CN106441364A - Method and system for automatically rectifying attitude measuring device - Google Patents
Method and system for automatically rectifying attitude measuring device Download PDFInfo
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- CN106441364A CN106441364A CN201610867083.3A CN201610867083A CN106441364A CN 106441364 A CN106441364 A CN 106441364A CN 201610867083 A CN201610867083 A CN 201610867083A CN 106441364 A CN106441364 A CN 106441364A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention provides a method and a system for automatically rectifying an attitude measuring device. The method is implemented by the aid of a transmitting module, a receiving module and a processing module. The transmitting module comprises the attitude measuring device and a transmitting device, laser planes can be transmitted by the transmitting device, and the receiving module comprises at least two light sensing devices. Compared with the prior art, the method has the advantages that the laser planes can be transmitted by the transmitting device, different characteristic light signals can be received by the receiving module, angular zero points of x-axes, y-axes and z-axes can be repositioned, accordingly, influence due to error accumulation of the attitude measuring device can be reduced, inadaptation feel can be decreased for users, immersion can be improved, and the method has important significance on somatosensory operation and virtual reality.
Description
Technical field
The present invention relates to attitude measurement field, more particularly, it relates to a kind of attitude measuring is from the method for dynamic(al) correction
And system.
Background technology
Attitude measurement typically to measure angle information using attitude measuring, and the type of attitude measuring is a lot, profit
With three axle earth magnetism decouplings and three axis accelerometer, affected very big by external force acceleration, in the environment such as movement/vibration, output side
Larger to angle error, geomagnetic sensor has shortcoming in addition, and its absolute object of reference is the magnetic line of force in earth's magnetic field, and the feature of earth magnetism is
Range is big, but intensity is relatively low, about a few Gauss of zero point, is highly susceptible to the interference of other magnets.Gyroscope output angle speed
Degree, is instantaneous flow, angular velocity is directly to use on posture balancing, needs angular velocity to calculate angle with time integral, obtains
The angle variable quantity arriving is added with initial angle, just obtains angle on target, and wherein time of integration Dt is less, and output angle is more smart
Really, but the principle of gyroscope determines its measuring basiss is itself, the not absolute object of reference outside system, add that Dt is not
May be infinitely small, so the cumulative error of integration can increase sharply as time go on, ultimately result in output angle with reality not
Symbol.
Content of the invention
Affect the defect of angular surveying in order to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the method and system of the attitude measuring of cumulative errors from dynamic(al) correction.
The technical solution adopted for the present invention to solve the technical problems is：There is provided a kind of attitude measuring from dynamic(al) correction
Method, including transmitter module, receiver module, processing module, described transmitter module includes attitude measuring and discharger, institute
State discharger and can launch lasing area, described receiver module includes at least two Photoinduction devices, described attitude measuring
Carried out from dynamic(al) correction by following steps：
S1：Lasing area launched by described discharger, and described receiver module is in holding state；
S2：Described receiver module judges whether to transmit control information to described according to the signal that described Photoinduction device transmits
Processing module；
S3：Described processing module is corrected to described attitude measuring according to the information that described receiver module transmits.
Preferably, described receiver module includes reflective receiving module, and described reflective receiving module includes reflective surface, described anti-
Bright finish is arranged on the end of described reflective receiving module, and described reflective receiving module includes two described Photoinduction devices, two
Described Photoinduction device is fixed on the inside of described reflective receiving module, and the direction towards described reflective surface, and laser beam can
Described Photoinduction device is reached by described reflective surface and makes described Photoinduction device produce response.
Preferably, described transmitter module includes transmitting terminal embedded type control module, described transmitting terminal embedded type control module
The data of described attitude measuring transmission can be received, and by the data transfer receiving to described processing module.
