UWB-based positioning apparatus and positioning method for pointing target of pointing apparatus

Abstract

Disclosed in the present invention are a UWB-based positioning apparatus and positioning method for a point target of a pointing apparatus. The positioning apparatus comprises a pointing apparatus and a receiving apparatus, wherein UWB antennas are respectively arranged on the pointing apparatus and the receiving apparatus, and an accelerometer and a gyroscope are further arranged on the pointing apparatus. By means of the pointing apparatus and the receiving apparatus, UWB-based positioning is performed to obtain coordinates of the pointing apparatus in a coordinate system in which the receiving apparatus is located; then by means of the accelerometer, a motion vector of the pointing apparatus is obtained, such that a linear equation for a corresponding pointing direction of the pointing apparatus is obtained; and by means of solving an intersection point of the linear equation and a pointing area, coordinates of a pointing point are determined, thereby achieving a design purpose.

Description

A positioning device and positioning method for a pointing device pointing to a target based on UWB Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a positioning device and a positioning method for a UWB-based pointing device pointing to a target, an air mouse positioning system based on IMU and UWB fusion technology, a method for calibrating IMU posture using UWB, and a method for measuring the signal arrival angle in three-dimensional space using dual antennas. Background Art

[0002] With the rapid development of the Internet of Things and the Industrial Internet, accurately determining the pointing position of a device is becoming increasingly important for various applications in the fields of modern communications and precise positioning. A method and system are needed to accurately point a device to or lock onto a location or target point of interest.

[0003] UWB technology is characterized by precise distance measurement and positioning capabilities. Multi-array antenna technology provides devices with multiple viewing angles, enhancing the ability to accurately determine the pointing position. Sensor technology provides the system with critical environmental perception data, including the device's direction, angle, and motion. The UWB-plus-sensor fusion algorithm integrates multi-source data and uses complex signal processing to ensure high-precision positioning of the pointing device.

[0004] Therefore, there is a need for a positioning device and a positioning method based on a UWB pointing device that has higher indoor accuracy, relatively low cost and can meet existing usage needs.

[0005] Summary of the Invention

[0006] The main purpose of the present invention is to provide a positioning device and a positioning method for a UWB-based pointing device pointing to a target, and also to provide an air mouse positioning system based on IMU and UWB fusion technology that can obtain the posture of an air mouse through IMU data fusion, and combine UWB technology to achieve high-precision distance measurement, thereby achieving precise positioning of the coordinates of an air mouse pointing to a display device, a method for calibrating the IMU posture using UWB that can accurately correct gyroscope data in a complex indoor environment, and a method for measuring the signal arrival angle in three-dimensional space with two antennas that adopts a three-antenna design at the base station end and a dual-antenna design at the tag end, and corrects the vector pointing to the base station of the obtained tag value through the IMU module, thereby reducing one antenna to achieve the measurement of the signal arrival angle in three-dimensional space.

[0007] The present invention proposes a positioning device and a positioning method for a UWB-based pointing device pointing to a target, comprising a pointing device and a receiving device;

[0008] The pointing device includes a first UWB antenna group, a first main control chip and an accelerometer, wherein the first UWB antenna group includes at least two first UWB antennas, and the first main control chip is connected to the first UWB antenna group and the accelerometer respectively;

[0009] The receiving device includes a second UWB antenna group and a second main control chip, the second UWB antenna group includes at least three second UWB antennas, and the second main control chip is connected to the second UWB antenna group;

[0010] The receiving device can obtain the positional relationship between the pointing area and the receiving device and the length, width and height of the pointing area, and obtain the distance D between the pointing device and the receiving device and the pitch angle θ1 and azimuth angle φ1 of the pointing device relative to the receiving device through communication between the first UWB antenna group and the second UWB antenna group, thereby obtaining the coordinates (A) of the pointing device in the coordinate system where the receiving device is located. x ,A y ,A z );

[0011] The motion vector m of the pointing device is obtained by the gyroscope and accelerometer on the pointing device, the straight line equation of the pointing direction of the pointing device is obtained by the coordinates and the motion vector, and the coordinates of the pointing point of the pointing device in the pointing area are obtained by solving the intersection of the straight line equation and the pointing area.

[0012] Preferably, the pointing device further includes a gyroscope, and the gyroscope is connected to the first main control chip.

