CN117492579A - Air mouse control system, method, equipment and medium based on UWB positioning - Google Patents
Air mouse control system, method, equipment and medium based on UWB positioning Download PDFInfo
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- CN117492579A CN117492579A CN202311383253.7A CN202311383253A CN117492579A CN 117492579 A CN117492579 A CN 117492579A CN 202311383253 A CN202311383253 A CN 202311383253A CN 117492579 A CN117492579 A CN 117492579A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000006870 function Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000004927 fusion Effects 0.000 claims description 8
- 238000004422 calculation algorithm Methods 0.000 claims description 5
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- 238000010586 diagram Methods 0.000 description 10
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- 238000004364 calculation method Methods 0.000 description 2
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- 238000012545 processing Methods 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
- G06F3/0383—Signal control means within the pointing device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/038—Indexing scheme relating to G06F3/038
- G06F2203/0384—Wireless input, i.e. hardware and software details of wireless interface arrangements for pointing devices
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Signal Processing (AREA)
- Position Input By Displaying (AREA)
Abstract
The application discloses a remote controller control system, a method, equipment and a medium based on UWB positioning, which are used for receiving and transmitting UWB data between a UWB base station and a UWB tag end and resolving the UWB data into azimuth data so as to enable air mouse remote control equipment to have a UWB positioning function; the IMU module collects inertial data of the air mouse remote control equipment; the Bluetooth module fuses the azimuth data and the inertia data into coordinate pointing data, and sends the coordinate pointing data to the UWB equipment, wherein the coordinate pointing data is used for representing movement track information of the air mouse remote control equipment in a display unit of the remote control equipment so as to accurately determine the pointing intention of a user when the air mouse remote control equipment is used, and the problems of zero drift and XY axis pointing offset of the air mouse are effectively solved; the UWB tag end transmits coordinate pointing data to the remote controlled device, so that the pointing function of the air mouse remote controlled device on the display unit of the remote controlled device is accurately controlled.
Description
Technical Field
The application relates to the technical field of remote controllers, in particular to an air mouse control system, an air mouse control method, an air mouse control device and an air mouse control medium based on UWB positioning.
Background
The existing air mouse remote controller mainly realizes the pointing function through acceleration and angular velocity, and zero drift (the deviation between the target pointing position and the actual pointing position) and XY axis pointing deviation exist in the mode. For example: the user uses the empty mouse to point to the left, but does not show to move left on the TV, but moves right, upward or downward, so that the user considers that the empty mouse is malfunctioning and has the problems of poor signal and the like, and the experience of the user is influenced, therefore, the problem of inaccurate pointing of the empty mouse is urgently needed to be solved, the pointing precision capability of the empty mouse is improved, and the experience of the user is enhanced.
Disclosure of Invention
The application provides a remote controller control system, a method, equipment and a medium based on UWB positioning, so as to solve the technical problem of inaccurate pointing of a current air mouse.
In order to solve the technical problems, in a first aspect, the present application provides an air mouse control system based on UWB positioning, which includes an air mouse remote control device and UWB devices installed on the remote control device, where the air mouse remote control device is provided with a UWB base station, a bluetooth module and an IMU module, and the UWB device is provided with a UWB tag end;
the UWB base station is used for receiving and transmitting UWB data with the UWB tag end, resolving the UWB data into azimuth data, and the azimuth data are used for representing horizontal angle information, vertical angle information and distance information between the air mouse remote control equipment and the UWB equipment;
the IMU module is used for collecting inertial data of the air mouse remote control equipment;
the Bluetooth module is used for fusing the azimuth data and the inertia data into coordinate pointing data and sending the coordinate pointing data to the UWB equipment, wherein the coordinate pointing data is used for representing the moving track information of the air mouse remote control equipment in a display unit of the remote control equipment;
the UWB label end is used for receiving and transmitting UWB data with the UWB base station and transmitting coordinate pointing data to the remote controlled equipment.
