CN105974948A - Wireless head tracker design method based on Kalman filtering and PPM coding - Google Patents
Wireless head tracker design method based on Kalman filtering and PPM coding Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
- G05D3/203—Control of position or direction using feedback using a digital comparing device using fine or coarse devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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Abstract
The invention discloses a wireless head tracker design method based on Kalman filtering and PPM coding and a wireless head tracker design system thereof. The wireless head tracker design system comprises user head equipment and aircraft side equipment. The user head equipment comprises video glasses, an image transmission receiver, a master control panel, a transmitter and a sensor board. The aircraft side equipment comprises a receiver, a holder, an image transmission transmitter and a camera. A nine-axis attitude detection module is adopted. The module has the advantages of being small in size, low in weight and high in accuracy and can more accurately analyze the attitude of an unmanned aerial vehicle. The corresponding Kalman filtering fusion algorithm is adopted so that the problem of high error in measurement of a three-way accelerometer can be solved, and correct detection of the object attitude under the static and dynamic conditions can be realized. The adopted PPM coding technology is mutually compatible with a wireless module which is sold on the market at present and uses PPM communication so that universality is high, and the calculated two-channel steering signals can be transmitted to the transmitting module by using PPM coding.
Description
Technical field
The present invention relates to technical field of video monitoring, be specifically related to a kind of based on Kalman filtering and PPM encode wireless
Head chases after method for designing.
Background technology
Model aeroplane sport is to use aviation knowledge, and the manual fabrication model of an airplane also flies with various different modes operating aircrafts
The motion of row, it can not only cultivate people to the interest of aviation industry, universal aviation knowledge and technology, the cultivation aviation talent, also
Can develop juvenile intelligence, promote people healthy.Along with the most progressive of science and technology and expanding economy, the valency of model plane product
Lattice constantly reduce, and operation technique is easier, and the crowd of hobby model plane also goes from strength to strength, and the playing method of model plane also style is numerous
FPV to be counted that are many, that wherein experience the most truly, shake most.FPV means first person, and full name is First Person
View.It is that one installs cradle head camera and Image transmission equipment on remote controlled model plane additional, sees the new object for appreciation of screen manipulation model on ground
Method.The feature of this playing method be that player can be on the spot in person with the view surrounding of aircraft pilots, handle your mould
Type aircraft fly sky, the rotation of operator's head can be reappeared on the photographic head of aircraft completely.
In addition, FPV can be extended to unmanned plane and monitors in real time in work, gives the tool that various aircraft is carrier
Having ground monitoring part in the aerial camera system of The Cloud Terrace to provide a kind of Novel monitoring mode, monitoring personnel only need rotation head
Just can easily control the seizure of core content in monitored picture, be especially suitable for applying in unmanned aerial vehicle monitoring system.
But prior art mainly has the shortcoming in terms of following two:
1, prior art uses MMA7620 to the detection sensor of head pose, and this sensor is a three-dimensional acceleration
Sensor, can measure the value of three coordinate axess simultaneously, and video eyeglasses controls part as shown in Figure 1 with interactive device.But
During model plane and unmanned plane during flying monitoring, quickly, the precision of three-axis measurement does not reaches far away testing requirement to attitudes vibration speed；
2, the three-dimensional acceleration transducer used in prior art also exists the problem that error in the range of short time measurement is bigger,
But corresponding solution is not proposed.
The invention of Application No. 201110222250.6 provides a kind of servo-actuated far field vision system controlled based on head pose
System, shows and interactive device and servo-actuated sighting device including video, and video shows that including that wireless image-sound transmits with interactive device connects
Receive module, video eyeglasses display module, head pose detection sensor assembly, controller and communication module；Servo-actuated sighting device
Including having the photographic head of audio collection function, wireless image-sound transmitting module, steering wheel cradle head device, communication module and control
Device.System uses body feeling interaction mode of operation, by wearing the video eyeglasses being provided with body-sensing detection sensor, it is achieved that shooting
The vision of head and the sound reproduction of Mike give operator, and achieve operator just as utilizing head movement to draw oneself up eye
The visual field of the identically controlled photographic head in the eyeball visual field, it is achieved the motion accompanying of The Cloud Terrace is controlled, increases the feeling of immersion of virtual reality, give behaviour
Author brings the three-dimensional integrated formula operating experience of video, sound and motion.But this invention uses MMA7620 sensor, precision
Poor.