[0013] A positioning method, wherein the pointing device further comprises a gyroscope;

[0014] The specific method is as follows:

[0015] 1) Setting the receiving device and the pointing area, setting a positional relationship between the receiving device and the pointing area, and obtaining a pointing area position equation of the pointing area in the coordinate system where the receiving device is located based on the positional relationship;

[0016] 2) The pointing device and the receiving device calculate a distance D between the pointing device and the receiving device using a TOF method;

[0017] 3) The pointing device and the receiving device obtain a pitch angle θ1 and an azimuth angle φ1 of the pointing device relative to the receiving device through an AOA algorithm;

[0018] 4) The coordinates of the pointing device in the coordinate system where the receiving device is located can be obtained by using the distance D, the pitch angle θ1 and the azimuth angle φ1. x ,A y ,A z );

[0019] 5) The receiving device and the pointing device obtain an azimuth angle φ2 of the receiving device relative to the pointing device through an AOA algorithm;

[0020] 6) The motion direction of the pointing device is obtained by the azimuth angle φ2 and the gyroscope based on a fusion algorithm, and the motion vector m of the pointing device is obtained by the accelerometer as (a x ,a y ,a z );

[0021] 7) By using the motion vector m and the coordinates of the pointing device in the coordinate system where the receiving device is located (A x ,A y ,A z ) can obtain the equation of the straight line pointed by the pointing device:

[0022] The intersection of the straight line equation and the pointing area is obtained by jointly solving the straight line equation and the pointing area position equation, thereby obtaining the coordinates of the pointing point of the pointing device in the pointing area.

[0023] Preferably, the pointing area can be a display screen of a flat display device, a projection surface of a projection apparatus, and a virtual display plane of a stereoscopic display device.

[0024] Preferably, when the pointing area is a display screen of a flat display device and is a curved screen, the pointing device and the receiving device may have two intersection points under certain circumstances. According to the movement direction, the intersection point behind the movement direction is selected as the coordinate of the pointing point.

[0025] The beneficial effects of the positioning device and positioning method of the UWB-based pointing device pointing to a target of the present invention are:

[0026] 1. Compared with traditional methods such as laser infrared, the use of UWB technology to locate the target is less restricted and more accurate.

[0027] 2. The positioning method described in this patent can be used in many usage scenarios. In addition to televisions with receiving devices, it can also be applied to traditional televisions, projectors and other devices that do not have this function. It can be achieved by using an external positioning device and setting the coordinates of the corresponding real device in the positioning device. In actual use, it can be achieved through an auxiliary positioning device, thereby giving the old display device more functions.

[0028] The present invention also proposes an air mouse positioning system based on IMU and UWB fusion technology, the device includes an air mouse and a display device;

[0029] The display device is provided with a controlled terminal, the air mouse is provided with a control terminal, and the control terminal is provided with an IMU module, and the distance d4 between the control terminal and the controlled terminal is obtained through communication between the control terminal and the controlled terminal;

[0030] The posture information of the air mouse is obtained through the IMU module, and the posture information includes the azimuth angle α2 and the pitch angle β2, so that the horizontal movement distance x1 and the vertical movement distance y1 of the cursor on the display device can be calculated according to the distance d4, the azimuth angle α2 and the pitch angle β2.

[0031] Preferably, the controlled end is provided with a controlled end UWB module, and the controlling end is provided with a controlling end UWB module, and the distance d4 between the controlling end and the controlled end is acquired through communication between the controlling end UWB module and the controlled end UWB module.

[0032] Preferably, the azimuth angle α1 and the pitch angle β1 can be acquired through communication between the control end UWB module and the controlled end UWB module, so as to calculate the vertical distance d5 between the air mouse and the display device;

[0033] Therefore, the horizontal movement distance x2 and the vertical movement distance y2 of the cursor on the display device can be calculated based on the vertical line distance d5, the azimuth angle α2 and the pitch angle β2.

[0034] Preferably, the calculation formulas for the moving distance x1 in the horizontal direction and the moving distance y1 in the vertical direction are x1=d4*tan(α2)*K, y1=d4*tan(β2)*K.

[0035] Preferably, the calculation formulas for the moving distance x2 in the horizontal direction and the moving distance y2 in the vertical direction are x2=d5*tan(α2)*K, y2=d5*tan(β2)*K.

[0036] Preferably, the controlled-end UWB module includes at least three controlled-end UWB antennas.

[0037] Preferably, the control end sets the shortest distance sd and the longest distance ld in advance. If the distance d4 obtained between the control end and the controlled end is greater than the longest distance ld, the moving distance x1 and the moving distance y1 are calculated based on the longest distance ld. If the distance d4 obtained between the control end and the controlled end is less than the shortest distance sd, the moving distance x1 and the moving distance y1 are calculated based on the shortest distance sd.

[0038] The beneficial effects of the air mouse positioning system based on IMU and UWB fusion technology of the present invention are:

[0039] 1. By setting a controlled-end UWB module on the display device and a controlling-end UWB module on the air mouse, the straight-line distance d4 between the air mouse and the controlling end can be calculated. Therefore, when the air mouse with different distances d4 rotates the same angle, different cursor movement distances can be obtained according to the different distances d4.

[0040] 2. The distance measurement can be made more accurate by setting a controlled UWB module on the display device and a controlling UWB module on the air mouse for communication.

[0041] 3. When the controlled UWB module is set on the side of the display device or the overall area of ​​the display device is large, the error can be further reduced by calculating the vertical line distance d5 compared with the distance d4 between the control end and the controlled end. For smaller screens used at home, the error caused by using the distance d4 is acceptable.