In some implementations of the first aspect, the UWB base station includes:
the multi-antenna array is used for sending a plurality of first UWB signals to the UWB tag end and receiving a plurality of second UWB signals returned by the UWB tag end in response to the first UWB signals;
the resolving unit is used for calculating azimuth data according to a plurality of second UWB signals by using a preset UWB positioning algorithm, wherein the azimuth data are used for representing original angle information and original distance information between the air mouse remote control equipment and the UWB equipment.
In some implementations of the first aspect, the bluetooth module includes:
the compensation unit is used for compensating the azimuth data to obtain target azimuth data;
the fusion unit is used for fusing the target azimuth data and the inertial data to obtain coordinate pointing data;
and the first Bluetooth radio frequency unit is used for transmitting the coordinate pointing data to the UWB device.
In some implementations of the first aspect, the compensation unit includes:
and the compensation subunit is used for compensating the azimuth data based on a preset compensation value to obtain target azimuth data.
In some implementations of the first aspect, the fusing unit includes:
the calculating subunit is used for calculating position coordinate data according to the horizontal angle information, the vertical angle information and the distance information by utilizing the trigonometric function relation, wherein the position coordinate data is used for representing the current coordinate position of the air mouse remote control equipment in the display unit of the remote controlled equipment;
and the fusion subunit is used for fusing the position coordinate data with the inertial data to obtain coordinate pointing data, wherein the inertial data comprises acceleration data and angular velocity data.
In some implementations of the first aspect, the UWB device is further provided with a second bluetooth radio frequency unit, configured to receive coordinate pointing data sent by the bluetooth module, and transmit the coordinate pointing data to the UWB tag.
In some implementations of the first aspect, USB communication transmission is employed between the UWB tag end and the remotely controlled device.
In a second aspect, the present application further provides an air mouse control method based on UWB positioning, which is applied to an air mouse remote control device, where the air mouse remote control device is in communication connection with a UWB device installed on a remote control device, the air mouse remote control device is provided with a UWB base station, a bluetooth module and an IMU module, and the UWB device is provided with a UWB tag end, and the method includes:
receiving and transmitting UWB data by using a UWB base station and a UWB tag end, and resolving the UWB data into azimuth data, wherein the azimuth data is used for representing horizontal angle information, vertical angle information and distance information between the air mouse remote control equipment and the UWB equipment;
acquiring inertial data of the air mouse remote control equipment through an IMU module;
and fusing the azimuth data and the inertia data into coordinate pointing data through the Bluetooth module, and sending the coordinate pointing data to the UWB equipment, wherein the coordinate pointing data is transmitted to the remotely controlled equipment by the UWB tag end, and the coordinate pointing data is used for representing the moving track information of the air mouse remote control equipment in a display unit of the remotely controlled equipment.
In a third aspect, the present application further provides an air mouse remote control device, including a processor and a memory, where the memory is configured to store a computer program, and the computer program when executed by the processor is capable of invoking a UWB base station, a bluetooth module, and an IMU module to implement the air mouse control method based on UWB positioning as in the second aspect.
In a fourth aspect, the present application further provides a computer readable storage medium storing a computer program which when executed by a processor is capable of invoking a UWB base station, a bluetooth module and an IMU module to implement the UWB positioning based air mouse control method as in the second aspect.
Compared with the prior art, the application has the following beneficial effects:
the UWB equipment is provided with a UWB tag end through the space mouse remote control equipment, wherein the UWB base station, the Bluetooth module and the IMU module are arranged; the UWB base station is used for receiving and transmitting UWB data with the UWB tag end, resolving the UWB data into azimuth data, and the azimuth data are used for representing horizontal angle information, vertical angle information and distance information between the air mouse remote control equipment and the UWB equipment, so that the air mouse remote control equipment has a UWB positioning function, and the current position of the air mouse remote control equipment in a display screen of the remote control equipment is accurately positioned; the IMU module is used for acquiring inertial data of the air mouse remote control equipment so as to acquire the movement amount of the air mouse remote control equipment; the Bluetooth module is used for fusing azimuth data and inertial data into coordinate pointing data and sending the coordinate pointing data to the UWB equipment, and the coordinate pointing data is used for representing movement track information of the air mouse remote control equipment in a display unit of the remote control equipment so as to accurately determine pointing intention of a user when the air mouse remote control equipment is used, and effectively solve the problems of zero drift and XY axis pointing offset of the air mouse; the UWB label end is used for receiving and transmitting UWB data with the UWB base station and transmitting coordinate pointing data to the remote controlled device, so that the pointing function of the air mouse remote controlled device on the display unit of the remote controlled device is accurately controlled.
