Method, control device, and system for determining direct-pointing position

Abstract

Provided are a method, a control device, and a system for determining a direct-pointing position. The method is applied to a control device, wherein the control device comprises a first orientation calibration unit and a second orientation calibration unit. The method comprises: in a first time period, using the first orientation calibration unit to calibrate an orientation, the orientation being an orientation of the control device relative to a third orientation calibration unit, and the third orientation calibration unit being configured for measuring a pose relationship of the control device relative to a controlled device; determining a direct-pointing position of the control device in the first time period according to the orientation calibrated by the first orientation calibration unit; in a second time period, using the second orientation calibration unit to calibrate the orientation, a calibration accuracy of the first orientation calibration unit in the second time period being lower than a calibration accuracy in the first time period; and determining a direct-pointing position of the control device in the second time period according to the orientation calibrated by the second orientation calibration unit. In this way, when an orientation calibrated by a first orientation calibration unit is inaccurate, the orientation is calibrated by a second orientation calibration unit, thereby improving direct-pointing accuracy of a control device.

Description

Method, control device and system for determining pointing position

[0001] The present application claims priority to the Chinese patent application No. 202411324266.1, filed on September 20, 2024, and entitled "Method, control device and system for determining pointing position", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of determining pointing position, and more particularly, to a method, control device and system for determining pointing position. BACKGROUND

[0003] Taking the interaction between a pointing remote controller and a large screen as an example, the pointing remote controller can realize the remote control effect by controlling the movement of the cursor on the large screen, which can improve the interaction experience between the user and the large screen. For example, the user can play shooting games, fruit cutting games and the like on the large screen through the pointing remote controller.

[0004] However, the pointing accuracy of the current pointing remote controller is not high. During the use of the pointing remote controller, the pointing accuracy of the pointing remote controller directly affects the interaction effect between the pointing remote controller and the pointed device. For example, when there is an occlusion between the pointing remote controller and the pointed device, the pointing accuracy of the pointing remote controller is easily affected, and the situation that the pointing remote controller cannot flexibly control the pointed device is likely to occur, which affects the user's experience. SUMMARY

[0005] The present application provides a method, control device and system for determining pointing position. Through the method, control device and system, a first attitude calibration unit and a second attitude calibration unit are configured in the control device. The calibration result of the attitude of the second attitude calibration unit is not affected by the device occlusion and the antenna polarization and the like. When the attitude calibrated by the first attitude calibration unit is inaccurate, the attitude is calibrated by the second attitude calibration unit, which can improve the pointing accuracy of the control device and the stability of the pointing accuracy of the control device.

[0006] In a first aspect, a method for determining a pointing position is provided. The method is applied to a control device, and the control device comprises a first attitude calibration unit and a second attitude calibration unit. The method comprises: in a first time period, calibrating, by using the first attitude calibration unit, an attitude of the control device relative to a third attitude calibration unit, the third attitude calibration unit being configured to measure a pose relationship of the control device relative to a controlled device; determining a pointing position of the control device in the first time period according to the attitude of the control device relative to the third attitude calibration unit calibrated by using the first attitude calibration unit; in a second time period, calibrating, by using the second attitude calibration unit, the attitude of the control device relative to the third attitude calibration unit, wherein, in the second time period, an accuracy of a calibration result of the first attitude calibration unit is lower than an accuracy of a calibration result of the first attitude calibration unit in the first time period; and determining a pointing position of the control device in the second time period according to the attitude of the control device relative to the third attitude calibration unit calibrated by using the second attitude calibration unit.

[0007] In some embodiments, in the first time period, the second attitude calibration unit is not used for attitude calibration.

[0008] In the embodiments of the present application, the first attitude calibration unit and the second attitude calibration unit are configured in the control device. The calibration result of the attitude of the second attitude calibration unit is not affected by device occlusion, antenna polarization and the like. When the attitude calibrated by the first attitude calibration unit is inaccurate, the attitude is calibrated by the second attitude calibration unit, so that the pointing accuracy of the control device can be improved, and the stability of the pointing accuracy of the control device can be improved.

[0009] In combination with the first aspect, in a possible implementation, the method further comprises: in a third time period after the second time period, calibrating, by using the first attitude calibration unit, the attitude of the control device relative to the third attitude calibration unit, wherein, in the third time period, the accuracy of the calibration result of the first attitude calibration unit is higher than the accuracy of the calibration result of the first attitude calibration unit in the second time period.

[0010] In the embodiments of the present application, during the process of calibrating the attitude by the second attitude calibration unit, if it is detected that the accuracy of the attitude calibrated by the first attitude calibration unit changes from not meeting the requirement to meeting the requirement, the first attitude calibration unit is restored to be used for calibrating the attitude, so that the accuracy of the attitude calibration result caused by long-term use of the second attitude calibration unit is avoided, the pointing accuracy of the control device can be further improved, and the stability of the pointing accuracy of the control device can be further improved.

[0011] With reference to the first aspect, in a possible implementation manner, the method further includes: in a fourth time period, calibrating the azimuth angle measured by the second attitude calibration unit by using the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit, where the fourth time period partially overlaps with or is within the first time period.

[0012] The azimuth angle measured by the second attitude calibration unit is an azimuth angle of the control device relative to the third attitude calibration unit measured by the second attitude calibration unit.

[0013] In the embodiments of the present application, in the process of attitude calibration using the first attitude calibration unit, the second attitude calibration unit can be calibrated in real time by using the attitude calibration result of the first attitude calibration unit, so that the accuracy of the attitude result calibrated by the second attitude calibration unit can be improved, and the stability of the pointing accuracy of the user in the process of using the control device can be improved.

[0014] With reference to the first aspect, in a possible implementation manner, the method further includes: in the second time period, measuring the position of the control device relative to the third attitude calibration unit by using the first attitude calibration unit.

[0015] In the embodiments of the present application, since the second attitude calibration unit cannot measure the position of the control device relative to the third attitude calibration unit, the first attitude calibration unit and the second attitude calibration unit can be cooperated, the position of the control device relative to the third attitude calibration unit can be measured by the first attitude calibration unit, and the attitude of the control device relative to the third attitude calibration unit can be calibrated by the second attitude calibration unit, so that the control device can determine the pointing position of the control device relative to the third attitude calibration unit according to the position and the attitude.

[0016] With reference to the first aspect, in a possible implementation manner, the calibration of the azimuth angle measured by the second attitude calibration unit by using the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit includes: when the difference between the azimuth angle measured by using the second attitude calibration unit and the azimuth angle measured by using the first attitude calibration unit is greater than a first difference, the azimuth angle measured by the second attitude calibration unit is calibrated by using the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit; or when the variance of a plurality of azimuth angles measured continuously by using the second attitude calibration unit is greater than a first variance, the azimuth angle measured by the second attitude calibration unit is calibrated by using the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit.

[0017] In the embodiments of the present application, in the process of using the first attitude calibration unit to calibrate the attitude, the second attitude calibration unit can not be calibrated in real time, but when it is determined that the second attitude calibration unit needs to be calibrated, the attitude calibration result of the first attitude calibration unit is used to calibrate it, so that the power consumption of the device can be saved.

[0018] In combination with the first aspect, in a possible implementation manner, the using the second attitude calibration unit to calibrate the attitude of the control device relative to the third attitude calibration unit comprises: using the second attitude calibration unit to measure the azimuth angle between the control device and the third attitude calibration unit; and using the azimuth angle to calibrate the attitude of the control device relative to the third attitude calibration unit.

[0019] In some embodiments, the attitude of the control device relative to the third attitude calibration unit comprises an azimuth angle, a pitch angle and a roll angle, and the calibration manner can be directly using the azimuth angle measured by the second attitude calibration unit as the azimuth angle of the control device relative to the third attitude calibration unit.

[0020] In the embodiments of the present application, the second attitude calibration unit calibrates the attitude substantially according to the azimuth angle of the control device relative to the third attitude calibration unit measured by the second attitude calibration unit.

[0021] In combination with the first aspect, in a possible implementation manner, the method further comprises: simultaneously using the first attitude calibration unit and the second attitude calibration unit to calibrate the attitude of the control device relative to the third attitude calibration unit in the second time period.

[0022] In the embodiments of the present application, in the process of using the second attitude calibration unit to calibrate the attitude, the first attitude calibration unit can be used to calibrate the attitude at the same time, in which process, the pointing position of the control device is determined according to the attitude calibration result of the second attitude calibration unit, and the accuracy of the attitude calibration result of the first attitude calibration unit is judged, so as to timely restore the use of the first attitude calibration unit to calibrate the attitude when the accuracy of the attitude calibration result of the first attitude calibration unit is restored.

[0023] In combination with the first aspect, in a possible implementation manner, the control device is a remote controller.

[0024] The remote controller can be any electronic device with remote control function, such as a smart phone, a television remote controller, an air conditioner remote controller, a lamp remote controller, etc.

[0025] In combination with the first aspect, in a possible implementation manner, the controlled device is an intelligent controlled device in a whole-house intelligent environment or a smart office environment.

[0026] The controlled device may be, for example, a large-screen device, a lamp, an air conditioner, a smart speaker, an electric clothes hanger, a smart tea bar machine, or any other device with a controlled function, and the application does not limit the controlled device.

[0027] In combination with the first aspect, in a possible implementation, the first attitude calibration unit is a UWB module, and the second attitude calibration unit is a magnetometer.

[0028] In combination with the first aspect, in a possible implementation, the third attitude calibration unit is a UWB module.

[0029] In the second aspect, a control device is provided, which includes a first attitude calibration unit and a second attitude calibration unit, and further includes one or more processors, one or more memories, and one or more computer programs. The one or more computer programs are stored in the one or more memories and include instructions that, when executed by the one or more processors, cause the control device to perform the following operations: in a first time period, calibrate the attitude of the control device relative to a third attitude calibration unit using the first attitude calibration unit, the third attitude calibration unit being used to measure the pose relationship of the control device relative to a controlled device; determine the pointing position of the control device in the first time period according to the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit; in a second time period, calibrate the attitude of the control device relative to the third attitude calibration unit using the second attitude calibration unit, wherein the accuracy of the calibration result of the first attitude calibration unit in the second time period is lower than that of the calibration result of the first attitude calibration unit in the first time period; and determine the pointing position of the control device in the second time period according to the attitude of the control device relative to the third attitude calibration unit calibrated using the second attitude calibration unit.

[0030] In some embodiments, in the first time period, the second attitude calibration unit is not used for attitude calibration.

[0031] In the embodiments of the application, the first attitude calibration unit and the second attitude calibration unit are configured in the control device. The calibration result of the attitude of the second attitude calibration unit is not affected by device occlusion, antenna polarization, and the like. When the attitude calibrated by the first attitude calibration unit is inaccurate, the attitude is calibrated by the second attitude calibration unit, which can improve the pointing accuracy of the control device and the stability of the pointing accuracy of the control device.

[0032] With reference to the second aspect, in a possible implementation manner, when the instruction is executed by the one or more processors, the control device further performs the following operation: in a third time period after the second time period, calibrating the posture of the control device relative to the third posture calibration unit by using the first posture calibration unit, wherein in the third time period, the accuracy of the calibration result of the first posture calibration unit is higher than the accuracy of the calibration result of the first posture calibration unit in the second time period.