Summary of the invention
Problem to be solved by this invention is to provide and a kind of chases after design side based on what Kalman filtering and PPM encoded without the end of a thread
Method, uses nine axle attitude detection modules, and it is little that this module has volume, lightweight, precision advantages of higher, it is possible to more Accurate Analysis
UAV Attitude, and use Kalman filtering blending algorithm, solve the problem that three-dimensional accelerometer measures time error is bigger.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of chase after method for designing based on what Kalman filtering and PPM encoded without the end of a thread, comprise the steps:
Step one: first the photographic head on aircraft end equipment gathers unmanned plane or the image information in model plane front and audio-frequency information,
And pass transmitting through figure, send user's head device in a wireless form to；
Step 2: the figure in user's head device passes after receiving the next image information of unmanned plane transmission and audio-frequency information,
Outputting a signal on video eyeglasses, the image received and acoustical signal are presented to operator by video eyeglasses；
Step 3: operator sends, according to unmanned plane or model plane, the initial picture of returning, and carries out head movement in conjunction with detection demand,
Nine axle attitude detection module inductive operation person's head movement attitudes on user's head device；
Step 4: the master control borad on user's head device passes throughCommunication interface reads data from nine axle attitude detection modules,
Then utilize Kalman filter that data are filtered；
Step 5: the angle that Kalman filtering obtains after terminating is exactly the attitude measurement result of head, and is carried out by master control borad
Signal processing and analyzing, i.e. carries out PPM coding to attitude measurement result；
Step 6: PPM end-of-encode, head movement attitude control signal is transmitted into aircraft by the emitter on user's head device
End equipment；
Step 7: the receiver on aircraft end equipment receives emitter in user's head device and launches the control signal of coming, and passes through
Head movement attitude control signal is converted to control the pilot angle of The Cloud Terrace steering wheel, output to The Cloud Terrace rudder by built-in processing module
Machine, and drive The Cloud Terrace to move accordingly, it is achieved photographic head and the follow-up motion of operator's head；
Step 8: the photographic head of aircraft end equipment by the picture collected by figure pass transmitting be sent to operator's head movement with
In dynamic system, the figure on user's head device passes and receives in image feedback to video eyeglasses, such operator it is seen that
Oneself want the picture seen.
Further, in described step 3, master control borad passes throughCommunication interface obtains nine axle attitude detection modules one by one
Attitude data, including three data monitorings of head pose angular velocity, acceleration and magnetic declination, and data are packaged into number
Group starts to calculate,Write function and the reading function of communication process according to the different address of three sensors, simultaneously
Consider the offset parameter produced during sensor calibration, finally obtain the attitude information that three sensors are measured respectively, through respectively
Calculating the angle information that different sensors is judged, attitude detection terminates.
Further, in described step 4, Kalman filtering for first to arrange an initial value and optimum gain matrix, and
It is updated estimating, obtains optimal estimation output, observation input and round-off error association square formation, and again carry out according to emulation data
Revising until obtaining desired result position, filtering terminates.
Further, in described step 5, first carrying out interrupting initializing when PPM coding starts, then PPM sets high and starts meter
Time, then PPM is set low, it being worth when timer time reaches The Cloud Terrace steering wheel 1, PPM sets high and starts again at timing, then is set low by PPM, when
Timer time reaches The Cloud Terrace steering wheel 2 and is worth, PPM end-of-encode, and PPM sets high and again sets low, and waits arriving of next cycle
Come.
A kind of chase after system based on what Kalman filtering and PPM encoded without the end of a thread, set including user's head device and aircraft end
Standby, described user's head device includes that video eyeglasses, figure pass reception, master control borad, emitter and sensor board, and described aircraft end sets
Standby include that receiver, The Cloud Terrace, figure pass and launch and photographic head, described photographic head, figure pass launch, figure pass receive and video eyeglasses successively
Connecting, described sensor, master control borad, emitter, receiver and The Cloud Terrace are sequentially connected with, and described photographic head is arranged on described The Cloud Terrace
On.