[0042] The present invention also proposes a method for calibrating IMU attitude using UWB, comprising a UWB AoA base station and an attitude settlement module provided with a UWB AoA tag, wherein the attitude settlement module is further provided with a gyroscope and an accelerometer;

[0043] First, use the accelerometer to obtain the angular velocity deviation e in the direction of gravity z , and then the angular velocity deviation of the heading angle e is obtained through communication between the UWB AoA base station and the UWB AoA tag x , then the angular velocity deviation e z and the angular velocity deviation e x To correct the original data w of the gyroscope, so as to obtain accurate attitude information.

[0044] Preferably, the UWB AoA base station and the UWB AoA tag are both provided with multiple UWB antennas;

[0045] Communicating with the UWB AoA base station and the UWB AoA tag, obtaining a tag direction vector n of the UWB AoA tag in the coordinate system of the UWB AoA base station and a base station direction vector m of the UWB AoA base station in the coordinate system of the UWB AoA tag;

[0046] The coordinate rotation matrix H is obtained by the UWB AoA tag direction vector n and the UWB AoA base station direction vector, the x-axis unit vector u in the UWB tag coordinate system is obtained by the rotation matrix, and the angular velocity deviation e is calculated by the unit vector u. x .

[0047] Preferably, the UWB AoA base station and the UWB AoA tag use DS-TWR ranging to obtain the distance d between the UWB AoA tag and the UWB AoA base station, and the UWB AoA base station and the UWB AoA tag respectively obtain the azimuth angle θ of the UWB AoA tag relative to the UWB AoA base station through AoA. anc and pitch angle φ anc And the azimuth angle θ of the UWB AoA base station relative to the UWB AoA tag tag and pitch angle φ tag , and obtain the position of the UWB AoA tag in the base station coordinate system and the position of the UWB AoA base station in the UWB AoA tag coordinate system by calculation, thereby respectively calculating the UWB AoA tag direction vector n of the UWB AoA tag in the coordinate system of the UWB AoA base station and the base station direction vector m of the UWB AoA base station in the coordinate system of the UWB AoA tag.

[0048] Preferably, the vector α in the z-axis direction (gravity direction) is obtained by the accelerometer, and the angular velocity deviation e is obtained by the vector α. z .

[0049] Preferably, the angular velocity deviation e is obtained z and the angular velocity deviation e x Finally, the Mahony algorithm is used to correct the gyroscope original data w to obtain the corrected data w′, and the quaternion of the current attitude settlement module is updated by the corrected data w′.

[0050] The beneficial effects of the method of calibrating IMU attitude using UWB of the present invention are:

[0051] 1. Compared with traditional methods, the UWB calibration method is more ideal and more accurate in complex indoor environments.

[0052] 2. The angle and distance information obtained by UWB calibration can be used in applications such as positioning, with little impact on the overall calibration efficiency and cost.

[0053] The present invention also proposes a method for measuring the angle of arrival of a signal in three-dimensional space using dual antennas. The device includes a base station and a tag. The base station has at least three base station UWB antennas, and the tag has two tag UWB antennas and an IMU module.

[0054] The base station and the tag communicate via the base station UWB antenna and the tag UWB antenna, thereby obtaining the distance range and the first azimuth angle aoa between the tag and the base station in the base station coordinate system. az and the first pitch angle aoa el And the signal arrival angle θ between the tag and the base station in the tag coordinate system tag ;

[0055] By the distance range, the first azimuth angle aoa az and the first pitch angle aoa el The vector pointing from the tag to the base station in the base station coordinate system can be obtained

[0056] By the arrival angle θ tag The vector pointing from the tag to the base station in the tag coordinate system can be obtained

[0057] The rotation matrix R used to correct the label can be obtained through the IMU module, because Thus, the second azimuth angle φ2 and the second elevation angle β2 between the tag and the base station in the tag coordinate system can be calculated.

[0058] Preferably, the IMU module can calculate the current attitude azimuth angle φ1, attitude pitch angle θ1 and roll angle ψ1 of the tag.

[0059] 1. Preferably, the rotation matrix of the tag can be obtained by the posture azimuth angle φ1, the posture pitch angle θ1 and the roll angle ψ1:

[0060] The beneficial effects of the method of measuring the angle of arrival of a signal in three-dimensional space using dual antennas of the present invention are:

[0061] 1. By adopting a three-antenna design at the base station end and a dual-antenna design at the tag end, the IMU module is used to correct the vector of the tag value pointing to the base station. This can reduce one antenna to achieve the measurement of the signal arrival angle in three-dimensional space, thereby significantly reducing costs.

[0062] 2. Since the base station still uses a three-antenna design, the existing three-antenna tags can also be used normally, thus reducing costs without affecting the use of customers using old products.