Preferably, described transmitter module is handle, and described processing module is led to according to the signal that described Photoinduction device transmits
Cross following steps and judge control information：
S2.1 sets up rectangular coordinate system on the basis of described reflective surface, and z-axis is perpendicular to the ground, and x-axis is hung down with described reflective surface
Directly, y-axis is parallel with described reflective surface；
S2.2 when described handle geometry axle center perpendicular to ground and described handle top upward when, the x of described handle
Axle, y-axis angle are zero；When the reflective surface described in lasing area vertical incidence of described handle transmitting, the z-axis angle of described handle is
Zero；
Preferably, described transmitter module is handle, and described handle includes emission port dough-making powder generating laser, described transmitting
Port is rectangular slot shape, and the laser of described face laser transmitter projects injects space outerpace by emission port, is formed and does not send out
Scattered parallel laser face.
Preferably, the distance between two described Photoinduction devices are equal with the width of described lasing area.
Preferably, described transmitting terminal embedded type control module is receiving the data message that described attitude measuring is sent
Afterwards, data message is stamped and be sent to described processing module after timestamp and processed.
Preferably, after described processing module receives the correction signal that described receiver module transmission comes, described process mould
Block verification receives the moment t of correction signal2, and detect the data message with timestamp receiving, when described process mould
Block detects the time point that the timestamp of the data message with timestamp shows and is later than or is equal to t2During the moment, described processing module
According to control information, the angle information of described attitude measuring is corrected, after the completion of correction, described arithmetic processor exists
Receive the timestamp of no longer Monitoring Data information before the correction signal that the transmission of described receiver module comes again.
There is provided a kind of attitude measuring automatic correction system, described transmitter module includes transmitting terminal wireless transport module,
Described processing module includes processing end wireless transport module, and described transmitting terminal wireless transport module and described process end are wirelessly transferred
Between module can by way of being wirelessly transferred transmission information.
Preferably, described receiver module includes reflective receiving array, and it is reflective that described reflective receiving array includes at least two
Receiving module, described at least two, reflective receiving module is set up in parallel, and described reflective receiving module includes reflective surface, and at least two
The respective described reflective surface of reflective receiver module is parallel to each other.
Compared with prior art, using discharger transmitting lasing area, receiver module receives different characteristic light letter to the present invention
Number mode, adjustment x-axis, y-axis, the position of z-axis angle zero point, reduce the shadow that the error accumulation of attitude measuring brings
Ring, decrease the inadaptable of user and feel and increased feeling of immersion, have larger meaning for somatosensory operation and virtual reality.Phase
For the manual zero point resetting Attitute detecting device, attitude measuring of the present invention adjusts more from the method and system of dynamic(al) correction
Error that is natural and accurate, on the one hand preventing user to bring with " sensation " zeroing, on the other hand makes user use
Natural and unconsciously return to zero in journey, increased feeling of immersion, decrease deliberately adjust stiff, increased game, lifting
Experience effect.Setting using reflective surface just can make photoinduction fill it is ensured that light must is fulfilled for certain incident condition
Put and produce corresponding response it is achieved that the method that judges transmitter module attitude by photoinduction, so that the adjustment of attitude can be led to
Cross photoinduction to realize, so that the attitude of the present invention is returned to zero and be achieved.It is permissible that the critical angle of reflective surface is set to 85 ° of one side
Reach the effect of correction attitude measuring error accumulation, the chance that attitude measuring obtains correcting on the other hand can be made big
For increasing, prevent from for critical angle arranging the feelings that the angle of incidence leading to too much is unsatisfactory for critical angle for a long time and cannot be carried out correction
Condition occurs.The irradiating angle of lasing area is corresponded to by the dead-center position of setting x-axis, z-axis, thus the attitude of corresponding transmitter module
Method, establish relatively simple gesture recognition rule, be more convenient to correct attitude using photoinduction.The emission port quilt of handle
It is set to narrow and long rectangular shape it is ensured that the laser of outgoing is formed than relatively thin lasing area without dissipating it is ensured that photoinduction
The realization of zeroing.Spacing between the spacing in parallel laser face and two Photoinduction devices is equal, between cooperation parallel laser face
Away from the equal length with reflective surface, make that transmitter module must is fulfilled for x-axis, y-axis, z-axis are to be possible to when zero make two photoinduction
Device produces simultaneously and responds the degree of accuracy it is ensured that correcting.It is set up in parallel reflective receiving module and can ensure that transmitter module has more
Many chances are correcting attitude measuring.