[0033] In the embodiments of the present application, in the process of calibrating the posture by the second posture calibration unit, if it is detected that the accuracy of the posture calibrated by the first posture calibration unit changes from not meeting the requirement to meeting the requirement, the posture is calibrated by using the first posture calibration unit again, so as to avoid the decrease of the accuracy of the posture calibration result caused by long-term use of the second posture calibration unit, further improve the pointing accuracy of the control device, and further improve the stability of the pointing accuracy of the control device.

[0034] With reference to the second aspect, in a possible implementation manner, when the instruction is executed by the one or more processors, the control device further performs the following operation: in a third time period after the second time period, calibrating the posture of the control device relative to the third posture calibration unit by using the first posture calibration unit, wherein in the third time period, the accuracy of the calibration result of the first posture calibration unit is higher than the accuracy of the calibration result of the first posture calibration unit in the second time period.

[0035] The azimuth angle measured by the second posture calibration unit is the azimuth angle of the control device relative to the third posture calibration unit measured by the second posture calibration unit.

[0036] In the embodiments of the present application, in the process of calibrating the posture by using the first posture calibration unit, the second posture calibration unit can be calibrated in real time by using the posture calibration result of the first posture calibration unit, so as to improve the accuracy of the posture result calibrated by the second posture calibration unit and improve the stability of the pointing accuracy of the control device in the process of using the control device.

[0037] With reference to the second aspect, in a possible implementation manner, when the instruction is executed by the one or more processors, the control device further performs the following operation: in the second time period, measuring the position of the control device relative to the third posture calibration unit.

[0038] In the embodiments of the present application, since the second attitude calibration unit cannot measure the position of the control device relative to the third attitude calibration unit, the first attitude calibration unit and the second attitude calibration unit can be used in cooperation, the first attitude calibration unit can be used to measure the position of the control device relative to the third attitude calibration unit, and the second attitude calibration unit can be used to calibrate the attitude of the control device relative to the third attitude calibration unit, so that the control device can determine the pointing position of the control device relative to the third attitude calibration unit according to the position and the attitude.

[0039] With reference to the second aspect, in a possible implementation, when the instruction is executed by the one or more processors, the control device further specifically performs the following operation: when the difference between the azimuth angle measured by using the second attitude calibration unit and the azimuth angle measured by using the first attitude calibration unit is greater than the first difference, the attitude of the control device relative to the third attitude calibration unit calibrated by using the first attitude calibration unit is used to calibrate the azimuth angle measured by using the second attitude calibration unit; or when the variance of the plurality of azimuth angles measured by using the second attitude calibration unit continuously is greater than the first variance, the attitude of the control device relative to the third attitude calibration unit calibrated by using the first attitude calibration unit is used to calibrate the azimuth angle measured by using the second attitude calibration unit.

[0040] In the embodiments of the present application, in the process of attitude calibration by using the first attitude calibration unit, the second attitude calibration unit can not be calibrated in real time, but when it is determined that the second attitude calibration unit needs to be calibrated, the attitude calibration result of the first attitude calibration unit is used to calibrate the second attitude calibration unit, so that the power consumption of the device can be saved.

[0041] With reference to the second aspect, in a possible implementation, when the instruction is executed by the one or more processors, the control device further specifically performs the following operation: in the second time period, the first attitude calibration unit and the second attitude calibration unit are used simultaneously to calibrate the attitude of the control device relative to the third attitude calibration unit.

[0042] In the embodiments of the present application, in the process of attitude calibration by using the second attitude calibration unit, the first attitude calibration unit can be used simultaneously for attitude calibration, in which process, the pointing position of the control device is determined according to the attitude calibration result of the second attitude calibration unit, and the accuracy of the attitude calibration result of the first attitude calibration unit is judged, so that when the accuracy of the attitude calibration result of the first attitude calibration unit is restored, the first attitude calibration unit can be used for attitude calibration in time.

[0043] With reference to the second aspect, in a possible implementation, the control device is a remote controller.

[0044] The remote controller can be any electronic device with remote control function, such as a smart phone, a television remote controller, an air conditioner remote controller, a lamp remote controller, and the like.

[0045] With reference to the second aspect, in a possible implementation manner, the controlled device is a smart controlled device in a whole-house smart environment or a smart office environment.

[0046] The controlled device can be a large-screen device, a lamp, an air conditioner, a smart sound box, an electric clothes hanger, a smart tea bar machine, or any other device with a controlled function, and the present application does not limit the controlled device.

[0047] With reference to the second aspect, in a possible implementation manner, the first attitude calibration unit is a UWB module, and the second attitude calibration unit is a magnetometer.

[0048] With reference to the second aspect, in a possible implementation manner, the third attitude calibration unit is a UWB module.

[0049] In a third aspect, a system for determining a pointing position is provided, which includes a control device and a controlled device. The control device is configured to execute the method in the first aspect or any possible implementation manner of the first aspect. The controlled device is configured to make a first response according to the pointing position of the control device determined by the control device.

[0050] In a fourth aspect, an electronic device is provided, which includes a memory and a processor. The memory is configured to store computer program code, and the processor is configured to execute the computer program code stored in the memory to implement the method in the first aspect or any possible implementation manner of the first aspect.

[0051] In a fifth aspect, a computer readable storage medium is provided, which stores a computer program or instructions. When the computer program or instructions are executed, the method in the first aspect or any possible implementation manner of the first aspect is implemented.

[0052] In a sixth aspect, a chip is provided, which stores instructions. When the instructions are executed on a device, the chip executes the method in the first aspect or any possible implementation manner of the first aspect.

[0053] In a seventh aspect, a computer program product is provided, which stores a computer program or instructions. When the computer program or instructions are executed, the method in the first aspect or any possible implementation manner of the first aspect is implemented. BRIEF DESCRIPTION OF DRAWINGS

[0054] FIG. 1 is a structural schematic diagram of an electronic device according to an embodiment of the present application;

[0055] FIG. 2 is a structural schematic diagram of another electronic device according to an embodiment of the present application;

[0056] FIG. 3 is a structural schematic diagram of another electronic device according to an embodiment of the present application;

[0057] FIG. 4 is a schematic diagram of a use scenario of a pointing-type remote controller according to an embodiment of the present application;

[0058] FIG. 5 is a schematic diagram of a pointing position determination process of a pointing-type remote controller on a large-screen device according to an embodiment of the present application;

[0059] FIG. 6 is an interaction schematic diagram of a method for determining a pointing position according to an embodiment of the present application;

[0060] FIG. 7 is a comparison diagram of an azimuth angle of a pointing device relative to a UWB coordinate system measured based on a UWB base station and an azimuth angle of the pointing device relative to the UWB coordinate system measured based on a calibrated magnetometer according to an embodiment of the present application;

[0061] FIG. 8 is a schematic diagram of a positional relationship between several large-screen devices and UWB base stations according to an embodiment of the present application;

[0062] FIG. 9 is a schematic diagram of arrangement of several first antenna arrays according to an embodiment of the present application;

[0063] FIG. 10 is a schematic diagram of arrangement of a second antenna array on a remote controller according to an embodiment of the present application;

[0064] FIG. 11 is a spatial coordinate system established with a UWB base station as a coordinate origin according to an embodiment of the present application;

[0065] FIG. 12 is a spatial coordinate system established with a center of a remote controller as a coordinate origin according to an embodiment of the present application;

[0066] FIG. 13 is a schematic diagram of azimuth angle, pitch angle and roll angle for measuring a posture of a remote controller according to an embodiment of the present application;

[0067] FIG. 14 is a schematic diagram of an included angle between a Y-axis of a first coordinate system and a Y-axis of a geographic coordinate system according to an embodiment of the present application;

[0068] FIG. 15 is a schematic diagram of three-axis magnetic force output of a magnetometer according to an embodiment of the present application; and a horizontal plane magnetic vector obtained by transformation; ;

[0069] FIG. 16 is a schematic diagram of a scenario in which a method for determining a pointing position according to an embodiment of the present application can be applied;

[0070] FIG. 17 is a comparison diagram of azimuth measurement values of a magnetometer before and after calibration according to an embodiment of the present application;

[0071] FIG. 18 is a schematic diagram of another scenario to which the method for determining a pointing position according to an embodiment of the present application can be applied;

[0072] FIG. 19 is a schematic flowchart of a method for determining a pointing position according to an embodiment of the present application. DETAILED DESCRIPTION

[0073] The technical solutions in the present application will be described below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments.

[0074] The technical solutions in the embodiments of the present application will be described below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of "or", for example, A / B can represent A or B; "and / or" in the present application only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "plurality" or "multiple" means two or more than two.

[0075] In the following embodiments, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features. In the description of the embodiments, unless otherwise specified, the meaning of "multiple" is two or more than two.

[0076] The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to be limiting on the present application. As used in the specification and the appended claims of the present application, the singular forms "a," "an," and "the" are intended to include, for example, the expression "one or more," unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of the present application, "at least one" and "one or more" mean one, two or more than two. The term "and / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships; for example, A and / or B can represent: A alone, A and B together, and B alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0077] Reference within the specification to "one embodiment" or "an embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one or more embodiments" or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, although it can. The terms "comprises", "comprising", "including", "including", "has", "having" and their variants are meant to be open-ended terms that specifically permit the inclusion of any number of the specified elements or steps, rather than excluding any such elements or steps. The terms "comprises", "comprising", "including", "including", "has", "having" and their variants are meant to be open-ended terms that specifically permit the inclusion of any number of the specified elements or steps, rather than excluding any such elements or steps.

[0078] The method provided by the embodiments of the application can be applied to electronic devices such as mobile phones, tablets, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, notebook computers, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), and the like. The embodiments of the application do not limit the specific type of electronic device.

[0079] For example, FIG. 1 shows a structural schematic diagram of an electronic device 100. The electronic device 100 can include a wireless communication module 110, an antenna 1, a processor 120, a loudspeaker 130, a power management module 140, an internal memory 150, a display screen 160, and the like.

[0080] It can be understood that the structure illustrated by the embodiments of the application does not constitute a specific limitation on the electronic device 100. In other embodiments of the application, the electronic device 100 can include more or fewer components than those shown (for example, it can also include an external memory interface, a battery, a frequency module, a sensor module, and the like), or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0081] The wireless communication module 110 can provide a solution for wireless communication, including wireless local area networks (WLAN) (such as a wireless fidelity (Wi-Fi) network), Bluetooth (BT), a global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR) technology, and the like, which are applied to the electronic device 100. The wireless communication module 110 can be one or more devices that integrate at least one communication processing module. The wireless communication module 110 receives electromagnetic waves via the antenna 1, frequency-modulates and filters the electromagnetic wave signals, and transmits the processed signals to the processor 120. The wireless communication module 110 can also receive signals to be transmitted from the processor 120, frequency-modulate them, amplify them, and radiate them as electromagnetic waves via the antenna 1.

[0082] The processor 120 can include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units can be independent devices or integrated into one or more processors.

