with by other wireless communication modules operating in the 2.4G frequency band.

[0050] In some embodiments, the first hardware device 01 further includes a first attitude measurement module 24; the first attitude measurement module 24 is configured to measure second attitude data; and a first processing module 23 is connected to the first attitude measurement module 24 and the first multi-function module 21, and is configured to receive the second attitude data sent by the first attitude measurement module 24 and to receive the first positioning data and the first attitude data sent by the first multi-function module 21.

[0051] In some embodiments, the first attitude measurement module 24 includes a first inertial measurement unit and a first magnetic unit. The first inertial measurement unit is used to determine the acceleration and / or velocity of the first hardware device 01, and the first magnetic unit is used to determine the orientation of the first hardware device 01. The attitude data of the first hardware device 01 (i.e., the second attitude data) includes the acceleration and / or velocity of the first hardware device 01, and the orientation of the first hardware device 01.

[0052] In some implementations, the second hardware device 02 further includes a second attitude measurement module 25.

[0053] In some embodiments, the second attitude measurement module 25 includes a second inertial measurement unit and a second magnetic unit. The second inertial measurement unit is used to determine the acceleration and / or velocity of the second hardware device 02, and the second magnetic unit is used to determine the orientation of the second hardware device 02. The attitude data of the second hardware device 02 (i.e., the first attitude data) includes the acceleration and / or velocity of the second hardware device 02, and the orientation of the second hardware device 02.

[0054] On one hand, the first processing module can obtain the attitude data (i.e., the second attitude data) of the first hardware device from the first attitude measurement module. On the other hand, the first processing module can obtain the attitude data (i.e., the first attitude data) of the second hardware device and the first positioning data of the second hardware device relative to the first hardware device from the first multi-function module. The attitude data (i.e., the first attitude data) of the second hardware device is obtained by the first multi-function module from the second hardware device (corresponding to the communication function of the first multi-function module), and the first positioning data of the second hardware device relative to the first hardware device is obtained by the first multi-function module based on a first signal sent by the second multi-function module (corresponding to the positioning function of the first multi-function module). Further, based on the first positioning data, the first attitude data, and the second attitude data, the first processing module determines the position information and / or attitude information of the second hardware device relative to the first hardware device.

[0055] In some embodiments, the first hardware device 01 further includes a first wireless communication module 26, with at least three receiving antennas operating on a first frequency band, and the first wireless communication module 26 operating on a second frequency band, which is different from the first frequency band.

[0056] For example, the first wireless communication module operates in the 2.4G frequency band, and the first multi-function module operates in the 6G to 9G frequency band. Since the first wireless communication module and the first multi-function module operate in different frequency bands, interference between the first wireless communication module and the first multi-function module can be avoided.

[0057] In some implementations, the first wireless communication module may include at least one of the following: a Software Defined Radio (SDR) module, a Wi-Fi hotspot module, a Bluetooth (BT) module, or a Gaussian Frequency-Shift Keying (GFSK) module.

[0058] In some implementations, the first wireless communication module 26 is connected to the first processing module 23 and is configured to obtain position information and / or attitude information of the second hardware device 02 relative to the first hardware device 01 from the first processing module 23.

[0059] In some embodiments, the mobile platform system further includes a third hardware device 03, as described above. Figure 3 The related description includes a first hardware device 01 comprising a first control terminal 11, a second hardware device 02 comprising a second control terminal 12, and a third hardware device 03 comprising a mobile platform 13. The first control terminal 11 includes wearable devices, such as smart glasses (e.g., flight goggles), smart helmets, etc. The second control terminal 12 may include a remote control (e.g., a gamepad). The mobile platform 13 may include mobile devices such as drones, unmanned vehicles (or mobile cars), unmanned boats, and mobile robots.

[0060] The first wireless communication module 26 has a first communication link with the third hardware device 03 on the second frequency band. It is configured to send position and / or attitude information of the second hardware device 02 relative to the first hardware device 01 to the third hardware device 03; receive feedback data sent by the third hardware device 03; and also to send control data to the third hardware device 03. The feedback data includes the mobile platform 13's own status data and / or image data captured by the mobile platform 13. The control data is used to control the mobile platform 13 to perform task operations, such as controlling the mobile platform 13's direction of movement, attitude, speed, etc.