Further, described master control borad includes singlechip chip.
Further, described sensor board uses nine axle attitude detection modules, and this nine axles attitude detection module includes three axles
Gyroscope, three axle digital accelerometers and three axle magnetoresistive transducers.
Further, described figure passes to receive and scheme to pass to launch and uses ohm prestige 5.8GHz frequency 500MW figure biography suit.
Further, described The Cloud Terrace uses two axle The Cloud Terraces, the new line of phantom bead and the motion of both direction of shaking the head.
Further, described emitter and receiver use radio receiving transmitting module.
Further, described user's head device is worn after head chases after user, and sensor board measures user's head movement
Attitude, carries out signal processing and analyzing by master control borad, and is transmitted into by head movement attitude control signal by emitter and flies
Machine end equipment, figure biography receives the picture that aircraft end equipment is transmitted through and shows on video eyeglasses, connecing of described aircraft end equipment
Receipts machine receives the control signal that emitter is launched, and drives The Cloud Terrace to move accordingly, the picture of photographic head is passed through simultaneously
Figure passes the figure biography reception being sent to user's head device.
The present invention uses MEMS inertia device to constitute attitude detection system, uses 8 super low-power consumption AVR single chip
The Arduino Nano of ATmega328P composition is as the control processing unit on master control borad, and nine axle attitude detection selected by sensor
Module GY-85, is integrated with three axle ITG3205 gyroscopes, three axle ADXL345B digital accelerometer and three axles inside it
HMC5883L magnetoresistive transducer.Whole system is by passing throughThe accelerometer chip of communication, gyroscope chip, magnetometer chip
The sensor assembly of composition and microprocessor module composition.Master control borad passes throughCommunication interface reads number from sensor assembly
According to, utilize Kalman filter that these data are quickly processed, calculate self attitude.
Attitude detection program is mainly passed throughObtain the attitude data of GY-85 sensor one by one, including angular velocity, acceleration
Degree and the measurement of magnetic declination, and data are carried out is packaged into array start to calculate.Communication comprises write function and reads function,
Different address according to three sensors processes, and intermediate demand considers the offset parameter produced during sensor calibration, finally
The attitude information that three sensors are measured respectively can be obtained, through calculating the angle letter that different sensors is judged respectively
Breath.
For the problem that error in the range of the short time measurement that accelerometer occurs during measuring is bigger, can pass through
The built-in gyroscope of nine axle attitude detection modules GY-85 effectively suppresses.Magnetometer predominantly detects the horizontal magnetic in space
Field completes to sense head rotation direction, realizes cumulative error with this.But the data reliability under dynamic condition is excessively poor, institute
Detect reckoning and the fusion of data to use Kalman filtering algorithm to realize, increase substantially sensor to attitude measurement
Real-time and precision.After filtering starts, set initial value, optimum gain matrix is set and renewal is estimated, successively
Association's square formation error is repeatedly revised, and more new estimation is exported optimal estimation output and observation input.Calculating knot
After Guo, enroll array and carry out next step operation.
The PPM coding techniques used in the present invention is the proportional remote control device coded system in communication.Remote controller
Two rocking bars inside be connected to four potentiometers, the athletic meeting of rocking bar directly drives potentiometer to rotate together, causes output
The change of line voltage signal, sends into change information in the single-chip microcomputer within remote controller and encodes, and the information of passage can be changed
Become set of pulses coding signal, then after the high frequency modulated circuit modulation of tuner part on remote controller, finally by power amplifier
Circuit is launched from antenna.