[0083] The controller can be the nerve center and command center of the electronic device 100. The controller can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions.

[0084] The memory in the processor 120 can also be provided for storing instructions and data. In some embodiments, the memory in the processor 120 is a cache memory. The memory can store instructions or data that have just been used or are frequently used by the processor 120. If the processor 120 needs to use the instructions or data again, it can directly call them from the memory. This avoids repeated access and reduces the waiting time of the processor 120, thereby improving the efficiency of the system.

[0085] In some embodiments, the processor 120 can include one or more interfaces. The interfaces can include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0086] The antenna 1 is used for transmitting and receiving electromagnetic wave signals. Each antenna in the electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example, the antenna 1 can be multiplexed as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0087] The loudspeaker 130, also known as a "speaker", is used to convert an audio electrical signal into a sound signal. The electronic device 100 can listen to music or listen to a hands-free call through the loudspeaker 130.

[0088] The power management module 140 is used to connect the processor 120, and the power management module 140 receives the input of the battery and / or the charging management module to power the processor 120, the internal memory 150, the loudspeaker 130, the display screen 160, and the wireless communication module 110, etc. The power management module 140 can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module 140 can also be arranged in the processor 120. In some other embodiments, the power management module 140 and the charging management module can also be arranged in the same device.

[0089] The wireless communication function of the electronic device 100 can be realized through the antenna 1, the wireless communication module 110, etc.

[0090] The internal memory 150 can be used to store computer executable program codes including instructions. The processor 120 performs various functional applications and data processing of the electronic device 100 by running the instructions stored in the internal memory 150. The internal memory 150 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one App (such as a sound playing function, an image playing function, etc.) required by a function, etc. The data storage area can store data (such as audio data, a phone book, etc.) created during use of the electronic device 100, etc. In addition, the internal memory 150 can include a high-speed random access memory, and can further include a non-volatile memory such as at least one magnetic disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0091] The electronic device 100 implements a display function through a GPU, a display screen 160, and an application processor, etc. The GPU is a microprocessor for image processing, connected to the display screen 160 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 120 can include one or more GPUs that execute program instructions to generate or change display information.

[0092] The display screen 160 is used to display images, videos, etc. The display screen 160 includes a display panel. The display panel can adopt a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flex light-emitting diode (FLED), a Miniled, a MicroLed, a Micro-oLed, a quantum dot light emitting diode (QLED), etc. In some embodiments, the electronic device 100 can include 1 or N display screens 160, and N is a positive integer greater than 1.

[0093] The software system of the electronic device 100 can adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture.

[0094] In some embodiments, the electronic device 100 can be a large-screen device, a virtual reality (VR) glasses, etc.

[0095] In some embodiments, the electronic device 100 can be a smart controlled device in a whole-house smart environment or a smart office environment, such as a sound box device, a lamp, an air conditioner, etc. In some embodiments, the electronic device 100 does not include a display screen 160.

[0096] For example, FIG. 2 shows a structural schematic diagram of an electronic device 200. The electronic device 200 can include a wireless communication module 210, an antenna 2, an antenna 3, an antenna 4, an antenna 5, an antenna 6, an ultra wide band (UWB) module 220, a processor 230, an internal memory 240, a power management module 250, a power supply 260, a sensor module 270, etc.

[0097] It can be understood that the structure shown in the embodiments of the present application does not constitute a specific limitation on the electronic device 200. In other embodiments of the present application, the electronic device 200 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0098] The wireless communication module 210 can provide a solution for wireless communication including WLAN (such as Wi-Fi network), BT, GNSS, FM, NFC, IR, etc. applied on the electronic device 200. The wireless communication module 210 can be one or more devices integrating at least one communication processing module. The wireless communication module 210 receives electromagnetic waves via the antenna 3, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 230. The wireless communication module 210 can also receive signals to be sent from the processor 230, frequency modulate them, amplify them, and radiate them out as electromagnetic waves via the antenna 3.

[0099] In some embodiments, the antenna 2, the antenna 3, and the wireless communication module 210 of the electronic device 200 are coupled, so that the electronic device 200 can communicate with a network and other devices through wireless communication technologies. The wireless communication technologies can include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technologies, etc. The GNSS can include a global positioning system (GPS), a global navigation satellite system (GLONASS), a beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS), and / or a satellite based augmentation systems (SBAS).

[0100] The UWB module 220 can provide a UWB communication, ranging, etc. solution applied to a UWB tag device, and when the electronic device 200 integrates one UWB transmitting antenna (e.g., the antenna 4) and multiple UWB receiving antennas (e.g., the antenna 5 and the antenna 6), the attitude of the electronic device 200 can be measured based on a UWB signal.

[0101] The processor 230 can include one or more processing units, for example: the processor 230 can include an application processor, a modem processor, a graphics processor, an ISP, a controller, a memory, a video codec, a DSP, a baseband processor, and / or an NPU, etc. Different processing units can be independent devices, or can be integrated in one or more processors.

[0102] In some embodiments, the processor 230 is configured to process the communication or ranging information output by the UWB module 220, and the processor 230 is also responsible for calculating the positioning result of the UWB tag.

[0103] The controller can be the nerve center and command center of the electronic device 200. The controller can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions.

[0104] The processor 230 can also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 230 is a cache memory. The memory can store instructions or data that the processor 230 has just used or repeatedly uses. If the processor 230 needs to use the instructions or data again, it can directly call from the memory. This avoids repeated access and reduces the waiting time of the processor 230, thereby improving the efficiency of the system.

[0105] In some embodiments, the processor 230 can include one or more interfaces. The interfaces can include an I2C interface, an I2S interface, a PCM interface, a UART interface, an MIPI, a GPIO interface, a SIM interface, and / or a USB interface, etc.

[0106] The antenna 2 and the antenna 3 are used for transmitting and receiving electromagnetic wave signals. Each antenna in the electronic device 200 can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example, the antenna 2 can be multiplexed as a diversity antenna of a wireless local area network. In some other embodiments, the antennas can be used in combination with tuning switches.

[0107] The internal memory 240 can be used to store computer executable program codes, which include instructions. The processor 230 executes various functional applications and data processing of the electronic device 200 by running the instructions stored in the internal memory 240. The internal memory 240 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one App required by a function (such as a sound playing function, an image playing function, etc.), etc. The data storage area can store data created during the use of the electronic device 200 (such as audio data, a phonebook, etc.), etc. In addition, the internal memory 240 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, a UFS, etc.

[0108] The power management module 250 is configured to connect to the processor 230, and receives input from the battery 260 and / or the charging management module to supply power to the processor 230, the internal memory 240, the wireless communication module 210, the UWB module 220, the sensor module 270, and the like. The power management module 250 can also be configured to monitor parameters such as battery capacity, battery cycle count, battery health status (leakage, impedance), and the like. In some other embodiments, the power management module 250 can also be disposed in the processor 230. In some other embodiments, the power management module 250 and the charging management module can also be disposed in the same device.

[0109] The wireless communication function of the electronic device 200 can be implemented by the antenna 2, the antenna 3, the antenna 4, the antenna 5, the antenna 6, the wireless communication module 210, the UWB module 220, the modem processor, the baseband processor, and the like.

[0110] The sensor module 270 can include a gyroscope sensor 271, an acceleration sensor 272, a geomagnetic sensor 273 (also referred to as a magnetometer), and the like.

[0111] In some embodiments, the sensor module 270 can also include an angular accelerometer, a laser gyro sensor, and the like.

[0112] In some embodiments, the sensor module 270 is configured to output azimuth angle, pitch angle, and roll angle information of the UWB tag.

[0113] In some embodiments, the sensor module 270 can be referred to as an inertial measurement unit (IMU).

[0114] In some embodiments, the magnetometer is configured to calibrate the azimuth angle, the pitch angle, and the roll angle information of the UWB tag when the output result of the UWB module is inaccurate or when the UWB module is unavailable.

[0115] The software system of the electronic device 200 can adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture.

[0116] In some embodiments, the electronic device 200 is a pointing device, for example, a pointing remote controller, and can also be a smart phone, and can also be other electronic devices with pointing control function.

[0117] For example, FIG. 3 shows a structural schematic diagram of an electronic device 300. The electronic device 300 can include a wireless communication module 310, an antenna 7, an antenna 8, an antenna 9, an antenna 10, an antenna 11, a UWB module 320, a processor 330, an internal memory 340, a driving motor 350, a power management module 360, a power supply 370, and the like.

[0118] It can be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device 300. In other embodiments of the present application, the electronic device 300 can include more or fewer components than illustrated, or combine certain components, or split certain components, or different arrangement of components. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0119] The wireless communication module 310 can provide a solution for wireless communication, including WLAN (such as Wi-Fi network), BT, GNSS, FM, NFC, IR, etc. applied to the electronic device 300. The wireless communication module 310 can be one or more devices that integrate at least one communication processing module. The wireless communication module 310 receives electromagnetic waves via the antenna 8, frequency-modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 330. The wireless communication module 310 can also receive signals to be sent from the processor 330, frequency-modulate them, amplify them, and convert them into electromagnetic wave radiation via the antenna 8.

[0120] In some embodiments, the antenna 7, the antenna 8, and the wireless communication module 310 of the electronic device 300 are coupled, so that the electronic device 300 can communicate with a network and other devices through wireless communication technology. The wireless communication technology can include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS can include GPS, GLONASS, BDS, QZSS, and / or SBAS.

[0121] The UWB module 320 can provide a solution for UWB communication, ranging, etc. applied to the electronic device 300. It should be noted that the electronic device 300 can only carry one UWB signal receiving antenna, and in this case at least three electronic devices 300 are needed to achieve three-dimensional positioning of the UWB tag. In another implementation scheme, the electronic device 300 can carry multiple UWB signal receiving antennas, and the arrangement between the antennas needs to meet certain rules. In this implementation scheme, at least two UWB receiving antennas are needed to achieve two-dimensional positioning of the UWB tag, and at least three UWB receiving antennas (such as the antenna 9, the antenna 10, and the antenna 11) are needed to achieve three-dimensional positioning of the tag. In addition, the electronic device 300 only needs to carry one UWB transmitting antenna.

[0122] The processor 330 can include one or more processing units, for example: the processor 330 can include an application processor, a modem processor, a graphics processor, an ISP, a controller, a memory, a video codec, a DSP, a baseband processor, and / or an NPU, etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0123] In some embodiments, the processor 330 is used to process the communication or ranging information output by the UWB module 320, and the processor 330 is also responsible for calculating the positioning result of the UWB tag.

[0124] Among them, the controller can be the nerve center and command center of the electronic device 300. The controller can generate operation control signals according to instruction operation codes and timing signals to complete the control of fetching and executing instructions.

[0125] The memory can also be provided in the processor 330, used to store instructions and data. In some embodiments, the memory in the processor 330 is a cache memory. The memory can save instructions or data that the processor 330 has just used or repeatedly uses. If the processor 330 needs to use the instructions or data again, it can be directly called from the memory. Avoid repeated access and reduce the waiting time of the processor 330, thereby improving the efficiency of the system.