Drawings
FIG. 1 is a schematic diagram of an air mouse control system based on UWB positioning according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an air mouse control system based on UWB positioning according to another embodiment of the present application;
FIG. 3 is a schematic diagram of a UWB positioning-based air mouse control system according to yet another embodiment of the present application;
FIG. 4 is a schematic diagram of a UWB positioning-based air mouse control system according to yet another embodiment of the present application;
fig. 5 is a schematic flow chart of an air mouse control method based on UWB positioning according to an embodiment of the present application;
fig. 6 is a schematic diagram of data transmission of the air mouse control system according to the embodiment of the present application;
fig. 7 is a schematic structural diagram of an air mouse remote control device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an air mouse control system based on UWB positioning according to an embodiment of the present application. As shown in fig. 1, the air mouse control system based on UWB positioning of the present embodiment includes an air mouse remote control device 1 and a UWB device 2 mounted on a remote controlled device 3, the air mouse remote control device is provided with a UWB base station 11, a bluetooth module 12 and an IMU module 13, and the UWB device 2 is provided with a UWB tag end 21.
The UWB base station 11 is configured to receive and transmit UWB data with the UWB tag end 21, and to resolve the UWB data into azimuth data, where the azimuth data is used to characterize horizontal angle information, vertical angle information, and distance information between the air mouse remote control device 1 and the UWB device 2.
The IMU module 13 is configured to collect inertial data of the air mouse remote control device 1.
The bluetooth module 12 is configured to fuse the azimuth data and the inertia data into coordinate pointing data, and send the coordinate pointing data to the UWB device 2, where the coordinate pointing data is used to characterize movement track information of the air mouse remote control device 1 in the display unit of the remote controlled device 3.
The UWB tag 21 is configured to transmit and receive the UWB data to and from the UWB base station 11, and transmit the coordinate pointing data to the remote controlled device 3.
Optionally, as shown in fig. 2, the UWB base station 11 includes:
a multi-antenna array 111 for transmitting a plurality of first UWB signals to the UWB tag end 21 and receiving a plurality of second UWB signals returned by the UWB tag end 21 in response to the first UWB signals;
the resolving unit 112 is configured to calculate, according to a plurality of the second UWB signals, azimuth data by using a preset UWB positioning algorithm, where the azimuth data is used to characterize original angle information and original distance information between the air mouse remote control device 1 and the UWB device 2.
Optionally, as shown in fig. 3, the bluetooth module 12 includes:
a compensation unit 121, configured to compensate the azimuth data to obtain target azimuth data;
a fusion unit 122, configured to fuse the target azimuth data with the inertial data to obtain the coordinate pointing data;
a first bluetooth radio frequency unit 123 for transmitting the coordinate pointing data to the UWB device 2.
Optionally, the compensation unit 121 includes:
and the compensation subunit is used for compensating the azimuth data based on a preset compensation value to obtain target azimuth data.
Optionally, the fusing unit 122 includes:
a calculating subunit, configured to calculate, according to the horizontal angle information, the vertical angle information, and the distance information, position coordinate data using a trigonometric function relationship, where the position coordinate data is used to characterize a current coordinate position of the air mouse remote control device 1 in the display unit of the remote controlled device 3;
and the fusion subunit is used for fusing the position coordinate data with the inertial data to obtain the coordinate pointing data, wherein the inertial data comprises acceleration data and angular velocity data.
Optionally, as shown in fig. 4, the UWB device 2 is further provided with a second bluetooth radio frequency unit 22, configured to receive the coordinate pointing data sent by the bluetooth module 12, and transmit the coordinate pointing data to the UWB tag end 21.