[0061] In some embodiments, the third hardware device 03 includes a second wireless communication module 27. The second wireless communication module 27 has a first communication link with the first hardware device 01 on a second frequency band and is configured to receive position information and / or attitude information of the second hardware device 02 relative to the first hardware device 01 sent by the first hardware device 01; send feedback data to the first hardware device 01; and also be configured to receive control data sent by the first hardware device 01. The feedback data includes the mobile platform 13's own state data and / or image data captured by the mobile platform 13, etc. The control data is used to control the mobile platform 13 to perform task operations, such as controlling the mobile platform 13's direction of movement, attitude, speed, etc.

[0062] In some embodiments, the first hardware device 01 further includes a display module 28 configured to display feedback data from the third hardware device 03. The feedback data includes image data captured by the mobile platform 13, etc.

[0063] After the first hardware device acquires its own attitude data (i.e., second attitude data) through the first attitude measurement module, it can adjust the display angle of the display module based on the attitude data. Taking flight goggles as an example, when a user's head is turned left / right / up / down while wearing the flight goggles, the inertial measurement unit and magnetic unit of the flight goggles detect the attitude data of the flight goggles and adaptively adjust the angle of the image data captured by the mobile platform based on the current attitude data, thereby allowing the user to immerse themselves in the scene captured by the mobile platform.

[0064] The technical solution of this application embodiment deploys a first multi-functional module and a second multi-functional module in the first hardware device and the second hardware device, respectively. On the one hand, based on the positioning function of the first and second multi-functional modules, the first hardware device can accurately locate the second hardware device even in an environment with magnetic field interference. On the other hand, based on the communication function of the first and second multi-functional modules, interference from other wireless communication modules operating in the 2.4G frequency band is avoided. Furthermore, since the first and second multi-functional modules integrate positioning and communication functions, the hardware complexity of the first and second hardware devices can be reduced.

[0065] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A mobile platform system, characterized in that, The mobile platform system includes a first hardware device and a second hardware device. The first hardware device includes one of a mobile platform and a first control terminal, and the second hardware device includes a second control terminal. The first hardware device includes a first multi-functional module, and the second hardware device includes a second multi-functional module. The first multi-functional module includes at least three receiving antennas, which are configured as an antenna array; the first multi-functional module is configured as follows: The antenna array receives the first signal sent by the second multi-function module and determines the first positioning data of the second hardware device relative to the first hardware device based on the first signal. The antenna array receives first attitude data sent by the second multi-function module, the first attitude data including the attitude data of the second hardware device; The first hardware device further includes a first processing module, which is configured to: The first positioning data, the first attitude data, and the second attitude data are acquired, and based on the first positioning data, the first attitude data, and the second attitude data, the position information and / or attitude information of the second hardware device relative to the first hardware device are determined; wherein the second attitude data includes the attitude data of the first hardware device.

2. The mobile platform system according to claim 1, characterized in that, The first hardware device also includes a first attitude measurement module; The first attitude measurement module is configured to measure the second attitude data; The first processing module, connected to the first attitude measurement module and the first multi-function module, is configured to receive the second attitude data sent by the first attitude measurement module and the first positioning data and the first attitude data sent by the first multi-function module.

3. The mobile platform system according to claim 2, characterized in that, The first attitude measurement module includes a first inertial measurement unit and a first magnetic force unit. The first inertial measurement unit is used to determine the acceleration and / or velocity of the first hardware device, and the first magnetic force unit is used to determine the orientation of the first hardware device.

4. The mobile platform system according to claim 2, characterized in that, The first hardware device further includes a first wireless communication module, wherein the at least three receiving antennas operate on a first frequency band, and the first wireless communication module operates on a second frequency band, which is different from the first frequency band.

5. The mobile platform system according to claim 4, characterized in that, The first wireless communication module is connected to the first processing module and is configured to obtain the position information and / or attitude information of the second hardware device relative to the first hardware device from the first processing module.

6. The mobile platform system according to claim 4, characterized in that, The mobile platform system further includes a third hardware device, wherein the first hardware device includes a first control terminal, the second hardware device includes a second control terminal, and the third hardware device includes a mobile platform. The first wireless communication module has a first communication link with the third hardware device on the second frequency band and is configured to send the position information and / or attitude information of the second hardware device relative to the first hardware device to the third hardware device; and receive feedback data sent by the third hardware device.

7. The mobile platform system according to any one of claims 1 to 6, characterized in that, The first multi-functional module is the first ultra-wideband (UWB) module.

8. The mobile platform system according to any one of claims 1 to 6, characterized in that, The second multi-functional module is the second UWB module.

9. The mobile platform system according to any one of claims 1 to 6, characterized in that, The first hardware device further includes a display module configured to display feedback data from the third hardware device.

10. The mobile platform system according to any one of claims 1 to 6, characterized in that, The first control terminal includes a wearable device.

Images