[0126] In some embodiments, the processor 330 can include one or more interfaces. The interface can include an I2C interface, an I2S interface, a PCM interface, a UART interface, an MIPI, a GPIO interface, a SIM interface, and / or a USB interface, etc.

[0127] The antenna 7 and the antenna 8 are used to transmit and receive electromagnetic wave signals. Each antenna in the electronic device 300 can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization rate of the antenna. For example: the antenna 7 can be multiplexed as a diversity antenna of a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0128] The internal memory 340 can be used to store computer executable program codes including instructions. The processor 330 performs various function applications and data processing of the electronic device 300 by running the instructions stored in the internal memory 340. The internal memory 340 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one App required by a function (such as a sound playing function, an image playing function, etc.), and the like. The data storage area can store data (such as audio data, a phone book, etc.) created during use of the electronic device 300, and the like. In addition, the internal memory 340 can include a high-speed random access memory, and can further include a non-volatile memory such as at least one magnetic disk storage device, a flash memory device, a UFS, and the like.

[0129] The power management module 360 is used to connect the processor 330, and the power management module 360 receives input of the battery 370 and / or a charging management module, and supplies power for the processor 330, the internal memory 340, the wireless communication module 310, the UWB module 320, and the driving motor 350, and the like. The power management module 360 can also be used to monitor parameters such as a battery capacity, a battery cycle number, a battery health state (leakage, impedance), and the like. In some other embodiments, the power management module 360 can also be arranged in the processor 330. In some other embodiments, the power management module 360 and the charging management module can also be arranged in the same device.

[0130] The wireless communication function of the electronic device 300 can be realized through the antenna 7, the antenna 8, the antenna 9, the antenna 10, the antenna 11, the wireless communication module 310, the UWB module 320, a modem processor, and a baseband processor, and the like.

[0131] The software system of the electronic device 300 can adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture.

[0132] In some embodiments, the electronic device 300 is a UWB base station.

[0133] It should be understood that the technical solutions in the embodiments of the present application can be used in Android, IOS, HarmonyOS, and the like.

[0134] The technical solutions of the embodiments of the present application can be applied to devices with pointing functions and electronic devices capable of being controlled by the pointing devices. For example, the technical solutions can be applied to a pointing remote controller or other devices with pointing remote control functions, a large screen device, a sound box, a lamp, and the like, and can also be applied to other devices with pointing functions, electronic devices in a future network or a future evolved public land mobile network (PLMN), and the like. The main application scenario can be a control scenario of a controlled device by a pointing control device, for example, control of a large screen by a remote controller. For example, the movement of a cursor on the large screen can be controlled by the pointing remote controller, so that shooting games, fruit cutting games, drawing, and the like can be implemented on the large screen, or various intelligent functions can be implemented by the smart device controlled by the remote controller.

[0135] To more clearly understand the use scenario of the pointing remote controller, for example, in combination with FIG. 4, the use scenario of the pointing remote controller provided by the embodiments of the present application is described in detail by taking the interaction between the pointing remote controller and the large screen device as an example.

[0136] As shown in FIG. 4, the cursor 420 displayed on the display screen of the large screen device 400 can be controlled by the pointing remote controller 410. The display position of the cursor 420 is the same as the position on the display screen pointed by the pointing remote controller 410, that is, the cursor 420 is displayed at which position on the display screen when the pointing remote controller 410 points at which position on the display screen.

[0137] As shown in (a) of FIG. 4, when the pointing remote controller 410 is switched from pointing at position A on the display screen to pointing at position B on the display screen, the display position of the cursor 420 is also switched from position A to position B correspondingly. As shown in (b) of FIG. 4, when the pointing remote controller 410 points outside the display screen of the large screen device 400, the cursor is not displayed on the display screen of the large screen device 400.

[0138] The use experience of the pointing remote controller is similar to that of an infrared laser pointer. The pointing remote controller can realize interaction between the cursor and the content displayed on the display screen by controlling the movement of the cursor on the display screen, and can improve the interaction experience between the user and the large screen. For example, the user can implement shooting games, fruit cutting games, and the like on the large screen by the pointing remote controller, which is more in line with the user's use habits.

[0139] In the process of determining the pointing position of the cursor on the large screen, the pointing remote controller needs to obtain the distance between the pointing remote controller and the large screen and the attitude of the pointing remote controller relative to the large screen by means of the UWB base station on the large screen side, and then calculate the pointing position of the cursor on the large screen in combination with the size and resolution information of the large screen.

[0140] However, the posture of the pointing-type remote controller relative to the large screen obtained by the UWB base station on the large screen side is susceptible to external factors such as shielding and antenna polarization, resulting in inaccurate posture of the pointing-type remote controller relative to the large screen, and ultimately affecting the pointing accuracy of the pointing-type remote controller.

[0141] Through some tests, it is found that when there is no shielding between the remote controller and the large screen, the values of the multiple azimuth angles of the remote controller relative to the large screen obtained by the UWB base station on the large screen side in succession are relatively concentrated, for example, the values are distributed within the range of (-60°, 60°), and the angle change of the pointing path in the pointing process of the remote controller on the large screen is clear and obvious; when there is shielding between the remote controller and the large screen, the dispersion of the values of the multiple azimuth angles of the remote controller relative to the large screen obtained by the UWB base station on the large screen side in succession is large, and abnormal results with excessively large values, for example, values greater than or equal to 60° or less than or equal to 60°, are prone to occur, and the angle change of the pointing path in the pointing process of the remote controller on the large screen is not clear.

[0142] Therefore, the embodiments of the present application provide a method, a control device and a system for improving pointing accuracy, by which a magnetometer is introduced into the pointing-type remote controller, and when it is detected that the posture of the pointing-type remote controller calibrated based on the UWB module is inaccurate, the posture of the pointing-type remote controller is calibrated using the magnetometer. Since the posture measured by the magnetometer is not affected by shielding and antenna polarization, the pointing accuracy of the pointing-type remote controller can be improved.

[0143] In addition, in the process of posture calibration using the UWB module, the posture of the pointing-type remote controller obtained based on the UWB module can be used to calibrate the magnetometer, which can improve the accuracy of posture calibration by the magnetometer, thereby further improving the pointing accuracy of the remote controller and the stability of the pointing accuracy of the remote controller.

[0144] The magnetometer (magnetic, m-sensor) is also called geomagnetic or magnetic sensor, which can be used to test the magnetic field strength and direction and measure the azimuth information of the device. The magnetometer can measure the posture of the current device in the local geographic coordinate system, that is, the included angle with the four directions of east, south, west and north.

[0145] It should be understood that the pointing device is taken as the pointing-type remote controller for description in the embodiments of the present application, but this does not constitute any limitation on the scope of application of the present application scheme. The pointing device can be any control device with pointing function.

[0146] Hereinafter, an example is taken to introduce a process of determining a pointing position of a pointing-type remote controller on a large-screen device, in which the pointing-type remote controller interacts with the large-screen device, and the wireless positioning system includes a UWB base station, as shown in FIG. 5.

[0147] S501: The UWB base station establishes a first coordinate system, which is a spatial coordinate system established with the UWB base station as a coordinate origin.

[0148] In some embodiments, the UWB base station can be deployed on a wall in a room, on a large screen, or at another position in the room.

[0149] S502: The UWB base station determines a first coordinate, which is a coordinate of the remote controller in the first coordinate system.

[0150] S503: The UWB base station sends the first coordinate to the remote controller.

[0151] In some embodiments, the UWB base station includes a UWB module, and the remote controller also includes a UWB module. The UWB base station and the remote controller communicate through the respective UWB modules, that is, the UWB module of the remote controller receives the first coordinate sent by the UWB module of the UWB base station.

[0152] S504: The remote controller establishes a second coordinate system, which is a spatial coordinate system with the center of the remote controller as a coordinate origin.

[0153] It can be understood that the above S501 to S504 have been executed after the UWB base station is installed. This process can be understood as a preparation operation for executing the following S505 to S510.

[0154] S505: The remote controller determines a distance between the remote controller and the large screen in real time according to the first coordinate and the position of the large screen in the first coordinate system, and determines an attitude angle of the remote controller relative to the first coordinate system in real time according to a rotation relationship between the first coordinate system and the second coordinate system.

[0155] The attitude angle of the remote controller relative to the first coordinate system is determined by a rotation relationship between the second coordinate system (carrier coordinate system) and the first coordinate system (UWB coordinate system, which can be referred to as e system). The attitude angle of the remote controller relative to the first coordinate system includes three Euler angles of azimuth angle ψe, pitch angle and roll angle θe.

[0156] The azimuth angle ψe, pitch angle and roll angle θe of the remote controller relative to the first coordinate system will be described in detail in subsequent embodiments.

[0157] S506: The remote controller calculates a current cursor coordinate according to a distance between the remote controller and the large screen and an attitude angle of the remote controller relative to the first coordinate system, and sends the current cursor coordinate to the large screen.

[0158] Wherein, the pose relationship of the remote controller relative to the large screen device can be determined according to the distance between the remote controller and the large screen and the attitude angle of the remote controller relative to the first coordinate system, and then the cursor coordinate is determined.

[0159] S507: The large screen draws a cursor according to the current cursor coordinate, and displays the cursor on the screen.

[0160] In this embodiment, the pointing device is based on a UWB base station to obtain a distance between the pointing device and the pointed device and an attitude angle (azimuth angle ψe, pitch angle and roll angle θe) of the pointing device relative to the first coordinate system, and then determine the pointing position of the pointing device on the pointed device according to the distance and the attitude angle.

[0161] When there is an obstruction between the pointing device and the pointed device, or the antenna polarization of the pointing device, the pointed device or the UWB base station occurs, the azimuth angle ψe obtained by the pointing device based on the UWB base station is not accurate, and finally the pointing accuracy of the pointing device is easily affected.

[0162] Exemplarily, FIG. 6 shows an interaction schematic diagram of a method 600 for determining a pointing position provided by an embodiment of the present application. As shown in FIG. 6, the method 600 comprises:

[0163] S601 to S605 are the same as S501 to S505 described in the embodiment shown in FIG. 5, and are not described here for brevity.

[0164] S606: At the i th moment, if the plurality of attitude angles of the remote controller relative to the first coordinate system in the first time period before the i th moment satisfy condition 1, the remote controller calibrates the magnetometer according to at least three attitude angles of the plurality of attitude angles of the remote controller relative to the first coordinate system determined in the first time period before the i th moment, wherein i is a positive integer greater than or equal to 3.

[0165] Wherein, the pointing device end is provided with a first positioning module, the pointed device end is provided with a second positioning module, a coordinate system established with the first positioning module as the center is the above-mentioned second coordinate system, and a coordinate system established with the second positioning module as the center is the above-mentioned first coordinate system. The attitude angle of the pointing device relative to the first coordinate system includes the azimuth angle ψe of the pointing device relative to the first coordinate system, the pitch angle of the pointing device relative to the first coordinate system, and the roll angle θe of the pointing device relative to the first coordinate system.