[0063] 3. By adopting the technical solution of this patent, while solving the problem of signal arrival angle in three-dimensional space, it also solves the problem of the tag's own posture. In the existing technology, it is impossible to obtain the azimuth angle by using only the IMU module. By adding dual antennas, many tasks that were originally impossible for many IMU modules to complete alone can now be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] FIG1 is a schematic structural diagram of a positioning device for a UWB-based pointing device pointing to a target and a receiving device of a positioning method according to the present invention;

[0065] FIG2 is a schematic structural diagram of a positioning device and a positioning method for a UWB-based pointing device pointing to a target according to the present invention;

[0066] FIG3 is a schematic diagram of a positioning device and a positioning method for a UWB-based pointing device pointing to a target according to the present invention;

[0067] Numbers in Figures 1 to 3 are: 1. pointing device, 2. receiving device, 11. first UWB antenna group, 12. first main control chip, 13. first power supply, 14. gyroscope, 15. accelerometer, 21. second UWB antenna group, 22. second main control chip, 23. second power supply.

[0068] FIG4 is a structural diagram of the air mouse positioning system based on the IMU and UWB fusion technology of the present invention; the numbers in the figure are: 1, display device, 2, air mouse, 11, controlled end UWB module.

[0069] FIG5 is a schematic diagram of the positions between the base station and the UWB tag in the method for calibrating the IMU posture using UWB according to the present invention;

[0070] FIG6 is a schematic diagram of a method for measuring the angle of arrival of a signal in three-dimensional space using dual antennas according to the present invention in a base station coordinate system; numerals in the figure: 1, base station UWB antenna

[0071] FIG7 is a schematic diagram of a tag coordinate system of a method for measuring the angle of arrival of a signal in three-dimensional space with dual antennas according to the present invention; reference numerals in the figure: 2, tag UWB antenna.

[0072] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0073] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0074] 1 to 3 , an embodiment of a positioning device and a positioning method for a UWB-based pointing device pointing to a target is provided.

[0075] A UWB-based pointing device pointing to a target positioning device comprises a pointing device 1 and a receiving device 2.

[0076] The pointing device 1 includes a first UWB antenna group 11, a gyroscope 14, a first power supply 13, a first main control chip 12 and an accelerometer 15. The first UWB antenna group 11 includes three first UWB antennas, two in this embodiment. In practice, a first antenna array composed of more first UWB antennas will be used. The first main control chip 12 is respectively connected to the first UWB antenna group 11, the gyroscope 14 and the accelerometer 15, and the first UWB antenna group 11, the gyroscope 14, the first main control chip 12 and the accelerometer 15 are powered by the first power supply 13.

[0077] The receiving device 2 includes a second UWB antenna group 21 and a second main control chip 22. The second UWB antenna group 21 includes three second UWB antennas, two in this embodiment. In practice, more second UWB antenna groups 21 will be used to form a second antenna array, and the second antenna array is the same as the first antenna array composed of the first UWB antennas. The second main control chip 22 is connected to the second UWB antenna group 21, and the second main control chip 22 and the second UWB antenna group 21 are powered by a second power supply 23.

[0078] In this embodiment, the pointing area is a display screen of a television. In actual use, the receiving device will be set in the middle of the top of the display screen or on one side of the top.

[0079] A positioning method in which a UWB-based pointing device points to a target positioning device is disclosed. The positioning method is based on the above-mentioned UWB-based pointing device pointing to a target positioning device.

[0080] 1) The receiving device 2 is pre-set with the coordinates of the receiving device 2 in the coordinate system of the receiving device 2 (0, ky1, 0), the length and width of the pointing area and the position information of the pointing area relative to the receiving device 2, so that the pointing area position equation (0 <X<L,0<Y<H,Z=0);

[0081] 2) The pointing device 1 and the receiving device 2 calculate the distance D between the pointing device 1 and the receiving device 2 through the TOF method;

[0082] 3) The pointing device 1 and the receiving device 2 obtain the elevation angle θ1 and the azimuth angle φ1 of the pointing device 1 relative to the receiving device 2 through the AOA algorithm;

[0083] 4) Through the distance D, the elevation angle θ1 and the azimuth angle φ1, according to Figure 2, the coordinates of point A where the pointing device 1 is located can be calculated. The coordinates of point A are:

[0084] (A x , A y , A z ) = (D * sinθ1 * sinφ1, ky1 - Dcosθ1, D * sinθ1 * cosφ1);

[0085] 5) The receiving device 2 and the pointing device 1 obtain the azimuth angle φ2 of the receiving device 2 relative to the pointing device 1 through the AOA algorithm;

[0086] 6) Through the azimuth angle φ2 and the gyroscope 14, the movement orientation of the pointing device 1 is obtained based on the fusion algorithm. The movement vector m of the pointing device 1 obtained through the accelerometer 14 is (a x , a​​​​​​​​​​​​​​​​​​​​​​​​​​An air mouse positioning system based on IMU and UWB fusion technology, the device includes an air mouse 2 and a display device 1, the display device 1 is provided with a controlled end, the controlled end is provided with a controlled end UWB module 11 and a controlled end micro-control unit, the air mouse 2 is provided with a control end, the control end is provided with a control end UWB module, an IMU module and a control end micro-control unit.