When attitude detecting portion go-on-go is measured accurately after head pose, and the change of motion is converted into the angle of steering wheel by single-chip microcomputer
Degree change.The angle signal of steering wheel is that the high level time by square wave represents, the control of simulation steering wheel conventional in model plane
Signal be a frequency be 50Hz square-wave signal, corresponding square-wave cycle is exactly 20ms, wherein represents the high electricity of signal content
The flat persistent period is between 1ms to 2ms, and being equivalent to dutycycle is 5 ~ 10%.In the present invention, The Cloud Terrace uses two axles, by two-way control
Signal is launched by wireless module, also will carry out coding synthesis by two paths of signals, send transmitting to by a signal line
Module.Proportional remote control device coded system PPM conventional in the world, i.e. pulse position modulation or pulse-position modulation, it uses a side
The time width of ripple signal expresses the size of a ratio passage rudder amount.The compatible higher PPM coding staff without secrecy
Formula is applicable to unique coded system that each remote controller producer is arranged, and workflow is as shown in Figure 6.
Present invention also offers and a kind of chase after system based on what Kalman filtering and PPM encoded without the end of a thread, master control borad is mainly adopted
The control of signal is carried out with single-chip microcomputer.Sensor uses nine axle attitude detection modules GY-85, this sensor integration three axles
Gyroscope ITG3205, three axle digital accelerometer ADXL345B and three axle magnetoresistive transducer HMC5883L, it is possible to realize object
The perfect detection of attitude.Photographic head uses Sony 700 line 3S and powers camera module, and figure passes to launch and uses ohm prestige
5.8GHz frequency 500MW figure passes suit.The signal of photographic head output is AV analogue signal, and AV signal passes to figure biography.Figure
Pass to receive to be carried in radio wave the analogue signal that photographic head exports and launch.Figure passes to receive and uses ohm prestige 5.8GHz
Frequency, accepts 3S and powers, and exports AV analogue signal, and signal passes to video eyeglasses, and video eyeglasses uses direct current supply.Cloud
Platform uses two axle The Cloud Terraces, the new line of a phantom bead and the motion of both direction of shaking the head.The two motion stacks up, with
The motion that the head of people is normally done is basically identical.
The present invention uses nine axle attitude detection modules, and it is little that this module has volume, lightweight, precision advantages of higher, it is possible to
More Accurate Analysis UAV Attitude.Use corresponding Kalman filtering blending algorithm, when solving three-dimensional accelerometer measures
The problem that error is bigger, it is possible to realize detecting with the correct of gestures of object under dynamic condition static.The PPM used encodes skill
Art, the wireless module that the use PPM sold with existing market communicates can be compatible, and versatility is stronger, it is possible to will calculate
Two passage steering wheel signals use PPM coding pass to transmitter module.
Accompanying drawing explanation
The invention will be further described below in conjunction with the accompanying drawings:
Fig. 1 is the system construction drawing chasing after design system without the end of a thread that the present invention encodes based on Kalman filtering and PPM；
Fig. 2 is attitude detection part overall architecture figure of the present invention；
Fig. 3 is attitude detection flow chart in invention；
Fig. 4 is Kalman filtering software flow pattern in the present invention；
Fig. 5 is that the PPM in the present invention encodes flow chart；
Fig. 6 is the sensor output curve in the present invention.