[0166] The first positioning module may include one or more of a UWB module, an ultrasonic module, a multi-antenna millimeter wave radar positioning module, a three-dimensional electromagnetic coil positioning module, and a three-dimensional ultrasonic positioning module, for example. The second positioning module may include one or more of a UWB module, an ultrasonic module, a multi-antenna millimeter wave radar positioning module, a three-dimensional electromagnetic coil positioning module, and a three-dimensional ultrasonic positioning module, for example.

[0167] In some embodiments, the plurality of attitude angles of the remote controller determined by the remote controller within the first time period before the i-th time instant satisfying condition 1 may include that a plurality of azimuth angles included in the plurality of attitude angles are located in a range of [a first azimuth angle, a second azimuth angle], for example, the first azimuth angle may be -20°, and the second azimuth angle may be 20°; and the number of the plurality of azimuth angles is greater than or equal to 3, for example, the number of the plurality of attitude angles may be 15.

[0168] In some embodiments, the plurality of attitude angles of the remote controller determined by the remote controller within the first time period before the i-th time instant satisfying condition 1 may further include that a variance of the plurality of azimuth angles included in the plurality of attitude angles is less than or equal to a first variance; and the number of the plurality of azimuth angles is greater than or equal to 3, for example, the number of the plurality of attitude angles may be 15.

[0169] In one example, the remote controller determines the distance between the remote controller and the large screen and the attitude angle (azimuth angle ψe, pitch angle θe, and roll angle θe) of the remote controller relative to the first coordinate system at each time instant from the first time instant, and further determines the pointing position of the remote controller on the large screen at each time instant; if the plurality of attitude angles of the remote controller determined by the remote controller at a plurality of time instants within the first time period before the i-th time instant satisfy condition 1, the remote controller may determine the pointing position of the remote controller on the large screen at the i-th time instant according to the azimuth angle of the remote controller at the i-th time instant included in the plurality of azimuth angles. The azimuth angle of the remote controller at the i-1-th time instant The azimuth angle of the remote controller at the i-2-th time instant The azimuth angle of the remote controller at the i-2-th time instant Calibrate the magnetometer.

[0170] Taking i=3 as an example, the remote controller determines the pointing position of the remote controller on the large screen at the third time instant according to the azimuth angle of the remote controller at the third time instant included in the plurality of azimuth angles. The process of calibrating the magnetometer is as follows:

[0171] (1) Obtain the three-axis magnetic force output of the magnetometer at the first time instant in the second coordinate system (b system) According to the rotation relationship between the second coordinate system and the first coordinate system, obtain the three-axis magnetic force output of the magnetometer at the first time instant in the first coordinate system Similarly, obtain the three-axis magnetic force output of the magnetometer at the second time instant in the first coordinate system Obtain the three-axis magnetic output of the magnetometer in the first coordinate system corresponding to the third moment

[0172] (2) Use the pitch angle and the roll angle to transfer into the magnetic vector on the horizontal plane Use the pitch angle and the roll angle to transfer into the magnetic vector on the horizontal plane Use the pitch angle and the roll angle to transfer into the magnetic vector on the horizontal plane

[0173] Wherein, the pitch angle and the roll angle refer to the pitch angle and the roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the first moment; the pitch angle and the roll angle refer to the pitch angle and the roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the second moment; the pitch angle and the roll angle refer to the pitch angle and the roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the third moment, which can be measured by the accelerometer and the gyroscope.

[0174] It can be understood that since the Z-axis of the first coordinate system and the geographical coordinate system coincide, it can be considered that the pitch angle and the roll angle of the pointing device relative to the first coordinate system are equal to the pitch angle and the roll angle of the pointing device relative to the geographical coordinate system.

[0175] In one example, the first azimuth angle is -20°, and the second azimuth angle is 20°.

[0176] (3) The pointing device calibrates the magnetometer using .

[0177] In some embodiments, the process of the pointing device calibrating the magnetometer can be: the pointing device obtains the values of and according to the values of and . That is, the calibration of the magnetometer is completed.

[0178] Wherein, and are the hard magnetic interference circle center offsets of the magnetometer; The angle between the Y-axis of the first coordinate system and the Y-axis of the geographic coordinate system.

[0179] S607: The remote controller determines the cursor coordinates at the i-th moment based on the distance between the remote controller and the large screen at the i-th moment, and the attitude angle of the remote controller relative to the first coordinate system.

[0180] S608: The remote control sends the cursor coordinates at the i-th moment to the large screen.

[0181] S609: The large screen draws the cursor at the i-th moment based on the cursor coordinates at the i-th moment, and displays the cursor at the i-th moment on the screen.

[0182] The explanations of S607 to S609 are similar to those of S506 and S507 in the embodiment shown in Figure 5, and will not be repeated here for the sake of brevity.

[0183] S610: When the current time is the (i+1)th time, the remote controller determines whether the multiple attitude angles relative to the first coordinate system determined in the first time period preceding the (i+1)th time satisfy condition 1. If they satisfy, the remote controller executes S611; otherwise, the remote controller executes S612.

[0184] S611: When the magnetometer needs to be recalibrated, the remote controller calibrates the magnetometer based on at least three attitude angles among the multiple attitude angles relative to the first coordinate system determined in the first time period preceding the (i+1)th time, and further executes S613.

[0185] In some embodiments, the criteria for determining whether a magnetometer needs recalibration may include:

[0186] The remote controller obtains the azimuth angle of the remote controller relative to the first coordinate system at the same moment through the magnetometer and the UWB base station, and compares whether the difference between the two obtained azimuth angles is greater than the first difference. When the value of the azimuth angle relative to the first coordinate system obtained by the UWB base station has no obvious fluctuation, and the difference between the two obtained azimuth angles is greater than the first difference, it is determined that the magnetometer needs to be recalibrated.

[0187] In some examples, the first difference can be any angle value less than or equal to 3°.

[0188] In some embodiments, the criteria for determining whether a magnetometer needs recalibration may also include:

[0189] If the azimuth angle measured by the magnetometer shows an abnormal angle change when the remote control is not shaken significantly (e.g., the difference between two consecutive azimuth angle measurements is greater than the second difference), the presence or absence of significant shaking of the remote control can be determined by monitoring whether there is a sudden change in the magnetic field scalar, and / or by using the gyroscope sensor in the remote control.

[0190] In some embodiments, the magnetometer can also be recalibrated when any one or more of the following occurs:

[0191] By monitoring the magnetic field scalar, it is monitored that a sudden change in the local magnetic field occurs (such as a strong magnetic interference suddenly approaching the remote controller), a large change in the use position of the remote controller occurs, or the angle of the remote controller exceeds the calibrated angle range.

[0192] Wherein, more explanations about this step are similar to the explanations about S606, and are not repeated here for brevity.

[0193] S612: The remote controller uses the magnetometer to calibrate the attitude angle of the remote controller relative to the first coordinate system corresponding to the i+1th moment, and further executes S613.

[0194] Similarly, taking i=3 as an example, the azimuth angle of the pointing device relative to the first coordinate system corresponding to the 4th moment determined by the wireless positioning system is The process of calibrating the attitude angle of the remote controller relative to the first coordinate system corresponding to the i+1th moment by the magnetometer can be as follows:

[0195] (1) Obtain the three-axis magnetic force output of the magnetometer in the second coordinate system corresponding to the 4th moment According to the rotation relationship between the second coordinate system and the first coordinate system, obtain the three-axis magnetic force output of the magnetometer in the first coordinate system corresponding to the 4th moment

[0196] (2) Use the pitch angle and the roll angle to transfer to the horizontal plane magnetic vector

[0197] Wherein, the pitch angle and the roll angle are the pitch angle and the roll angle of the pointing device relative to the first coordinate system determined by the pointing device at the 4th moment.

[0198] (3) According to the values of the above and , determine the azimuth angle of the pointing device relative to the first coordinate system measured by the magnetometer corresponding to the 4th moment

[0199] In some embodiments, when satisfies condition 1 (for example: greater than or equal to the first azimuth angle, and less than or equal to the second azimuth angle), it can be considered that The value is accurate, that is... Can be used for calibration

[0200] (4) Use calibration

[0201] In some embodiments, use calibration Specifically, it can be used replace In other words, the pointing device is based on The distance between the pointing device and the pointed device at the fourth time point determines the pointing position of the pointing device on the pointed device at the fourth time point.

[0202] S613: The remote controller determines the cursor coordinates at the (i+1)th moment based on the distance between the remote controller and the large screen at the (i+1)th moment, and the attitude angle of the remote controller relative to the first coordinate system at the (i+1)th moment.

[0203] It should be understood that after the remote control calibrates the attitude angle of the remote control relative to the first coordinate system at the (i+1)th time through the steps described in S612, the remote control, based on the distance of the remote control relative to the large screen at the (i+1)th time and the calibrated attitude angle of the remote control relative to the first coordinate system at the (i+1)th time (calibrated azimuth angle), will... Pitch angle and roll angle Determine the cursor coordinates at the (i+1)th time step.

[0204] S614: The remote control sends the cursor coordinates at the (i+1)th moment to the large screen.

[0205] S615: The large screen draws the cursor at the (i+1)th moment based on the cursor coordinates at the (i+1)th moment, and displays the cursor at the (i+1)th moment on the screen.

[0206] The explanations of S613 to S615 are similar to those of S506 and S507 in the embodiment shown in Figure 5, and will not be repeated here for the sake of brevity.

[0207] That is, the pointing device uses the wireless positioning system to determine the distance between the pointing device and the pointed device and the attitude angle of the pointing device relative to the first coordinate system in real time; and the pointing device determines the pointing position of the pointing device on the pointed device according to the distance between the pointing device and the pointed device and the attitude angle of the pointing device relative to the first coordinate system in real time. In the process of determining the pointing position using the wireless positioning system, the pointing device calibrates the magnetometer in real time according to the attitude angle of the pointing device relative to the first coordinate system; and when the accuracy of the pointing position determined using the wireless positioning system does not meet the requirements, the pointing device calibrates the azimuth angle of the pointing device relative to the first coordinate system using the magnetometer in real time.

[0208] In this embodiment, the magnetometer is introduced into the remote controller, and in the process of determining the pointing position using the UWB base station, the magnetometer is calibrated in real time using the attitude of the remote controller obtained based on the UWB base station. When it is detected that the attitude of the remote controller obtained based on the UWB base station is inaccurate, the attitude of the remote controller obtained using the magnetometer is used for calibration, so that the accuracy of the attitude of the remote controller can be improved, and the pointing accuracy of the remote controller is improved, which makes the pointing accuracy of the remote controller not affected by the shielding of the remote controller and / or the UWB base station or the antenna polarization.

[0209] In addition, considering that the magnetometer itself is easily disturbed by surrounding metal objects, in this embodiment, in the process of determining the pointing position using the wireless positioning system, the magnetometer can be calibrated in real time using the attitude of the remote controller obtained based on the wireless positioning system, so that the automatic calibration of the magnetometer can be quickly completed without the user being aware, and compared with the traditional magnetometer calibration method (such as 8-shaped calibration method or ten-surface calibration method), the user does not need to manually calibrate, which also makes it possible to apply the magnetometer to the use scenario of the pointing remote controller.