[0092] The controlling UWB module is connected to the controlled UWB antenna via the controlling UWB antenna, and thus to the controlled UWB module 11. The distance d4 between the controlling UWB module 11 and the controlling UWB module is obtained using a TOF method. The controlling end sets a minimum distance sd and a maximum distance ld in advance. If the obtained distance d4 between the controlling end and the controlled end is greater than the maximum distance ld, then d4 = ld. If the obtained distance d4 between the controlling end and the controlled end is less than the minimum distance sd, then d4 = sd.

[0093] The IMU module on the control side collects acceleration and angular velocity data and obtains the stable attitude information of the air mouse 2 through data fusion algorithms such as Kalman filtering. The attitude information includes the azimuth angle α2 and the pitch angle β2.

[0094] The controlling microcontroller on the air mouse 2 communicates with the controlled microcontroller on the display device. The controlling microcontroller transmits the azimuth angle α2 and the pitch angle β2 to the controlled microcontroller. The controlled microcontroller uses the azimuth angle α2 and the pitch angle β2, as well as the distance d4 obtained by the controlled UWB module 11, to calculate the horizontal movement distance x1 and the vertical movement distance y1 of the cursor on the display device 1. The movement distance calculation formula is as follows: x1 = d4 * tan(α2) * K; y1 = d4 * tan(β2) * K.

[0095] The parameter K is a proportional coefficient, which is related to the size and resolution of the screen. The display device will write this parameter into the micro control unit of the controlled end before leaving the factory.

[0096] 4 , another embodiment of the air mouse positioning system based on IMU and UWB fusion technology of the present invention is proposed:

[0097] An air mouse positioning system based on IMU and UWB fusion technology, the device includes an air mouse 2 and a display device 1, the display device 1 is provided with a controlled end, the controlled end is provided with a controlled end UWB module 11 and a controlled end micro-control unit, the air mouse 2 is provided with a control end, the control end is provided with a control end UWB module, an IMU module and a control end micro-control unit.

[0098] The controlled-end UWB module 11 includes three controlled-end UWB antennas. The controlling-end UWB module is connected to the controlled-end UWB antenna via the controlling-end UWB antenna, thereby connecting to the controlled-end UWB module 11. The distances d1, d2, and d3 between the three controlling-end UWB antennas and the controlled-end UWB antenna are respectively obtained through the TOF method, thereby calculating the distance d4, azimuth angle α1, and pitch angle β1 between the controlled-end UWB module 11 and the controlling-end UWB module. Based on the distance d4, tilt angle α1, and azimuth angle β1, the vertical distance d5 between the controlling end, i.e., the air mouse 2, and the display device 1 is calculated. The controlling end sets the minimum distance sd and the maximum distance ld in advance. If the vertical distance d5 obtained is greater than the maximum distance ld, then d5 = ld. If the vertical distance d5 obtained is less than the minimum distance sd, then d5 = sd.

[0099] The IMU module on the control side collects acceleration and angular velocity data and obtains the stable attitude information of the air mouse 2 through data fusion algorithms such as Kalman filtering. The attitude information includes the azimuth angle α2 and the pitch angle β2.

[0100] The controlling microcontroller on the air mouse 2 communicates with the controlled microcontroller on the display device. The controlling microcontroller transmits the azimuth angle α2 and the pitch angle β2 to the controlled microcontroller. The controlled microcontroller uses the azimuth angle α2 and the pitch angle β2, as well as the vertical line distance d5 obtained by the controlled UWB module 11, to calculate the horizontal movement distance x2 and the vertical movement distance y2 of the cursor on the display device 1. The movement distance calculation formula is as follows: x2 = d5 * tan(α2) * K; y2 = d5 * tan(β2) * K;

[0101] The parameter K is a proportional coefficient, which is related to the size and resolution of the screen. The display device will write this parameter into the micro control unit of the controlled end before leaving the factory.

[0102] 5 , an embodiment of a method for calibrating IMU posture using UWB of the present invention is proposed:

[0103] A method for calibrating an IMU attitude using UWB includes a UWB AoA base station and an attitude settlement module provided with a UWB AoA tag. The attitude settlement module is also provided with a gyroscope and an accelerometer.

[0104] The specific steps are as follows:

[0105] 1) The attitude settlement module uses the last quaternion q(k-1) = [q0, q1, q2, q3] through the gyroscope and calculates the quaternion rotation matrix R:

[0106] 2) The attitude settlement module calculates the z-axis unit vector α in the coordinate system where the attitude settlement module is located through the accelerometer:

[0107] 2) Multiply the z-axis unit vector α by the third column of the quaternion rotation matrix to obtain the angular velocity deviation e z e z =a×z

[0108] 4) The UWB AoA base station and the UWB AoA tag are each equipped with three UWB antennas. The UWB AoA base station and the UWB AoA tag communicate with each other. The UWB AoA base station and the UWB AoA tag use DS-TWR ranging to obtain the distance d between the UWB AoA tag and the UWB AoA base station. The UWB AoA base station and the UWB AoA tag use AoA to obtain the azimuth angle θ of the UWB AoA tag relative to the UWB AoA base station. anc and pitch angle φ anc And the azimuth angle θ of the UWB AoA base station relative to the UWB AoA tag tag and pitch angle φ tag .