Alternatively, as shown in fig. 4, the UWB tag end 21 and the remote controlled device 3 may use USB communication transmission.
Referring to fig. 5, fig. 5 is a flow chart of an air mouse control method based on UWB positioning according to an embodiment of the present application. The air mouse control method based on UWB positioning in the embodiment of the present application can be applied to the air mouse remote control device in the above embodiment 1, and the air mouse remote control device includes but is not limited to devices such as a television remote controller, a game handle, a virtual reality device, and a mouse with an air mouse function. The air mouse remote control equipment is in communication connection with UWB equipment arranged on the remote control equipment, the air mouse remote control equipment is provided with a UWB base station, a Bluetooth module and an IMU module, and the UWB equipment is provided with a UWB tag end. As shown in fig. 1, the air mouse control method based on UWB positioning of the present embodiment includes steps S101 to S103, which are described in detail as follows:
step S101, UWB data is received and transmitted by using a UWB base station and a UWB tag end, and the UWB data is resolved into azimuth data, wherein the azimuth data is used for representing horizontal angle information, vertical angle information and distance information between the air mouse remote control equipment and the UWB equipment.
In this step, the UWB base station transmits a first UWB signal with a time stamp to the UWB tag terminal, and the UWB tag terminal responds to the first UWB signal and returns a second UWB signal, and since the transmission speed of the signal wave in the air is constant, the UWB base station can obtain the distance between the UWB base station and the UWB tag terminal based on the time difference between the transmission time of the first UWB signal and the reception time of the second UWB signal and the transmission speed of the UWB signal, based on the distance being the product of the time and the speed. Further, the UWB base station transmits UWB signals to the tag end using at least three antennas, so that each antenna obtains a corresponding distance, and the horizontal angle and the vertical angle between the UWB base station and the UWB tag end can be calculated based on the fixed distance and angle between the antennas. The UWB base station is in communication connection with the Bluetooth module through SPI (Serial Peripheral Interface ) signals, the communication frequency can be 7.9GHz, the channel is CH9, and the azimuth data obtained through the calculation are transmitted to the Bluetooth module.
The UWB tag is provided on the UWB device, and the UWB device is mounted on the remote control device, so that the azimuth data between the UWB base station and the UWB tag corresponds to the azimuth data between the air mouse remote control device and the remote control device. Optionally, USB communication transmission is adopted between the UWB tag end and the remote controlled device. The UWB equipment is provided with a USB interface, the UWB equipment is inserted and dialed on the USB interface of the remote controlled equipment through the USB interface, and the tag end and the remote controlled equipment are communicated and transmitted through the UWB interface.
Optionally, the step S101 includes:
transmitting a plurality of first UWB signals to the UWB tag end through a multi-antenna array, and receiving a plurality of second UWB signals returned by the UWB tag end in response to the first UWB signals;
and calculating azimuth data according to a plurality of second UWB signals by using a preset UWB positioning algorithm, wherein the azimuth data are used for representing original angle information and original distance information between the air mouse remote control equipment and the UWB equipment.
In this alternative embodiment, the multi-antenna array may include a TRX antenna, a horizontal RX antenna, and a vertical RX antenna, where each antenna transmits the first UWB signal to the tag end, and then a straight line distance between the TXR antenna and the tag end, a horizontal distance between the horizontal RX antenna and the tag end, and a vertical distance between the vertical RX antenna and the tag end may be obtained by calculation. Based on the inverse trigonometric function α=arcsina/C, α is an angle, a is a right angle side length, and C is a hypotenuse side length, so that the horizontal angle and the vertical angle can be calculated.
Step S102, acquiring inertial data of the air mouse remote control equipment through an IMU module.
In this step, the IMU (Inertial Measurement Unit, inertial sensor) module may employ a 6-axis IMU, which is communicatively connected to the bluetooth module through an SPI signal, and transmits the collected inertial data to the bluetooth module. In the process that a user uses the air mouse remote control equipment, the IMU module detects acceleration signals of independent three axes of the carrier coordinate system and angular velocity signals of the carrier relative to the navigation coordinate system, so that three-axis acceleration and three-axis angular velocity of the air mouse remote control equipment are obtained, and the movement speed and movement direction of the air mouse remote control equipment are represented.