[0210] For example, FIG. 7 shows a comparison chart of the azimuth angle of the pointing device relative to the first coordinate system measured based on the UWB base station and the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer.

[0211] As shown in FIG. 7, when the UWB base station and the remote controller are not shielded, the azimuth angle of the pointing device relative to the first coordinate system measured based on the UWB base station and the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer are both distributed and concentrated, and have rules, and the error of the azimuth angles obtained by the two methods is very small, that is, when the UWB base station and the remote controller are not shielded, the accuracy of the azimuth angle of the pointing device relative to the first coordinate system measured based on the UWB base station and the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer are both high.

[0212] When the UWB base station and / or the remote controller is blocked, the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer is concentrated and regular, but the azimuth angle of the pointing device relative to the first coordinate system measured based on the UWB base station fluctuates greatly, is not concentrated and irregular, and has many abnormal values. The error of the azimuth angle obtained by the two methods is large, that is, when the UWB base station and / or the remote controller is blocked, the accuracy of the azimuth angle of the pointing device relative to the first coordinate system measured based on the UWB base station is low, and the accuracy of the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer is high.

[0213] Therefore, when the azimuth angle of the pointing device relative to the first coordinate system measured based on the UWB base station is detected to be abnormal, the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer is automatically switched to be used, which can improve the pointing accuracy of the pointing device and make the pointing accuracy of the pointing device not affected by factors such as blocking and antenna polarization.

[0214] In some embodiments, when it is detected that the UWB base station and / or the remote controller is blocked, the azimuth angle of the pointing device relative to the first coordinate system measured by the calibrated magnetometer can be automatically switched to be used.

[0215] In order to clearly understand the positional relationship between the UWB base station on the pointing device side and the pointing device, exemplary taking the interaction between the remote controller and the large-screen device as an example, FIG. 8 shows several schematic diagrams of the positional relationship between the large-screen device and the UWB base station, that is, the arrangement state diagram of the first antenna array 800 of the UWB base station on the large-screen device 810.

[0216] As shown in FIG. 8, the first antenna array 800 can be arranged at any position on the large-screen device 810. Exemplarily, the first antenna array 800 can be arranged outside the large-screen device 810, for example, on the upper edge of the large-screen device 810 (as shown in (a) of FIG. 8), or at the diagonal position of the large-screen device 810 (as shown in (b) of FIG. 8 and (c) of FIG. 8), or at any position such as the left edge, the right edge or the lower edge of the large-screen device 810, or integrated inside the large-screen device 810; or the first antenna array 800 can also be arranged on an object maintaining a certain distance from the large-screen device 810. The object can be a kind of independent device, such as a desk or a stand, and the large-screen device 810 and the first antenna array 800 can be respectively placed on different stands maintaining a certain distance. Of course, the first antenna array 800 can also be arranged inside the electronic device, and the first antenna array 800 can also be arranged at any position in the room where the large-screen device 810 is located. For this, the present embodiment is not limited.

[0217] The first antenna array 800 includes at least three first antenna elements, which can be the first antenna 121, the second antenna 122 and the third antenna 123 respectively. The second antenna 122 is located on one side of the first antenna 121 in the first direction X, and the third antenna 123 is located on one side of the first antenna 121 in the second direction Y.

[0218] The first antenna 121 can implement the sending or receiving of signals, and the first antenna 121 can define the origin of the three-dimensional coordinate system.

[0219] In an embodiment, the first antenna 121 is the origin of the three-dimensional coordinate system, the first direction is the x-axis direction of the three-dimensional coordinate system, and the second direction is the y-axis direction of the three-dimensional coordinate system. The second antenna 122 is located on the x-axis, and the third antenna 123 is located on the y-axis, so that the first antenna 121, the second antenna 122 and the third antenna 123 are arranged in an "L" shape. The distance L between the second antenna 122 and the first antenna 121 and the distance L between the third antenna 123 and the first antenna 121 are each less than or equal to the wavelength λ of the first signal. The first signal is a first signal sent by a second antenna array and received by the first antenna array 800. The second antenna array is an antenna array provided on a remote controller.

[0220] Exemplarily, FIG. 9 shows several arrangement diagrams of the first antenna array 800 provided by the embodiments of the present application.

[0221] FIG. 9(a) shows an arrangement diagram of a first antenna array 800. As shown in FIG. 9(a), the number of first antenna elements 120a is three, and the three first antenna elements 120a are arranged in an "L" shape.

[0222] FIG. 9(b) shows another arrangement diagram of a first antenna array 800. As shown in FIG. 9(b), the number of first antenna elements 120a is four, and the four first antenna elements 120a are arranged in a "mouth" shape.

[0223] FIG. 9(c) shows another arrangement diagram of a first antenna array 800. As shown in FIG. 9(c), the number of first antenna elements 120a is three, and the three first antenna elements 120a are arranged in a "pin" shape.

[0224] FIG. 9(d) shows another arrangement diagram of a first antenna array 800. As shown in FIG. 9(d), the number of first antenna elements 120a is three, and the three first antenna elements 120a are arranged in an "L" shape.

[0225] Among the various arrangements of the at least three first antenna units 120a, there are at least two antennas respectively distributed in the first direction X and the second direction Y, and the first direction X is perpendicular to the second direction Y. The first direction X can be the horizontal axis of a three-dimensional coordinate system, and the second direction Y can be the vertical axis of the three-dimensional coordinate system. The plane formed by the first direction X and the second direction Y can have a set geometric relationship with the display interface of the large-screen device 810, so as to facilitate the calculation of the second antenna array coordinates.

[0226] Exemplarily, FIG. 10 shows a diagram of an arrangement state of a second antenna array on a remote controller provided in an embodiment of the present application.

[0227] Referring to (a) in FIG. 10, the second antenna array arranged on the remote controller 1010 can include two second antenna units, which can be the fourth antenna 221 and the fifth antenna 222 respectively. The fifth antenna 222 is located on one side of the fourth antenna 221 in the third direction. The fourth antenna 221 is a transceiving antenna, and the fifth antenna 222 is a horizontal receiving antenna. The second antenna units in the second antenna array can be used to receive the second signal sent by the first antenna array 800.

[0228] Referring to (b) in FIG. 10, the second antenna array arranged on the remote controller 1020 can include one second antenna unit, which can be the fourth antenna 221. The fourth antenna 221 is a transceiving antenna. The second antenna units in the second antenna array can be used to receive the second signal sent by the first antenna array 800.

[0229] In some embodiments, the second antenna array can include at least three second antenna units, which can be the fourth antenna 221, the fifth antenna 222 and the sixth antenna 223 (not shown in the figure) respectively. The fifth antenna 222 is located on one side of the fourth antenna 221 in the third direction, and the sixth antenna 223 is located on one side of the fourth antenna 221 in the fourth direction, so that the fourth antenna 221, the fifth antenna 222 and the sixth antenna 223 form an “L” shape. The fourth antenna 221 is a transceiving antenna, and the fifth antenna 222 and the sixth antenna 223 are receiving antennas. The second antenna units in the second antenna array can be used to receive the second signal sent by the first antenna array 800. By making the distance L' between any two second antenna units less than or equal to the wavelength λ of the second signal, each second antenna unit used to receive the signal can receive the second signal at approximately the same time, and each second antenna unit can obtain a phase parameter according to the second signal. According to the phase parameter, a deflection angle can be obtained.

[0230] That is, the embodiment can realize the positioning of the second antenna array in the three-dimensional space and obtain the absolute coordinates of the second antenna array in the size range of the large-screen device 810 by making the distance between any two first antenna units 120a and the distance between any two second antenna units less than the wavelength of the corresponding received signal, so as to obtain the first coordinates and the deflection angle according to the phase parameters of the received signal.

[0231] The first antenna array 800 and the second antenna array can have the same arrangement, for example, the first antenna array 800 includes three first antenna units 120a, and the second antenna array includes three second antenna units, and the arrangement of the three first antenna units 120a is the same as that of the three second antenna units. Of course, in other embodiments, the first antenna array 800 and the second antenna array can also have different arrangements, for example, the first antenna array 800 includes three first antenna units 120a, and the second antenna array includes two second antenna units, and the arrangement of the three first antenna units 120a is different from that of the two second antenna units.

[0232] When the remote controller is operated, the remote controller and the large-screen device 810 are usually kept at a distance, that is, the first antenna array 800 and the second antenna array are kept at a distance, so that the second antenna array, the first antenna 121 and the third antenna 123 form a triangle, and the second antenna array, the first antenna 121 and the third antenna 123 also form a triangle, so that the values of the first coordinates (x, y, z) can be calculated according to the related principles of the triangle and electromagnetic wave.

[0233] The large-screen device 810 is provided with the first antenna array 800, and the remote controller is provided with the second antenna array. The first antenna array 800 can establish a three-dimensional coordinate system according to the relative position of the first antenna array 800 on the large-screen device 810, and the first antenna array 800 and the second antenna array can be positioned with each other, so that the coordinates of the second antenna array are accurately presented on the display interface of the large-screen device 810.

[0234] In order to more clearly understand the attitude of the remote controller, in the following, the azimuth angle ψ e , the pitch angle and the roll angle θ e for measuring the attitude of the remote controller are introduced by way of example in combination with FIGS. 11-13.

[0235] FIG. 11 shows a space coordinate system established with the UWB base station as the coordinate origin, that is, the above-mentioned first coordinate system.

[0236] As shown in (a) of FIG. 11 and (b) of FIG. 11, the UWB base station adopts a three-antenna (antenna 0, antenna 1 and antenna 2) structure, the three-antenna structure shown in (a) of FIG. 11 is an L-shaped antenna structure, and the three-antenna structure shown in (b) of FIG. 11 is a triangular antenna structure. The UWB base station needs to be installed with the arrow shown in the figure being perpendicular to the horizontal plane and pointing upward. The UWB base station can be installed on a wall or integrated on other smart devices such as the top of a large screen.

[0237] After the UWB base station is installed, the UWB coordinate system (i.e., the first coordinate system described above) can be established. As shown in (a) of FIG. 11, the UWB coordinate system can take the center of the 0th antenna of the base station as the coordinate origin O1, the X1 axis is parallel to the bottom edge of the base station and points to the left, the Y1 axis points to the front of the base station, and the Z1 axis is perpendicular to the X1O1Y1 plane and points upward, and the X1 axis and the Y1 axis satisfy the right-hand rule.

[0238] As shown in (c) of FIG. 11, a UWB coordinate system on the UWB base station level is shown.

[0239] FIG. 12 shows a space coordinate system established with the center of the remote controller as the coordinate origin, i.e., the second coordinate system described above.

[0240] As shown in FIG. 12, the coordinate origin O2 of the second coordinate system is located at the center of the remote controller, the X2 axis is along the carrier transverse axis to the right, the Y2 axis is along the carrier longitudinal axis to the front, and the Z2 axis is perpendicular to the X2O2Y2 plane and points outward, and the coordinate axes satisfy the right-hand rule.

[0241] The remote controller can be replaced by any other UWB tag, such as a mobile phone, etc.