[0109] 5) The distance d between the UWB AoA tag and the UWB AoA base station and the azimuth angle θ of the UWB AoA tag relative to the UWB AoA base station anc and pitch angle φ anc Calculate the position of the UWB AoA tag in the coordinate system of the UWB AoA base station (x t ,y t ,z t ):

[0110] The position (x t ,y t ,z t ), calculate the label direction vector n:

[0111] 6) Similarly, the distance d between the UWB AoA tag and the UWB AoA base station and the azimuth angle θ of the UWB AoA base station relative to the UWB AoA tag tag and pitch angle φ tag Calculate the position of the UWB AoA base station in the coordinate system of the UWB AoA tag (x β ,y β,z β ):

[0112] The position (x β ,y β ,z β ), calculate the UWB AoA base station direction vector m;

[0113] 7) Since the UWB angle measurement of the UWB AoA base station and the UWB AoA tag are symmetrical, the tag direction vector n should be exactly opposite to the base station direction vector m after the coordinate system is rotated to the UWB tag coordinate system. Therefore, the coordinate rotation matrix H is: H*n=-m

[0114] Since the coordinate rotation matrix H has the same z-axis direction as the quaternion rotation matrix R:

[0115] And the coordinate rotation matrix H is a rigid rotation, so the three rows of the coordinate rotation matrix H are perpendicular to each other and multiplied to 0. Through the above three conditions, the coordinate rotation matrix H can be solved;

[0116] 7) Obtain the x-axis unit vector u in the UWB AoA tag coordinate system through the rotation matrix:

[0117] 8) By multiplying the x-axis unit vector u with the first column of the quaternion rotation matrix, we get the angular velocity deviation e x : e x =u×x

[0118] 9) Obtain angular velocity deviation e z and angular velocity deviation e x Finally, the Mahony algorithm is used to correct the gyroscope original data w to obtain the corrected data w′, and the quaternion of the current attitude settlement module attitude is updated by the corrected data w′: w′=w+K z e z +K x e x

[0119] Thereby obtaining accurate posture information.

[0120] 6 and 7 , an embodiment of a method for measuring the angle of arrival of a signal in three-dimensional space using dual antennas according to the present invention is proposed:

[0121] A method for measuring the signal arrival angle in three-dimensional space with dual antennas. The device includes a base station and a tag. The base station has three base station UWB antennas 1, and the tag has two tag UWB antennas 2 and an IMU module.

[0122] The base station and the tag communicate via the base station UWB antenna 1 and the tag UWB antenna 2. Thus, the distance range and the first azimuth angle aoa between the tag and the base station in the base station coordinate system can be obtained. az and the first pitch angle aoa el And the signal arrival angle θ between the tag and the base station in the tag coordinate system tag .

[0123] The tag passes the distance range and the first azimuth angle aoa az and the first pitch angle aoa el The coordinates of the tag in the base station coordinate system (x tag ,y tag ,z tag ), if the base station is based on the base station itself as the coordinate system, the base station coordinates are (0,0,0), and the vector pointing to the base station for:

[0124] If the base station uses the earth as the representative system, the base station coordinates are (x anc ,y anc ,z anc ), the vector pointing to the base station for:

[0125] The tag passes the arrival angle θ tag The vector pointing from the tag to the base station in the tag coordinate system can be obtained

[0126] The IMU module is a six-axis inertial sensor. Using classic attitude algorithms like complementary filtering, it can calculate the current tag's attitude azimuth angle φ1, attitude pitch angle θ1, and roll angle ψ1. Because complementary filtering already uses gravity acceleration for correction, the attitude pitch angle θ1 and roll angle ψ1 are relatively accurate. However, due to the lack of other horizontal corrections, the attitude azimuth angle φ1 will have a certain cumulative error. Calculate the tag's rotation matrix:

[0127] Therefore, the vector pointing to the base station calculated by the terminal is converted into the geodetic coordinate system: Since the pointing vector calculated by the base station should be consistent with the tag side, so:

[0128] Thus, the second elevation angle β2 in the tag coordinate system can be calculated, and the second azimuth angle φ2 can be calculated through the second elevation angle β2, thereby achieving the design purpose of dual antennas to achieve signal arrival angle measurement.