Brief description
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the system module schematic diagram from dynamic(al) correction for the attitude measuring of the present invention；
Fig. 2 is the transmitter module schematic diagram with handle as example；
Fig. 3 is the reception device schematic diagram with reflective receiving module as example；
Fig. 4 is reflective receiving module zeroing x-axis, z-axis schematic diagram；
Fig. 5 is reflective receiving module zeroing z-axis schematic diagram；
Fig. 6 is that reflective receiving module does not send zeroing instruction schematic diagram；
Fig. 7 is the reception device schematic diagram with reflective receiving array as example；
Fig. 8 is the working-flow schematic diagram from dynamic(al) correction for the attitude measuring of the present invention.
Specific embodiment
Affect the defect of angular surveying in order to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the method and system of the attitude measuring of cumulative errors from dynamic(al) correction.
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing describes in detail
The specific embodiment of the present invention.
Refer to Fig. 1, attitude measuring automatic correction system of the present invention includes receiver module 1, transmitter module 2 and processes
Module 3.Receiver module 1 includes reception device 11, receiving terminal embedded type control module 13, and reception device 11 and receiving terminal are embedded
Control module 13 is electrically connected with.Transmitter module 2 includes discharger 21, transmitting terminal embedded type control module 22, attitude measurement dress
Put 23, power module 24, operation device 27 and transmitting terminal wireless transport module 29, wherein, transmitting terminal embedded type control module 22
Be electrically connected with power module 24, transmitting terminal embedded type control module 22 and power module 24 respectively with discharger 21, attitude
Measurement apparatus 23, operation device 27 and transmitting terminal wireless transport module 29 are electrically connected with.Processing module 3 includes process end and wirelessly passes
Defeated module 31 and arithmetic processor 33, process end wireless transport module 31 and arithmetic processor 33 is electrically connected with, arithmetic processor
33 are electrically connected with receiving terminal embedded type control module 13, process end wireless transport module 31 and can be wirelessly transferred mould with transmitting terminal
Block 29 transmission information by way of wireless connection.Reception device 11 is mainly used in the light of receiving and transmitting unit 21 transmitting, and
The light information receiving is delivered to receiving terminal embedded type control module 13 processed, receiving terminal embedded type control module 13
The result that can be processed to is sent to arithmetic processor 33 and is further processed.Attitude measuring 23 can measure transmitting
The attitude in space for the module 2 and angle information, operation device 27 can be operated and sent by user command information, attitude measurement
Related data that device 23 records and the command information that operation device 27 sends can be delivered to by way of the signal of telecommunication and send out
Penetrate end embedded type control module 22, above- mentioned information can be wirelessly transferred mould by transmitting terminal by transmitting terminal embedded type control module 22
Block 29 is delivered to process end wireless transport module 31, and processing end wireless transport module 31 can pass through telecommunications by the data receiving
Number mode be delivered to arithmetic processor 33 and processed.
Refer to Fig. 2, Fig. 2 schematically illustrates the transmitter module 2 with handle 201 as first embodiment, in this enforcement
In example, the top of handle 201 is circular flat 2011, the geometry axle center L of handle 2011By the center of circle of circular flat 2011 simultaneously
Perpendicular to circular flat 2011, discharger 21 includes face generating laser 211, and face generating laser 211 includes emission port
2113 and lasing light emitter 2115, the emission port 2113 of face generating laser 211 is rectangular slot shape, four rectangles of rectangular slot
The geometry axle center L of Bian Zhong, the longer rectangular edges of two being parallel to each other and handle 2011Parallel, what lasing light emitter 2115 was launched swashs
Light can be transmitted in the space outerpace of handle 201 by the emission port 2113 of reflective shape, forms the rim ray not dissipated
L2And L3The parallel laser face being parallel to each other, the width of lasing area is d.Geometry axle center L when handle 2011Perpendicular to ground when,
Parallel laser face is perpendicular with ground.