[0242] On the basis of the coordinate systems shown in FIG. 11 and FIG. 12, FIG. 13 shows a schematic diagram of the azimuth angle ψ e , the pitch angle and the roll angle θ e of the remote controller relative to the first coordinate system.

[0243] FIG. 13(a) shows a schematic diagram of the azimuth angle ψ e and the pitch angle .

[0244] As shown in FIG. 13(a), the pitch angle (shown as in FIG. 13) is the angle between the Y2 axis and the X1O1Y1 plane in the first coordinate system, and the carrier looking up is positive; the azimuth angle ψ e (shown as ψ in FIG. 13) is the angle between the projection of the Y2 axis on the X1O1Y1 plane and the Y1 axis, and the carrier turning right is positive.

[0245] Fig. 13(b) shows a schematic diagram of a roll angle θ e .

[0246] As shown in Fig. 13(b), the roll angle θ e (θ shown in Fig. 13) is the angle between the Z2 axis and the vertical plane containing the Y2 axis, and is positive when the carrier is tilted to the right.

[0247] Exemplarily, in combination with Fig. 14, the angle between the Y axis of the first coordinate system and the Y axis of the geographic coordinate system is introduced.

[0248] As shown in Fig. 14, the UWB base station coordinate system (which can be referred to as e system) can take the center of the transmitting antenna of the base station as the coordinate origin O1, the X1 axis is parallel to the base station bottom and points to the left, the Y1 axis points to the front direction of the base station, the Z1 axis is perpendicular to the X1O1Y1 plane and points upward, and the X1 axis and the Y1 axis satisfy the right-hand rule.

[0249] The origin of the geographic coordinate system (which can be referred to as g system) coincides with the origin of the e system, the X3 axis of the g system points to the local east direction, the Y3 axis of the g system points to the local north direction, and the Z3 axis of the g system points to the local zenith direction. When the UWB base station meets the requirement of being installed vertically to the horizontal plane, the Z3 axis of the g system and the Z1 axis of the e system should coincide, and the angle between the Y3 axis of the g system and the Y1 axis of the e system is

[0250] Among them, the geographic direction pointed by the Y1 axis of the e system or the X1 axis of the e system can be directly measured by a magnetometer, so as to calculate

[0251] Exemplarily, in combination with Fig. 15, the three-axis magnetic output of the above-mentioned magnetometer and the horizontal magnetic vector obtained by the transformation of are introduced.

[0252] As shown in Fig. 15, the horizontal magnetic vector can be transformed into the horizontal magnetic vector e by using the pitch angle and the roll angle θ

[0253] In the following, in combination with Figs. 16-18, the method for acquiring the distance between the pointing device and the pointed device and acquiring the attitude angle of the pointing device relative to the pointed device in different scenarios provided by the embodiments of the present application is introduced.

[0254] ​Exemplarily, in combination with FIG. 16, a method for acquiring the distance between the pointing device and the pointed-to device and the attitude angle of the pointing device relative to the first coordinate system provided by the embodiment of the present application is introduced, which is applicable to the scenario that the pointing device comprises two or more than two antenna units and the pointed-to device comprises three or more than three antenna units.

[0255] As shown in (a) of FIG. 16 and (b) of FIG. 16, the embodiment takes the pointing device as the remote controller 1620 and the pointed-to device as the large screen 1610 for example, wherein the wireless positioning module of the remote controller 1620 comprises two antenna units, the wireless positioning module of the large screen 1610 comprises three antenna units, the two antenna units comprised by the wireless positioning module of the remote controller 1620 are respectively the second origin antenna 221 and the second horizontal antenna 222, and the three antenna units comprised by the wireless positioning module of the large screen 1610 are respectively the first origin antenna 121, the first horizontal antenna 122 and the first vertical antenna 123.

[0256] Wherein, the wireless positioning module can be a UWB module.

[0257] Based on the antenna structure as shown in FIG. 16, the wireless positioning module of the large screen 1610 can measure the horizontal incident direction and the vertical incident direction of the signal respectively, the wireless positioning module of the remote controller 1620 can measure the horizontal incident direction of the signal, and the relative distance between the remote controller 1620 and the large screen 1610 can be acquired based on the interaction between the wireless positioning module of the large screen 1610 and the wireless positioning module of the remote controller 1620.

[0258] Wherein, the specific determination method of the relative distance between the remote controller 1620 and the large screen 1610 is referred to the description part of FIG. 5.

[0259] Wherein, the specific determination method of the attitude angle of the remote controller 1620 relative to the first coordinate system is referred to the description part of FIG. 5, and the first coordinate system is a spatial coordinate system established with the wireless positioning module of the large screen 1610 as the center.

[0260] Exemplarily, FIG. 17 shows the azimuth angle of the pointing device relative to the first coordinate system acquired through the scenario shown in FIG. 16, and the effect comparison chart before and after the calibration of the magnetometer.

[0261] As shown in FIG. 17, the azimuth angle measurement value (ψ e ) M of the pointing device relative to the first coordinate system output by the magnetometer before the calibration (shown by the hollow circle) is different from the azimuth angle measurement value (ψ e ) UWBThere is a large error compared with (rectangular box). The azimuth angle of the pointing device relative to the first coordinate system acquired under the scenario shown in FIG. 16 is used to calibrate the magnetometer, and the azimuth angle of the pointing device relative to the first coordinate system measured by the magnetometer after calibration (ψ e ) M The azimuth angle of the pointing device relative to the first coordinate system measured by the wireless positioning module (ψ e ) UWB Compared with (solid circle), the error is smaller.

[0262] Exemplarily, FIG. 18 shows another method for acquiring the distance between the pointing device and the pointed-to device and the attitude angle of the pointing device relative to the first coordinate system, which is provided by an embodiment of the present application and is applicable to the scenario where the pointing device includes one antenna unit and the pointed-to device includes three or more antenna units.

[0263] As shown in (a) of FIG. 18 and (b) of FIG. 18, the present embodiment takes the pointing device as a remote controller 1820 and the pointed-to device as a sound box 1810 for example, where the wireless positioning module of the remote controller includes one antenna unit, the wireless positioning module of the sound box 1810 includes three antenna units, and the one antenna unit included in the wireless positioning module of the remote controller 1820 is a second origin antenna 221, and the three antenna units included in the wireless positioning module of the sound box 1810 are a first origin antenna 121, a first horizontal antenna 122 and a first vertical antenna 123 respectively.

[0264] Wherein, the remote controller 1820 judges whether it is currently pointing at the sound box 1810 by estimating its own attitude and position, and when it is judged to be pointing at the sound box 1810, the remote controller 1820 controls the sound box 1810.

[0265] In the present scenario, since the wireless positioning module of the remote controller 1820 only includes the second origin antenna 221, it is unable to directly measure the distance between the remote controller 1820 and the sound box 1810 and the attitude angle of the remote controller 1820 relative to the first coordinate system based on the signal interaction between the first coordinate system and the second coordinate system; instead, it needs to use the gyroscope data and acceleration data provided by the inertial measurement unit (IMU) to measure the change of the pointing position of the remote controller 1820 within a unit time in real time, where the first coordinate system is a spatial coordinate system established with the wireless positioning module of the sound box 1810 as the center.

[0266] Wherein, the second coordinate system is established with the center of the remote controller 1820 as the origin, and more explanations about the second coordinate system can be referred to the embodiment shown in FIG. 13, and in the present embodiment, the second coordinate system is simply referred to as b system for convenience of description.

[0267] For example, a second coordinate system can be established with the IMU center of the remote controller 1820 as the origin.

[0268] In this embodiment, the method for obtaining the distance between the pointing device and the pointed device, and the attitude angle of the pointing device relative to the first coordinate system can be as follows:

[0269] (1) The attitude and position of the remote controller 1820 relative to the geographic coordinate system (g system) are updated in real time according to the gyroscope data and acceleration data measured by the IMU of the remote controller 1820.

[0270] (2) The attitude and position of the remote controller 1820 relative to the geographic coordinate system (g system) are converted into the attitude and position of the remote controller 1820 relative to the first coordinate system (e system), i.e., the distance between the remote controller 1820 and the sound box 1810, and the attitude angle of the remote controller 1820 relative to the first coordinate system are obtained.

[0271] Wherein, the process of updating the attitude and position of the remote controller 1820 relative to the geographic coordinate system (g system) can be as follows:

[0272] (1) Attitude update algorithm

[0273] Let the attitude rotation matrix of the g system relative to the b system at time m be Then the following derivation formula (1) is obtained:

[0274] Since the g system can be considered as not rotating in a short time, therefore Therefore, formula (1) is simplified to the following formula (2):

[0275] And Depends on the rotation vector Φ output by the IMU at the current time m Corresponding to the following formula (3):

[0276] Where Δβ m (1) and Δβ m (2) are the angular increments in [t m-1 , t m-1 / 2 ] and [t m-1 / 2 , t m ] respectively, and their total increment is Δβ m = Δβ m (1) + Δβ m (2), therefore Can be calculated according to the following formula (4):

[0277] (2) Velocity update algorithm

[0278] The velocity update equation is shown in the following equation (5):

[0279] wherein is the acceleration vector of the remote controller in the g system at the m moment, which can be specifically expressed as the following equation (6) and equation (7):

[0280] The velocity value of the remote controller in the e system at the m moment is calculated by accumulation which can be specifically expressed as the following equation (8):

[0281] (3) Position update algorithm

[0282] The position update algorithm is shown in the following equation (9):

[0283] wherein is the change of position per unit time, which can be obtained by calculating the two-norm of , and the moving distance Δd of the pointing device per unit time can be calculated by the following equation (10):

[0284] The phase of the signal measured by the pointing device at the t0 moment Assuming that the user controls the pointing device to move to a position with a distance of d from the t0 moment at the t1 moment, according to the calculated displacement Δd per unit time, the phase of the signal measured at this moment is The signal incidence angle β can be calculated by the following equation (11):

[0285] In this embodiment, the pointing device end can complete the measurement of the signal coming direction of the opposite end by using a single antenna in the case of having a position or attitude change, and further obtain the distance between the pointing device and the pointed device, and the attitude angle of the pointing device relative to the first coordinate system.

[0286] Exemplarily, FIG. 19 shows a schematic flowchart of a method 1900 for determining a pointing position according to an embodiment of the present application. As shown in FIG. 19, the method 1900 includes:

[0287] S1901: In a first time period, calibrate the attitude of the control device relative to a third attitude calibration unit using a first attitude calibration unit, the third attitude calibration unit being used to measure the position and attitude relationship of the control device relative to the controlled device.

[0288] The control device includes the first attitude calibration unit and the second attitude calibration unit.

[0289] In some embodiments, the control device can be a remote controller, which refers to an electronic device with remote control functions, such as a smartphone, a television remote controller, an air conditioner remote controller, a lamp remote controller, a tea bar machine remote controller, a car key, etc.

[0290] In some embodiments, the controlled device is a smart controlled device in a smart home environment or a smart office environment, such as a large screen device, a projector, a lamp, an air conditioner, a tea bar machine, a vehicle, or an air conditioner, etc.