Detailed description of the invention
Below in conjunction with Fig. 1 to Fig. 6 displaying further to technical solution of the present invention, detailed description of the invention is as follows:
Embodiment one
Present embodiments provide and a kind of chase after method for designing based on what Kalman filtering and PPM encoded without the end of a thread, comprise the steps:
Step one: first the photographic head on aircraft end equipment gathers unmanned plane or the image information in model plane front and audio-frequency information,
And pass transmitting through figure, send user's head device in a wireless form to；
Step 2: the figure in user's head device passes after receiving the next image information of unmanned plane transmission and audio-frequency information,
Export on video eyeglasses, at video eyeglasses, the image received and acoustical signal are presented to operator；
Step 3: operator sends, according to unmanned plane or model plane, the initial picture of returning, and carries out head movement in conjunction with detection demand,
Nine axle attitude detection module inductive operation person's head movement attitudes on user's head device, master control borad passes throughCommunication interface
Obtain the attitude data of nine axle attitude detection modules one by one, including three numbers of head pose angular velocity, acceleration and magnetic declination
According to monitoring, and data are packaged into array start calculate,The write function of communication and reading function are according to three sensings
The different address of device processes, and considers the offset parameter produced during sensor calibration simultaneously, finally obtains three sensors and divide
The attitude information do not measured, through calculating the angle information that different sensors is judged respectively, attitude detection terminates；
Step 4: the master control borad on user's head device passes throughCommunication interface is after nine axle attitude detection modules read data
Utilizing Kalman filter to be filtered data, Kalman filtering is first to arrange an initial value and optimum gain matrix,
And be updated estimating, obtain optimal estimation output, observation input and round-off error association square formation, and again enter according to emulation data
Row is revised until obtaining desired result position, and filtering terminates；
Step 5: the angle that Kalman filtering obtains after terminating is exactly the attitude measurement result of head, and is carried out by master control borad
Signal processing and analyzing, i.e. carries out PPM coding to attitude measurement result, first carries out interrupting initializing, then when PPM coding starts
PPM sets high beginning timing, then is set low by PPM, is worth when timer time reaches The Cloud Terrace steering wheel 1, and PPM sets high and starts again at timing,
Being set low by PPM, be worth when timer time reaches The Cloud Terrace steering wheel 2, PPM end-of-encode, PPM sets high and again sets low, and waits
The arrival of next cycle；
Step 6: PPM end-of-encode, head movement attitude control signal is transmitted into aircraft by the emitter on user's head device
End equipment；
Step 7: the receiver on aircraft end equipment receives emitter in user's head device and launches the control signal of coming, and passes through
Head movement attitude control signal is converted to control the pilot angle of The Cloud Terrace steering wheel, output to The Cloud Terrace rudder by built-in processing module
Machine, and drive The Cloud Terrace to move accordingly, it is achieved photographic head and the follow-up motion of operator's head；
Step 8: the photographic head of aircraft end equipment by the picture collected by figure pass transmitting be sent to operator's head movement with
In dynamic system, the figure on user's head device passes and receives in image feedback to video eyeglasses, such operator it is seen that
Oneself want the picture seen.
As shown in Figure 2: this invention uses MEMS inertia device to constitute attitude detection system, uses 8 super low-power consumption AVR mono-
The Arduino Nano of sheet machine ATmega328P composition is as the control processing unit on master control borad, and nine axle attitudes selected by sensor
Detection module GY-85, is integrated with three axle ITG3205 gyroscopes, three axle ADXL345B digital accelerometer and three axles inside it
HMC5883L magnetoresistive transducer.Whole system is by passing throughThe accelerometer chip of communication, gyroscope chip, magnetometer chip
The sensor assembly of composition and microprocessor module composition.Master control borad passes throughCommunication interface reads number from sensor assembly
According to, utilize Kalman filter that these data are quickly processed, calculate self attitude.
As shown in Figure 3: attitude detection program is mainly passed throughObtain the attitude data of GY-85 sensor one by one, including
The measurement of angular velocity, acceleration and magnetic declination, and data carry out being packaged into array start to calculate.Communication comprises write function
With reading function, processing according to the different address of three sensors, produce during intermediate demand consideration sensor calibration is inclined
Put parameter, finally can obtain the attitude information that three sensors are measured respectively, judge through calculating different sensors respectively
The angle information gone out.
As shown in Figure 4: for bigger the asking of error in the range of the short time measurement that accelerometer occurs during measuring
Topic, effectively can be suppressed by the gyroscope that nine axle attitude detection modules GY-85 are built-in.Magnetometer predominantly detects space
In horizontal magnetic field complete sense head rotation direction, realize cumulative error with this.But the data under dynamic condition are reliable
Property excessively poor, so using Kalman filtering algorithm can realize detecting the reckoning of data and fusion, increase substantially sensor
Real-time and precision to attitude measurement.Filtering start after, set initial value, arrange optimum gain matrix and to update into
Row is estimated, repeatedly revises association's square formation error successively, and more new estimation exports optimal estimation output and observation input.
After calculating result, enroll array and carry out next step operation.