Refer to Fig. 3, Fig. 3 schematically illustrates the reception device 11 with reflective receiving module 101 as first embodiment,
In this embodiment, reflective receiving module 101 includes 1011, two Photoinduction devices 1013 of reflective surface, reflective receiving module 101
It is fixedly installed, Photoinduction device 1013 is fixed on the inside of reflective receiving module 101, and the direction towards reflective surface 1011.Two
The distance between individual Photoinduction device 1013 is d, identical with the lasing area width of lasing light emitter 2115 transmitting.Reflective surface 1011 is arranged
In the end of reflective receiving module 101, light can inject the inside of reflective receiving module 101 by reflective surface 1011.Reflective
Face 1011 is optically transparent medium, has the ability of stronger reflection light.When the angle of incidence of light is less than 85 °, reflective surface
1011 can reflect away most incident illumination, and the light through being refracted into reflective receiving module 101 cannot make photoinduction fill
Put 1013 generation responses；When the angle of incidence of light is between 85 ° to 90 ° it is believed that light vertical incidence reflective surface 1011,
There is reflection on reflective surface 1011 surface and reflect in light, the intensity of refracted light is stronger, and Photoinduction device 1013 can be made to produce
Raw response, our 85 ° of angle of incidence are called critical angle.Generally, after the completion of reflective receiving module 101 is fixing, at least
Two Photoinduction devices 1013 are in that straight line arranges, and the line of at least two Photoinduction devices 1013 is perpendicular to ground.
Refer to Fig. 4 Fig. 6, Fig. 4 schematically illustrates the one of reflective receiving module 101 zeroing attitude measuring 23
The situation of kind.We set up rectangular coordinate system on the basis of the reflective surface 1011 of reflective receiving module 101, and z-axis is perpendicular to the ground, just
Direction is upward；X-axis is vertical with reflective surface 1011, positive direction along " Photoinduction device 1013 reflective surface 1011 " direction, y-axis with anti-
Bright finish 1011 is parallel, and positive direction meets coordinate system xyz and becomes right-handed system.It is provided with attitude measuring 23, attitude in handle 201
Measurement apparatus 23 meeting cumulative errors during measurement, make the error between measurement result and legitimate reading increasing.Appearance
State measurement apparatus 23 can provide handle 201 in the angle change of x-axis, y-axis, and z-axis according to the attitudes vibration of handle 201.We
The x-axis of handle 201, y-axis, the position of z-axis angle zero point can be set in advance, as a kind of set-up mode therein, work as handle
201 geometry axle center L1Perpendicular to ground and handle 201 top upward when, we remember that the x-axis of handle 201, y-axis angle are
Zero；When the lasing area vertical incidence reflective surface 1011 of handle 201 transmitting, we remember that the z-axis angle of handle 201 is 0.Handle
201 are gripped by user, in use, as the geometry axle center L of handle 2011Perpendicular to ground and handle 201 transmitting swash
During bright finish vertical incidence reflective surface 1011, the optical signal detecting is delivered to receiving terminal embedded Control by Photoinduction device 1013
Module 13, receiving terminal embedded type control module 13 is processed to the information receiving.When two Photoinduction devices 1013 simultaneously
When sensing laser signal, receiving terminal embedded type control module 13 receives the information that two Photoinduction device 1013 transmission come
Afterwards, issue a signal to processing module 3, processing module 3 resets the angle-data of handle x-axis, y-axis, z-axis according to the information receiving
It is zero.Because this calibration occurs unintentionally during user use, so, in not operating process neutralization deliberately
User just can complete the calibration to handle x-axis, y-axis and z-axis in the case of having no to discover, prevents error persistent accumulation from leading to
Measurement error is excessive, significantly enhances the feeling of immersion of user simultaneously.Due to the characteristic of human body wrist, handle 201 was using
Essentially without the geometry axle center L that handle 201 occurs in journey1Perpendicular to ground and handle 201 top situation directed downwardly, so
We do not consider to this situation.