Step S103, fusing the azimuth data and the inertia data into coordinate pointing data through a Bluetooth module, and sending the coordinate pointing data to the UWB equipment, wherein the coordinate pointing data is transmitted to the remote controlled equipment by the UWB tag end, and the coordinate pointing data is used for representing movement track information of the air mouse remote control equipment in a display unit of the remote controlled equipment.
In this step, the bluetooth module includes a first bluetooth radio frequency unit and a bluetooth SOC (configured with a compensation unit and a fusion unit), where the first bluetooth radio frequency unit adopts an antenna integrating transmission and reception, and adopts a standard 2.4GHz communication frequency. The position relation between the air mouse remote control equipment and the remotely controlled equipment can be known according to the azimuth data, and the motion change state of the air mouse remote control equipment can be known by the inertia data, so that the motion change state is fused to the azimuth data, the dynamic change of the position relation along with the motion change state can be obtained, and the movement track information can be obtained. The first Bluetooth radio frequency unit performs Bluetooth communication with a second Bluetooth radio frequency unit of the UWB equipment, coordinate pointing data is sent to the second Bluetooth radio frequency unit in a radio frequency transmission mode, and the second Bluetooth radio frequency unit is then transmitted to the remote controlled equipment.
Optionally, the step S103 includes:
compensating the azimuth data to obtain target azimuth data;
fusing the target azimuth data and the inertial data to obtain the coordinate pointing data;
and transmitting the coordinate pointing data to the UWB device.
In this alternative embodiment, since the TOF/PDOA-based UWB positioning technology may cause positioning errors due to signal noise in the positioning environment, the positioning data is compensated for in order to eliminate the positioning errors and improve the positioning accuracy.
Optionally, the azimuth data is compensated based on a preset compensation value, so as to obtain target azimuth data. The preset compensation value is the difference value between the azimuth data acquired by the air mouse remote control equipment in the standardized test environment and the theoretical azimuth data. Specifically, the distance compensation formula is: target TOF = original TOF + compensated TOF; the angle compensation formula is: target angle aoa=original angle pdoa+offset angle.
Optionally, for the step of fusing, calculating the position coordinate data according to the horizontal angle information, the vertical angle information and the distance information by using a trigonometric function relation, wherein the position coordinate data is used for representing the current coordinate position of the air mouse remote control device in a display unit of the remote controlled device; and fusing the position coordinate data with the inertial data to obtain the coordinate pointing data, wherein the inertial data comprises acceleration data and angular velocity data.
The space rectangular coordinate system is established by taking the UWB tag end as an origin, and the space coordinate position of the space rectangular coordinate system of the space mouse remote control equipment can be obtained according to the horizontal angle information, the vertical angle information and the distance information between the UWB tag end and the UWB base station by utilizing a trigonometric function relation; and calculating the planar coordinate position, namely the position coordinate data, of the spatial coordinate position corresponding to the planar coordinate system according to the preset coordinate matrix relation between the spatial rectangular coordinate system and the planar rectangular coordinate system of the display unit. And then the inertial data is superimposed on the position coordinate data to obtain coordinate pointing data.
Optionally, the UWB device is further provided with a second bluetooth radio frequency unit, configured to receive the coordinate pointing data sent by the bluetooth module, and transmit the coordinate pointing data to the UWB tag end, where the UWB tag end transmits the coordinate pointing data to the remote controlled device through USB transmission.