The PPM coding techniques used in the present invention is the proportional remote control device coded system in communication.Remote controller
Two rocking bars inside be connected to four potentiometers, the athletic meeting of rocking bar directly drives potentiometer to rotate together, causes output
The change of line voltage signal, sends into change information in the single-chip microcomputer within remote controller and encodes, and the information of passage can be changed
Become set of pulses coding signal, then after the high frequency modulated circuit modulation of tuner part on remote controller, finally by power amplifier
Circuit is launched from antenna.
As shown in Figure 5: when attitude detecting portion go-on-go is measured accurately after head pose, single-chip microcomputer will the change conversion of motion
Become the angle change of steering wheel.The angle signal of steering wheel is that the high level time by square wave represents, simulation conventional in model plane
The control signal of steering wheel be a frequency be 50Hz square-wave signal, corresponding square-wave cycle is exactly 20ms, wherein represents signal
The high level lasting time of content is between 1ms to 2ms, and being equivalent to dutycycle is 5 ~ 10%.In the present invention, The Cloud Terrace uses two axles,
Two path control signal is launched by wireless module, also will carry out coding synthesis, by a signal line by two paths of signals
Send transmitter module to.Proportional remote control device coded system PPM conventional in the world, i.e. pulse position modulation or pulse-position modulation, it
The time width using a square-wave signal expresses the size of a ratio passage rudder amount.Compatible higher without secrecy
PPM coded system is applicable to unique coded system that each remote controller producer is arranged.
Embodiment two
The present embodiment additionally provides attitude angle based on Kalman filter and speculates algorithm, as follows:
The weight component that accelerometer records in a static condition, can calculate the rolling of carrier head part according to formula (1) and (2)
Dynamic angle and the angle of pitch:
(1)
(2)
After roll angle and the angle of pitch calculate, utilize formula (3) that the measured value of magnetoresistive transducer does linear transformation:
(3)
According to formula (4), utilize the data of the magnetoresistive transducer after conversion, just can calculate yaw angle:
(4)
But in a dynamic condition, himself having accelerated motion and the vibration of the unknown, at this moment, accelerometer is certainly by non-heavy
Power acceleration affects, if still resolving attitude angle according to above formula, necessarily has relatively large deviation between result and actual value.But
Gyro, to self vibration and accelerated motion insensitive, in order to calculate self attitude angle the most accurately, adds at this
The algorithm of one Kalman filtering, utilizes the synthetic data of three sensors jointly to estimate an attitude the most accurately.From
The performance of sensor self makes state-space model become the direction consideration simplified, by the attitude angle on single shaft direction simultaneously as far as possible
With gyroscope to should axle drift value composition one bivector, the object chosen as state variable:
(5)
The result calculated by formula (1)-formula (4) as the observation data of Kalman filter, the state equation of this system is such as
Under:
(6)
(7)
Again by these state equation discretizations, can obtain:
(8)
(9)
Order
(10)
(11)
(12)
In formula: dt is the sampling period of system, dotangle refers to the angle value that gyroscope exported within the sampling interval.
After establishing the state model of system, Kalman filter passes through equation below, and ceaselessly loop iteration can
To obtain.
(13)
(14)
(15)
(16)
(17)
Arranging of wave filter initial value can be according to,,The biggest value can be taken.
Finally test.Open Arduino IDE, click tools-> development board, and select " Arduino
Nano ", then click on the processor below this, select " Atmega328 ", then click on tools-Serial port-> select
The port numbers of Arduino panel, downloads by program compiling again.Operate errorless after, open tune ginseng software and open head and chase after
Serial ports, select " Start plot " function, start to draw the curve of output that head chases after.According to curve of output, it is possible to analyze and lift one's head
Chase after the attitudes vibration detected.
As shown in Figure 6: rock head and chase after, the signal curve of three axle outputs can be obtained, it appeared that working sensor is just
Often, reacting the sensitiveest, follow quickly, signal jitter is not the most serious, and the Kalman filtering algorithm of employing serves the best
Effect, PPM communication is good.