Fig. 5 schematically illustrates reflective receiving module 101 and responds a kind of unsuccessful situation, when the geometry of handle 201
Axle center L1When being not orthogonal to ground and the lasing area vertical incidence reflective surface 1011 of handle 201 transmitting, now at most there is a light
Induction installation 1013 can receive laser signal, and processing module 3 does not carry out zeroing operation.
Fig. 6 schematically illustrates reflective receiving module 101 and responds unsuccessful another kind situation, several when handle 201
The angle of what axle center and gravity direction is zero and during the lasing area out of plumb incidence reflective surface 1011 of handle 201 transmitting, now swashs
Light cannot make Photoinduction device 1013 produce response by reflective surface 1011.Processing module 3 does not carry out zeroing operation.
Refer to Fig. 7, Fig. 7 schematically illustrates the reception device 11 with reflective receiving array 102 as second embodiment,
Reflective receiving array 102 includes at least two reflective receiving modules 101, and at least two reflective reception devices 101 are set up in parallel, extremely
The reflective surface 1011 of few two reflective reception devices 101 is being parallel to each other.Every group of reflective receiving module 101 can be independently to connecing
Receiving end embedded type control module 13 sends the signal of telecommunication.When two Photoinduction devices 1013 in the reflective receiving module of one of which 101
When being concurrently detected laser signal, the x-axis of processing module 3 zeroing attitude measuring 23, y-axis, z-axis.It is set up in parallel reflective connecing
Receive module 101 and can ensure that processing module 3 has more chances to correct attitude measuring 23.
Refer to Fig. 8, when attitude measuring automatic correction system of the present invention is started working, transmitter module 2 transmitting swashs
Bright finish, simultaneously receiver module 1 be in holding state.The Photoinduction device 1013 monitor in real time laser reactive of reception device 11, when
When two Photoinduction devices 1013 in reception device 11 produce response simultaneously, information is sent out by receiving terminal embedded type control module 13
Deliver to processing module 3, processing module 3 returns to zero x-axis, y-axis, z-axis data immediately；When there is no Photoinduction device in reception device 11
When 1013 generation responses or only one of which Photoinduction device 1013 produce response, processing module 3 does not carry out zeroing process.
Due to transmitter module 2 to processing module 3 transmission attitude detection data need expend the regular hour, this time we
Referred to as t time delay, processing module 3 is in t0Reception to the attitude data of transmitter module 2 transmission actually corresponding be
(t0- t) moment transmitter module 2 attitude information.If processing module 3 is in t1Reception is believed to the correction that receiver module 1 sends
The angle information of attitude measuring 23 is corrected at once, that can cause the actual adjustment of processing module 3 is (t after breath1- t) moment
The angle information of attitude measuring 23, makes (t1- t) arrive t1The error of the attitude measuring 23 between the moment is cumulative,
The accuracy of impact attitude measuring 23 and the experience of equipment entirety.As an alternative embodiment of the invention, transmitting terminal is embedding
Enter formula control module 22 after receiving the data message that attitude measuring 23 is sent, data message is stamped and sends out after timestamp
Deliver to transmitting terminal wireless transport module 29, transmitting terminal wireless transport module 29 will stamp the data information transfer of timestamp to process
Hold wireless transport module 31, and arithmetic processor 33 is transferred to by process end wireless transport module 31 and processed.At computing
After reason device 33 receives the correction signal that receiver module 1 transmission comes, arithmetic processor 33 verification receives the moment of correction signal
t2, and detect the data message with timestamp receiving.When the timestamp that arithmetic processor 33 detects data message shows
The time point showing is later than or is equal to t2During the moment, arithmetic processor 33 angle to attitude measuring 23 according to control information at once
Degree information is corrected, after the completion of correction arithmetic processor 33 receive again receiver module 1 transmission come correction signal it
The timestamp of front no longer Monitoring Data information.The present embodiment is prevented by delay correction and is missed due to the data causing time delay
The accumulation of difference, is greatly improved degree of accuracy and the availability of equipment.