By way of example and not limitation, fig. 6 shows a schematic diagram of data transmission of a control system for an air mouse. As shown in fig. 6, the multi-antenna array of the air mouse remote control device sends UWB signals to the UWB tag end of the UWB device, receives UWB signals returned by the UWB tag end, and transmits the UWB signals to the resolving unit, the resolving unit resolves the UWB signals into TOF/PDOA data according to a UWB positioning algorithm, the compensating unit compensates the TOF/PDOA data into TOF/AOA data, and the fusing unit receives the TOF/AOA data transmitted by the compensating unit and 6-axis data acquired by the IMU module, and fuses the TOF/AOA data and the 6-axis data into XY coordinate data; the first Bluetooth radio frequency unit is used for transmitting the XY coordinate data to the second Bluetooth radio frequency unit of the UWB device through radio frequency transmission, the second Bluetooth radio frequency unit is used for transmitting the XY coordinate data to a UWB label end through internal transmission, the UWB label is used for transmitting the XY coordinate data to a USB module of the remote control device through USB transmission, the USB module is used for continuously transmitting the XY coordinate data to an application layer through internal transmission, and the application layer performs application execution according to the XY coordinate data. The UWB positioning technology is applied to the air mouse remote control equipment, so that the pointing precision of the air mouse remote control equipment is improved, and the phenomena of 0-point offset and XY-axis pointing offset existing in the pointing function based on acceleration and angular velocity are effectively solved.
It should be understood that the above-described air mouse control method based on UWB positioning may implement the air mouse remote control device in the above-described system embodiment. The options in the method embodiments described above also apply to the system embodiments described above and are not described in detail here. The rest of the embodiments of the present application may refer to the content of the method embodiments described above, and in this embodiment, no further description is given.
Fig. 7 is a schematic structural diagram of an air mouse remote control device according to an embodiment of the present application. As shown in fig. 7, the air mouse remote control device 7 of this embodiment includes: at least one processor 70 (only one is shown in fig. 7), a memory 71 and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the processor 70 being capable of invoking UWB base stations, bluetooth modules and IMU modules when executing the computer program 72 to implement the steps of any of the method embodiments described above.
The air mouse remote control device 7 may be a remote control device such as a television remote control device, a game pad, a virtual reality device, or a mouse, which has an air mouse function. The air mouse remote control device may include, but is not limited to, a processor 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is merely an example of the air mouse remote control device 7 and is not meant to be limiting of the air mouse remote control device 7, and may include more or fewer components than shown, or may combine certain components, or may include different components, such as may also include input-output devices, network access devices, etc.
The processor 70 may be a central processing unit (Central Processing Unit, CPU) and the processor 70 may be other general purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may in some embodiments be an internal storage unit of the air mouse remote control device 7, such as a hard disk or a memory of the air mouse remote control device 7. The memory 71 may also be an external storage device of the air mouse remote control device 7 in other embodiments, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the air mouse remote control device 7. Further, the memory 71 may also include both an internal memory unit and an external memory device of the air mouse remote control device 7. The memory 71 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 71 may also be used for temporarily storing data that has been output or is to be output.
In addition, the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to implement the steps in any of the above-mentioned method embodiments.
The present embodiments provide a computer program product that when run on an air mouse remote control device causes the air mouse remote control device to perform the steps of the method embodiments described above.
In several embodiments provided herein, it will be understood that each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several instructions for causing a space mouse remote control device to perform all or part of the steps of the method described in the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing embodiments have been provided for the purpose of illustrating the objects, technical solutions and advantages of the present application in further detail, and it should be understood that the foregoing embodiments are merely examples of the present application and are not intended to limit the scope of the present application. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.
Claims (10)
1. The air mouse control system based on UWB positioning is characterized by comprising air mouse remote control equipment and UWB equipment arranged on the remote control equipment, wherein the air mouse remote control equipment is provided with a UWB base station, a Bluetooth module and an IMU module, and the UWB equipment is provided with a UWB tag end;
the UWB base station is used for receiving and transmitting UWB data with the UWB tag end and resolving the UWB data into azimuth data, and the azimuth data are used for representing horizontal angle information, vertical angle information and distance information between the air mouse remote control equipment and the UWB equipment;
the IMU module is used for collecting inertial data of the air mouse remote control equipment;
the Bluetooth module is used for fusing the azimuth data and the inertia data into coordinate pointing data and sending the coordinate pointing data to the UWB equipment, and the coordinate pointing data is used for representing movement track information of the air mouse remote control equipment in a display unit of the remote controlled equipment;
the UWB label end is used for receiving and transmitting the UWB data with the UWB base station and transmitting the coordinate pointing data to the remote controlled equipment.