Embodiment three
As depicted in figs. 1 and 2: the present embodiment additionally provides and a kind of chases after system based on what Kalman filtering and PPM encoded without the end of a thread,
Including user's head device and aircraft end equipment, described user's head device includes that video eyeglasses, figure pass reception, master control borad, send out
Emitter and sensor board, described aircraft end equipment includes that receiver, The Cloud Terrace, figure pass and launches and photographic head, and described photographic head, figure pass
Launch, figure passes reception and video eyeglasses is sequentially connected with, and described sensor, master control borad, emitter, receiver and The Cloud Terrace connect successively
Connecing, described photographic head is arranged on described The Cloud Terrace.
Described master control borad includes singlechip chip.
Described sensor board uses nine axle attitude detection modules, this nine axles attitude detection module include three-axis gyroscope, three
Axle digital accelerometer and three axle magnetoresistive transducers.
Described figure passes to receive and scheme to pass to launch and uses ohm prestige 5.8GHz frequency 500MW figure biography suit.
Described The Cloud Terrace uses two axle The Cloud Terraces, the new line of phantom bead and the motion of both direction of shaking the head.
Described emitter and receiver use radio receiving transmitting module.
User's head device is worn after head chases after user, and sensor board measures user's head movement attitude, passes through master control
Plate carries out signal processing and analyzing, and by emitter, head movement attitude control signal is transmitted into aircraft end equipment, and figure passes
Receiving the picture that aircraft end equipment is transmitted through and show on video eyeglasses, the receiver of aircraft end equipment receives emitter and launches
Control signal, and drive The Cloud Terrace to move accordingly, the picture of photographic head be sent to user by figure biography transmitting simultaneously
The figure of head device passes and receives.
Master control borad mainly uses single-chip microcomputer to carry out the control of signal.Sensor uses nine axle attitude detection modules GY-
85, this sensor integration three-axis gyroscope ITG3205, three axle digital accelerometer ADXL345B and three axle magnetoresistive transducers
HMC5883L, it is possible to realize the perfect detection to gestures of object.Photographic head uses Sony 700 line 3S and powers shooting head mould
Block, figure passes to launch and uses ohm prestige 5.8GHz frequency 500MW figure to pass suit.The signal of photographic head output is AV analogue signal, and
AV signal passes to figure pass.Figure passes to receive to be carried in radio wave the analogue signal that photographic head exports to be launched.Figure
Pass to receive and use ohm prestige 5.8GHz frequency, accept 3S and power, export AV analogue signal, and signal is passed to video eyeglasses,
Video eyeglasses uses direct current supply.The Cloud Terrace uses two axle The Cloud Terraces, the new line of a phantom bead and the fortune of both direction of shaking the head
Dynamic.The two motion stacks up, and the motion normally done with the head of people is basically identical.
Finally illustrating, above example is only in order to illustrate technical scheme and unrestricted, and this area is common
Other amendment or equivalents that technical scheme is made by technical staff, without departing from technical solution of the present invention
Spirit and scope, all should contain in the middle of scope of the presently claimed invention.
Claims (10)
1. one kind chases after method for designing based on what Kalman filtering and PPM encoded without the end of a thread, it is characterised in that: comprise the steps:
Step one: first the photographic head on aircraft end equipment gathers unmanned plane or the image information in model plane front and audio-frequency information,
And pass transmitting through figure, send user's head device in a wireless form to；
Step 2: the figure in user's head device passes after receiving the next image information of unmanned plane transmission and audio-frequency information,
Outputting a signal on video eyeglasses, the image received and acoustical signal are presented to operator by video eyeglasses；
Step 3: operator sends, according to unmanned plane or model plane, the initial picture of returning, and carries out head movement in conjunction with detection demand,
Nine axle attitude detection module inductive operation person's head movement attitudes on user's head device；
Step 4: the master control borad on user's head device passes throughCommunication interface reads data from nine axle attitude detection modules, so
After utilize Kalman filter that data are filtered；
Step 5: the angle that Kalman filtering obtains after terminating is exactly the attitude measurement result of head, and is carried out by master control borad
Signal processing and analyzing, i.e. carries out PPM coding to attitude measurement result；
Step 6: PPM end-of-encode, head movement attitude control signal is transmitted into aircraft by the emitter on user's head device
End equipment；
Step 7: the receiver on aircraft end equipment receives emitter in user's head device and launches the control signal of coming, and passes through
Head movement attitude control signal is converted to control the pilot angle of The Cloud Terrace steering wheel, output to The Cloud Terrace rudder by built-in processing module
Machine, thus drive The Cloud Terrace to move accordingly, it is achieved photographic head and the follow-up motion of operator's head；
Step 8: the photographic head of aircraft end equipment by the picture collected by figure pass transmitting be sent to operator's head movement with
In dynamic system, the figure on user's head device passes and receives in image feedback to video eyeglasses, such operator it is seen that
Oneself want the picture seen.