[0129] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A positioning device for a UWB-based pointing device pointing to a target, characterized in that: It includes a pointing device and a receiving device; The pointing device includes a first UWB antenna group, a first main control chip and an accelerometer, the first UWB antenna group includes at least two first UWB antennas, and the first main control chip is connected to the first UWB antenna group and the accelerometer respectively; The receiving device includes a second UWB antenna group and a second main control chip, the second UWB antenna group includes at least three second UWB antennas, and the second main control chip is connected to the second UWB antenna group; The receiving device can obtain the positional relationship between the pointing area and the receiving device and the length, width and height of the pointing area, and obtain the distance D between the pointing device and the receiving device and the pitch angle θ1 and azimuth angle φ1 of the pointing device compared to the receiving device through communication between the first UWB antenna group and the second UWB antenna group, thereby obtaining the coordinates (A) of the pointing device in the coordinate system where the receiving device is located. x ,A y ,A z ); The motion vector m of the pointing device is obtained by the gyroscope and the accelerometer on the pointing device, and the straight line equation of the pointing direction of the pointing device is obtained by the coordinates and the motion vector. The coordinates of the pointing point of the pointing device in the pointing area are obtained by solving the intersection of the straight line equation and the pointing area, thereby achieving the design purpose of pointing positioning.

2. The positioning device for pointing a target based on a UWB pointing device according to claim 1, characterized in that: The pointing device further includes a gyroscope, and the gyroscope is connected to the first main control chip.

3. A positioning method for a positioning device based on the UWB-based pointing device pointing to a target according to claim 1, characterized in that: The pointing device also includes a gyroscope; The specific method is as follows: 1) Setting the receiving device and the pointing area, and setting the positional relationship between the receiving device and the pointing area, and obtaining a pointing area position equation of the pointing area in the coordinate system where the receiving device is located according to the positional relationship; 2) The pointing device and the receiving device calculate a distance D between the pointing device and the receiving device by using a TOF method; 3) The pointing device and the receiving device obtain a pitch angle θ1 and an azimuth angle φ1 of the pointing device compared to the receiving device through an AOA algorithm; 4) The coordinates of the pointing device in the coordinate system where the receiving device is located can be obtained by using the distance D, the pitch angle θ1 and the azimuth angle φ1. x ,A y ,A z ); 5) The receiving device and the pointing device obtain an azimuth angle φ2 of the receiving device relative to the pointing device through an AOA algorithm; 6) The movement direction of the pointing device is obtained by the azimuth angle φ2 and the gyroscope based on a fusion algorithm, and the movement vector m of the pointing device is obtained by the accelerometer as (a x ,a y ,a z ); 7) By using the motion vector m and the coordinates of the pointing device in the coordinate system where the receiving device is located (A x ,A y ,A z ) can obtain the equation of the straight line pointed by the pointing device: 8) The intersection of the straight line equation and the pointing area is obtained by combining the straight line equation and the pointing area position equation, thereby obtaining the coordinates of the pointing point of the pointing device in the pointing area.

4. The positioning method according to claim 3, characterized in that: The pointing area can be a display screen of a flat display device, a projection surface of a projection device, and a virtual display plane of a stereoscopic display device.

5. The positioning method according to claim 4, characterized in that: When the pointing area is a display screen of a flat display device and is a curved screen, the pointing device and the receiving device may have two intersection points under certain circumstances. According to the movement direction, the intersection point behind the movement direction is selected as the pointing point coordinate.

6. An air mouse positioning system based on IMU and UWB fusion technology, characterized in that: The equipment includes an air mouse and a display device; The display device is provided with a controlled end, the air mouse is provided with a control end, and the control end is provided with an IMU module, and the distance d4 between the control end and the controlled end is obtained through communication between the control end and the controlled end; The IMU module is used to obtain the posture information of the air mouse, which includes the azimuth angle α2 and the pitch angle β2, so that the horizontal movement distance x1 and the vertical movement distance y1 of the cursor on the display device can be calculated according to the distance d4, the azimuth angle α2 and the pitch angle β2.

7. The air mouse positioning system based on IMU and UWB fusion technology according to claim 6 is characterized in that: The controlled end is provided with a controlled end UWB module, and the controlling end is provided with a controlling end UWB module. The distance d4 between the controlling end and the controlled end is acquired through communication between the controlling end UWB module and the controlled end UWB module.

8. The air mouse positioning system based on IMU and UWB fusion technology according to claim 7, characterized in that: The azimuth angle α1 and the pitch angle β1 can also be acquired through the communication between the control end UWB module and the controlled end UWB module, so as to calculate the vertical line distance d5 between the air mouse and the display device; Therefore, the horizontal movement distance x2 and the vertical movement distance y2 of the cursor on the display device can be calculated according to the vertical line distance d5, the azimuth angle α2 and the pitch angle β2.

9. The air mouse positioning system based on IMU and UWB fusion technology according to claim 6 or 7, characterized in that: The calculation formulas for the moving distance x1 in the horizontal direction and the moving distance y1 in the vertical direction are x1=d4*tan(α2)*K, y1=d4*tan(β2)*K.

10. The air mouse positioning system based on IMU and UWB fusion technology according to claim 9, characterized in that: The parameter K is a proportionality factor related to the size and resolution of the screen.