2. The UWB positioning based air mouse control system of claim 1 wherein the UWB base station comprises:
the multi-antenna array is used for sending a plurality of first UWB signals to the UWB tag end and receiving a plurality of second UWB signals returned by the UWB tag end in response to the first UWB signals;
the resolving unit is used for calculating the azimuth data according to a plurality of second UWB signals by using a preset UWB positioning algorithm, and the azimuth data are used for representing original angle information and original distance information between the air mouse remote control equipment and the UWB equipment.
3. The UWB positioning based air mouse control system of claim 1 wherein the bluetooth module comprises:
the compensation unit is used for compensating the azimuth data to obtain target azimuth data;
the fusion unit is used for fusing the target azimuth data and the inertia data to obtain the coordinate pointing data;
and the first Bluetooth radio frequency unit is used for transmitting the coordinate pointing data to the UWB equipment.
4. A UWB positioning based air mouse control system according to claim 3, wherein the compensation unit comprises:
and the compensation subunit is used for compensating the azimuth data based on a preset compensation value to obtain the target azimuth data.
5. The UWB positioning based air mouse control system of claim 1 wherein the fusion unit comprises:
the calculating subunit is used for calculating position coordinate data according to the horizontal angle information, the vertical angle information and the distance information by utilizing a trigonometric function relation, and the position coordinate data is used for representing the current coordinate position of the air mouse remote control equipment in the display unit of the remote controlled equipment;
and the fusion subunit is used for fusing the position coordinate data with the inertial data to obtain the coordinate pointing data, wherein the inertial data comprises acceleration data and angular velocity data.
6. The UWB positioning-based air mouse control system of claim 1 wherein the UWB device is further provided with a second bluetooth radio frequency unit for receiving the coordinate pointing data transmitted by the bluetooth module and transmitting the coordinate pointing data to the UWB tag.
7. The UWB positioning based air mouse control system of claim 1 wherein USB communication transmission is employed between the UWB tag and the remotely controlled device.
8. The utility model provides a space mouse control method based on UWB location, its characterized in that is applied to space mouse remote control equipment, space mouse remote control equipment and install the UWB equipment communication connection on being remote control equipment, space mouse remote control equipment is equipped with UWB basic station, bluetooth module and IMU module, UWB equipment is equipped with UWB label end, the method includes:
receiving and transmitting UWB data by utilizing a UWB base station and a UWB tag end, and resolving the UWB data into azimuth data, wherein the azimuth data is used for representing horizontal angle information, vertical angle information and distance information between the air mouse remote control equipment and the UWB equipment;
acquiring inertial data of the air mouse remote control equipment through an IMU module;
and fusing the azimuth data and the inertia data into coordinate pointing data through a Bluetooth module, and sending the coordinate pointing data to the UWB equipment, wherein the coordinate pointing data is transmitted to the remote controlled equipment by the UWB tag end, and the coordinate pointing data is used for representing the movement track information of the air mouse remote control equipment in a display unit of the remote controlled equipment.
9. An air mouse remote control device comprising a UWB base station, a bluetooth module and an IMU module, a processor and a memory, wherein the memory is configured to store a computer program that when executed by the processor is capable of invoking the UWB base station, the bluetooth module and the IMU module to implement the air mouse control method based on UWB positioning of claim 8.
10. A computer readable storage medium, characterized in that it stores a computer program, which when executed by a processor is capable of invoking the UWB base station, bluetooth module and IMU module to implement the UWB positioning based air mouse control method according to claim 8.
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| CN202311383253.7A CN117492579A (en) | 2023-10-24 | 2023-10-24 | Air mouse control system, method, equipment and medium based on UWB positioning |
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| CN202311383253.7A CN117492579A (en) | 2023-10-24 | 2023-10-24 | Air mouse control system, method, equipment and medium based on UWB positioning |
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