2. chase after method for designing based on what Kalman filtering and PPM encoded without the end of a thread as claimed in claim 1, it is characterised in that:
In described step 3, master control borad passes throughCommunication interface obtains the attitude data of nine axle attitude detection modules one by one, including head
Three data monitorings of portion's attitude angular velocity, acceleration and magnetic declination, and data are packaged into array start calculate,Logical
Write function and the reading function of letter process according to the different address of three sensors, consider to produce during sensor calibration simultaneously
Raw offset parameter, finally obtains the attitude information that three sensors are measured respectively, through calculating different sensors respectively
The angle information judged, attitude detection terminates.
3. chase after method for designing based on what Kalman filtering and PPM encoded without the end of a thread as claimed in claim 1, it is characterised in that:
In described step 4, first Kalman filtering for arranging an initial value and optimum gain matrix, and is updated estimating, obtains
Optimal estimation output, observation input and round-off error association square formation, and be again modified until being expected according to emulation data
Result position, filtering terminates.
4. chase after method for designing based on what Kalman filtering and PPM encoded without the end of a thread as claimed in claim 1, it is characterised in that:
In described step 5, first carrying out interrupting initializing when PPM coding starts, then PPM sets high beginning timing, then is set low by PPM, when
Timer time reaches The Cloud Terrace steering wheel 1 and is worth, and PPM sets high and starts again at timing, then is set low by PPM, when timer time reaches cloud
Platform steering wheel 2 is worth, PPM end-of-encode, and PPM sets high and again sets low, and waits the arrival of next cycle.
5. one kind chases after system based on what Kalman filtering and PPM encoded without the end of a thread, it is characterised in that: include user's head device with
Aircraft end equipment, described user's head device includes that video eyeglasses, figure pass reception, master control borad, emitter and sensor board, described
Aircraft end equipment includes that receiver, The Cloud Terrace, figure pass and launches and photographic head, and described photographic head, figure pass transmitting, figure passes and receives and video
Glasses are sequentially connected with, and described sensor, master control borad, emitter, receiver and The Cloud Terrace are sequentially connected with, and described photographic head is arranged on institute
State on The Cloud Terrace.
6. chase after system based on what Kalman filtering and PPM encoded without the end of a thread as claimed in claim 5, it is characterised in that: described
Master control borad includes singlechip chip.
7. chase after system based on what Kalman filtering and PPM encoded without the end of a thread as claimed in claim 5, it is characterised in that: described
Sensor board uses nine axle attitude detection modules, and this nine axles attitude detection module includes three-axis gyroscope, three axle digital accelerations
Meter and three axle magnetoresistive transducers.
8. chase after system based on what Kalman filtering and PPM encoded without the end of a thread as claimed in claim 5, it is characterised in that: described
Figure passes to receive and scheme to pass to launch and uses ohm prestige 5.8GHz frequency 500MW figure biography suit.
9. chase after system based on what Kalman filtering and PPM encoded without the end of a thread as claimed in claim 5, it is characterised in that: described
The Cloud Terrace uses two axle The Cloud Terraces, the new line of phantom bead and the motion of both direction of shaking the head.
10. chase after system based on what Kalman filtering and PPM encoded without the end of a thread as claimed in claim 5, it is characterised in that: described
Emitter and receiver use radio receiving transmitting module.
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