11. The air mouse positioning system based on IMU and UWB fusion technology according to claim 8, characterized in that: The calculation formulas for the moving distance x2 in the horizontal direction and the moving distance y2 in the vertical direction are x2=d5*tan(α2)*K, y2=d5*tan(β2)*K.

12. The air mouse positioning system based on IMU and UWB fusion technology according to claim 8, characterized in that: The controlled-end UWB module includes at least three controlled-end UWB antennas.

13. The air mouse positioning system based on IMU and UWB fusion technology according to claim 6, characterized in that: The control end sets the shortest distance sd and the longest distance ld in advance. If the distance d4 obtained between the control end and the controlled end is greater than the longest distance ld, the moving distance x1 and the moving distance y1 are calculated based on the longest distance ld. If the distance d4 obtained between the control end and the controlled end is less than the shortest distance sd, the moving distance x1 and the moving distance y1 are calculated based on the shortest distance sd.

14. A method for calibrating IMU attitude using UWB, characterized in that: It includes a UWB AoA base station and a posture settlement module provided with a UWB AoA tag, wherein the posture settlement module is also provided with a gyroscope and an accelerometer; First, use the accelerometer to obtain the angular velocity deviation e in the direction of gravity. z , and then the angular velocity deviation of the heading angle is obtained through communication between the UWB AoA base station and the UWB AoA tag. x , then the angular velocity deviation e z and the angular velocity deviation e x To correct the original data w of the gyroscope, so as to obtain accurate attitude information.

15. The method for calibrating IMU attitude using UWB according to claim 14, characterized in that: The UWB AoA base station and the UWB AoA tag are both provided with a plurality of UWB antennas; Communicate with the UWB AoA base station and the UWB AoA tag to obtain a tag direction vector n of the UWB AoA tag in the UWB AoA base station coordinate system and a base station direction vector m of the UWB AoA base station in the UWB AoA tag coordinate system; The coordinate rotation matrix H is obtained by the tag direction vector n and the base station direction vector m, the x-axis unit vector u in the UWB AoA tag coordinate system is obtained by the rotation matrix, and the angular velocity deviation e is calculated by the unit vector u x .

16. The method for calibrating IMU attitude using UWB according to claim 15, characterized in that: The UWB AoA base station and the UWB AoA tag use DS-TWR ranging to obtain the distance d between the UWB AoA tag and the UWB AoA base station, and the UWB AoA base station and the UWB AoA tag use AoA to respectively obtain the azimuth angle θ of the UWB AoA tag relative to the UWB AoA base station. anc and the pitch angle φ anc and the azimuth angle θ of the UWB AoA base station relative to the UWB AoA tag tag and the pitch angle φ tag , and obtain the position of the UWB AoA tag in the coordinate system of the UWB AoA base station and the position of the UWB AoA base station in the coordinate system of the UWB AoA tag by calculation, thereby respectively calculating the UWB AoA tag direction vector n of the UWB AoA tag in the UWB AoA base station coordinate system and the base station direction vector m of the UWB AoA base station in the UWB AoA tag coordinate system.

17. The method for calibrating IMU attitude using UWB according to claim 16, characterized in that: The vector α in the z-axis direction (gravity direction) is obtained by the accelerometer, and the angular velocity deviation e is obtained by the vector α. z .

18. The method for calibrating IMU attitude using UWB according to claim 14, characterized in that: Get the angular velocity deviation e z and the angular velocity deviation e x After that, the Mahony algorithm is used to correct the gyroscope raw data w to obtain the corrected data w′, and the quaternion of the current attitude settlement module attitude is updated by the corrected data w′.

19. A method for measuring the angle of arrival of a signal in three-dimensional space using dual antennas, characterized in that: The device includes a base station and a tag, wherein the base station has at least three base station UWB antennas, and the tag has two tag UWB antennas and an IMU module; The base station and the tag communicate via the base station UWB antenna and the tag UWB antenna, so that the distance range and the first azimuth angle aoa between the tag and the base station in the base station coordinate system can be obtained. az and the first pitch angle aoa el And the signal arrival angle θ between the tag and the base station in the tag coordinate system tag ; By the distance range, the first azimuth angle aoa az and the first pitch angle aoa el The vector pointing from the tag to the base station in the base station coordinate system can be obtained By the arrival angle θ tag The vector pointing from the tag to the base station in the tag coordinate system can be obtained The rotation matrix R used to correct the label can be obtained through the IMU module. Thereby, the second azimuth angle φ2 and the second elevation angle β2 between the tag and the base station in the tag coordinate system can be calculated.

20. The method for measuring the signal arrival angle in three-dimensional space using dual antennas according to claim 19, characterized in that: The IMU module can calculate the tag's current attitude azimuth angle φ1, attitude pitch angle θ1 and roll angle ψ1.

21. [Corrected 19.09.2024 in accordance with Rule 91] The method for measuring the angle of arrival of a signal in three-dimensional space using dual antennas according to claim 20, characterized in that: The rotation matrix of the tag can be obtained through the attitude azimuth angle φ1, the attitude pitch angle θ1 and the roll angle ψ1:

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