[0291] In some embodiments, the first attitude calibration unit can be a UWB module, an ultrasonic module, a multi-antenna millimeter wave radar positioning module, a three-dimensional electromagnetic coil positioning module, or a three-dimensional ultrasonic positioning module; the second attitude calibration unit can be a magnetometer; and the third attitude calibration unit can be a UWB module, an ultrasonic module, a multi-antenna millimeter wave radar positioning module, a three-dimensional electromagnetic coil positioning module, or a three-dimensional ultrasonic positioning module.

[0292] It can be understood that, in some embodiments, in the first time period, the second attitude calibration unit is not used for attitude calibration.

[0293] In some embodiments, in the fourth time period, the attitude of the control device calibrated using the first attitude calibration unit relative to the third attitude calibration unit calibrates the azimuth angle measured by the second attitude calibration unit, wherein the fourth time period partially overlaps with or is within the first time period.

[0294] In one example, when the difference between the azimuth angle measured using the second attitude calibration unit and the azimuth angle measured using the first attitude calibration unit is greater than the first difference, the attitude of the control device calibrated using the first attitude calibration unit relative to the third attitude calibration unit calibrates the azimuth angle measured by the second attitude calibration unit.

[0295] In another example, when the variance of the plurality of azimuth angles measured continuously using the second attitude calibration unit is greater than the first variance, the attitude of the control device calibrated using the first attitude calibration unit relative to the third attitude calibration unit calibrates the azimuth angle measured by the second attitude calibration unit.

[0296] S1902: According to the attitude of the control device calibrated using the first attitude calibration unit relative to the third attitude calibration unit, the pointing position of the control device in the first time period is determined.

[0297] S1903: In the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated using the second attitude calibration unit, wherein in the second time period, the accuracy of the calibration result of the first attitude calibration unit is lower than the accuracy of the calibration result of the first attitude calibration unit in the first time period.

[0298] In some embodiments, the attitude of the control device relative to the third attitude calibration unit is calibrated using the second attitude calibration unit, and the specific process can be: the azimuth angle between the control device and the third attitude calibration unit is measured using the second attitude calibration unit; and the attitude of the control device relative to the third attitude calibration unit is calibrated using the azimuth angle.

[0299] In some embodiments, during the second period, the position of the control device relative to the third attitude calibration unit is measured using the first attitude calibration unit.

[0300] In some embodiments, during the second period, the attitude of the control device relative to the third attitude calibration unit can be calibrated simultaneously using the first attitude calibration unit and the second attitude calibration unit.

[0301] S1904: According to the attitude of the control device relative to the third attitude calibration unit calibrated by the second attitude calibration unit, the pointing position of the control device in the second period is determined.

[0302] Optionally, after S1904, the following steps can also be included:

[0303] In a third period after the second period, the attitude of the control device relative to the third attitude calibration unit is calibrated using the first attitude calibration unit, wherein the accuracy of the calibration result of the first attitude calibration unit in the third period is higher than the accuracy of the calibration result of the first attitude calibration unit in the second period.

[0304] One or more of the modules or units described herein can be implemented in software, hardware, or a combination thereof. When any of the modules or units are implemented in software, the software is in the form of computer program instructions and is stored in a memory, and a processor can be used to execute the program instructions and implement the above method flows. The processor can include, but is not limited to, at least one of the following: a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a microcontroller unit (MCU), or an artificial intelligence processor, and the like computing devices running software, each of which can include one or more cores for executing software instructions to perform computations or processing. The processor can be built-in to a SoC (system on chip) or an application specific integrated circuit (ASIC), or can be a separate semiconductor chip. In addition to the cores for executing software instructions to perform computations or processing, the processor can further include necessary hardware accelerators, such as a field programmable gate array (FPGA), a PLD (programmable logic device), or a logic circuit implementing specialized logic operations.

[0305] When any of the modules or units described herein are implemented in hardware, the hardware can be any one or a combination of a CPU, a microprocessor, a DSP, an MCU, an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a specialized digital circuit, a hardware accelerator, or a non-integrated discrete device, which can run necessary software or be independent of software to perform the above method flows.

[0306] When the modules or units described in the specification are implemented by using software, the modules or units can be implemented in a form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded on a computer, the whole or part of the flow or function described in the embodiments of the present application is generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk (SSD)) and the like.

[0307] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0308] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0309] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0310] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0311] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0312] The functions, if realized in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0313] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of determining a pointing position, characterized by, The method is applied to a control device comprising a first attitude calibration unit and a second attitude calibration unit, and the method comprises: in a first period, calibrating the attitude of the control device relative to a third attitude calibration unit using the first attitude calibration unit, the third attitude calibration unit being used to measure the pose relationship of the control device relative to a controlled device; determining the pointing position of the control device in the first period according to the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit; in a second period, calibrating the attitude of the control device relative to the third attitude calibration unit using the second attitude calibration unit, wherein the accuracy of the calibration result of the first attitude calibration unit in the second period is lower than the accuracy of the calibration result of the first attitude calibration unit in the first period; determining the pointing position of the control device in the second period according to the attitude of the control device relative to the third attitude calibration unit calibrated using the second attitude calibration unit.

2. The method of claim 1, wherein, The method further comprises: in a third period after the second period, calibrating the attitude of the control device relative to the third attitude calibration unit using the first attitude calibration unit, wherein the accuracy of the calibration result of the first attitude calibration unit in the third period is higher than the accuracy of the calibration result of the first attitude calibration unit in the second period.

3. The method according to claim 1 or 2, characterized in that, The method further comprises: in a fourth period, calibrating the azimuth angle measured by the second attitude calibration unit using the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit, wherein the fourth period partially overlaps with or is within the first period.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: in the second period, measuring the position of the control device relative to the third attitude calibration unit using the first attitude calibration unit.

5. The method of claim 3, wherein, The calibration of the azimuth angle measured by the second attitude calibration unit using the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit comprises: when the difference between the azimuth angle measured using the second attitude calibration unit and the azimuth angle measured using the first attitude calibration unit is greater than a first difference, calibrating the azimuth angle measured by the second attitude calibration unit using the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit; or when the variance of multiple azimuth angles measured continuously using the second attitude calibration unit is greater than a first variance, calibrating the azimuth angle measured by the second attitude calibration unit using the attitude of the control device relative to the third attitude calibration unit calibrated using the first attitude calibration unit.

6. The method according to any one of claims 1 to 5, characterized in that, The calibration of the attitude of the control device relative to the third attitude calibration unit using the second attitude calibration unit comprises: measuring the azimuth angle between the control device and the third attitude calibration unit using the second attitude calibration unit; calibrating the attitude of the control device relative to the third attitude calibration unit using the azimuth angle.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: In the second time period, calibrating the pose of the control device relative to a third pose calibration unit using the first pose calibration unit and the second pose calibration unit simultaneously.

8. The method according to any one of claims 1 to 7, characterized in that, The control device is a remote controller.

9. The method according to any one of claims 1 to 8, characterized in that, The controlled device is an intelligent controlled device in a smart home environment or a smart office environment.

10. The method according to any one of claims 1 to 9, characterized in that, The first pose calibration unit is a UWB module, and the second pose calibration unit is a magnetometer.

11. A control device, characterized by The control device comprises a first pose calibration unit and a second pose calibration unit, and further comprises: one or more processors; one or more memories; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, and the one or more computer programs comprise instructions which, when executed by the one or more processors, cause the control device to perform the following operations: In a first time period, calibrate the pose of the control device relative to a third pose calibration unit using the first pose calibration unit, wherein the third pose calibration unit is used to measure the pose relationship of the control device relative to the controlled device; According to the pose of the control device relative to the third pose calibration unit calibrated using the first pose calibration unit, determine the pointing position of the control device in the first time period; In a second time period, calibrate the pose of the control device relative to the third pose calibration unit using the second pose calibration unit, wherein in the second time period, the accuracy of the calibration result of the first pose calibration unit is lower than that of the calibration result of the first pose calibration unit in the first time period; According to the pose of the control device relative to the third pose calibration unit calibrated by the second pose calibration unit, determine the pointing position of the control device in the second time period.

12. The control device according to claim 11, characterized by When the instructions are executed by the one or more processors, the control device further performs the following operations: In a third time period after the second time period, calibrate the pose of the control device relative to the third pose calibration unit using the first pose calibration unit, wherein in the third time period, the accuracy of the calibration result of the first pose calibration unit is higher than that of the calibration result of the first pose calibration unit in the second time period.

13. The control device according to claim 11 or 12, characterized by When the instructions are executed by the one or more processors, the control device further performs the following operations: In a fourth time period, the pose of the control device relative to the third pose calibration unit calibrated using the first pose calibration unit is used to calibrate the azimuth angle measured by the second pose calibration unit, wherein the fourth time period partially overlaps with or is within the first time period.

14. The control device according to any one of claims 11 to 13, characterized by When the instructions are executed by the one or more processors, the control device further performs the following operations: In the second time period, measure the position of the control device relative to the third pose calibration unit using the first pose calibration unit.

15. The control device according to claim 13, characterized by When the instructions are executed by the one or more processors, the control device further specifically performs the following operations: when a difference between the azimuth angle measured by the second attitude calibration unit and the azimuth angle measured by the first attitude calibration unit is greater than a first difference, the azimuth angle measured by the second attitude calibration unit is calibrated by the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit; or when a variance of a plurality of azimuth angles measured by the second attitude calibration unit in succession is greater than a first variance, the azimuth angle measured by the second attitude calibration unit is calibrated by the attitude of the control device relative to the third attitude calibration unit calibrated by the first attitude calibration unit.

16. The control device according to any one of claims 11 to 15, characterized by When the instructions are executed by the one or more processors, the control device is further caused to perform the following operations: during the second time period, the attitude of the control device relative to the third attitude calibration unit is calibrated by simultaneously using the first attitude calibration unit and the second attitude calibration unit.

17. The control device according to any one of claims 11 to 16, characterized by The control device is a remote controller.

18. The control device according to any one of claims 11 to 17, characterized by The controlled device is an intelligent controlled device in a whole-house intelligent environment or a smart office environment.

19. The control device according to any one of claims 11 to 18, characterized by, The first attitude calibration unit is a UWB module, and the second attitude calibration unit is a magnetometer.

20. A system for determining a pointing position, the system comprising: The system includes a control device and a controlled device, wherein, The control device is configured to perform the method of any one of claims 1-10. The controlled device is configured to make a first response according to the pointing position of the control device determined by the control device.

21. An electronic device, comprising: Comprise: one or more processors; one or more memories; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, and the one or more computer programs include instructions that, when executed by the one or more processors, cause the electronic device to perform the method of any one of claims 1-10.

22. A computer-readable storage medium, characterized in that, The storage medium has a program or instructions stored therein, and when the program or instructions are executed, the method of any one of claims 1-10 is implemented.

23. A chip, characterized by The chip has instructions stored therein, and when the instructions are executed, the method of any one of claims 1-10 is implemented.

24. A computer program product, characterised in that, The computer program product has a program or instructions stored therein, and when the program or instructions are executed, the method of any one of claims 1-10 is implemented.

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