Compared with prior art, using discharger 21 transmitting lasing area, receiver module 1 receives different characteristic to the present invention
The mode of optical signal, adjustment x-axis, y-axis, the position of z-axis angle zero point, the error accumulation reducing attitude measuring 23 brings
Impact, decrease the inadaptable of user and feel and increased feeling of immersion, have larger meaning for somatosensory operation and virtual reality
Justice.With respect to the manual zero point resetting Attitute detecting device 23, attitude measuring 23 of the present invention from the method for dynamic(al) correction and is
System adjustment is more natural and accurate, on the one hand prevents the error that user brings, on the other hand use with " sensation " zeroing
Person is natural in use and unconsciously returns to zero, and increased feeling of immersion, decreases deliberately adjust stiff, increased trip
Play property, improves experience effect.Using reflective surface 1011 setting it is ensured that light must is fulfilled for certain incident condition just may be used
So that Photoinduction device 1013 produces corresponding response it is achieved that the method that judges transmitter module 2 attitude by photoinduction, make
The adjustment of attitude can be realized by photoinduction, so that the attitude of the present invention is returned to zero and be achieved.Reflective surface 1011 critical
Angle is set to the effect that 85 ° of one side can reach correction attitude measuring 23 error accumulation, on the other hand can make attitude
The chance that measurement apparatus 23 obtain correcting greatly increases, and prevents from for critical angle arranging the angle of incidence leading to too much and is discontented with for a long time
Sufficient critical angle and cannot be carried out correct situation occur.The irradiation of lasing area is corresponded to by the dead-center position of setting x-axis, z-axis
Angle, thus the method for the attitude of corresponding transmitter module 2, establishes relatively simple gesture recognition rule, is more convenient to use light
Sensing correction attitude.The emission port 2113 of handle 201 is arranged to narrow and long rectangular shape it is ensured that the laser of outgoing forms ratio
Relatively thin lasing area without dissipate it is ensured that photoinduction zeroing realization.The spacing in parallel laser face and two photoinduction dresses
The spacing put between 1013 is equal, the equal length of spacing and the reflective surface 1011 in cooperation parallel laser face, makes the transmitter module 2 must
X-axis must be met, y-axis, z-axis are to be possible to when zero make two Photoinduction devices 1013 produce response it is ensured that correction simultaneously
Degree of accuracy.It is set up in parallel reflective receiving module 101 and can ensure that transmitter module 2 has more chances to correct attitude measuring
23.
Above in conjunction with accompanying drawing, embodiments of the invention are described, but the invention is not limited in above-mentioned concrete
Embodiment, above-mentioned specific embodiment is only schematically, rather than restricted, those of ordinary skill in the art
Under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also can make a lot
Form, these belong within the protection of the present invention.
Claims (10)
1. a kind of attitude measuring is from the method for dynamic(al) correction it is characterised in that including transmitter module, receiver module, processing mould
Block, described transmitter module includes attitude measuring and discharger, and described discharger can launch lasing area, described reception
Module includes at least two Photoinduction devices, and described attitude measuring is carried out from dynamic(al) correction by following steps：
S1：Lasing area launched by described discharger, and described receiver module is in holding state；
S2：Described receiver module judges whether to transmit control information to described process according to the signal that described Photoinduction device transmits
Module；
S3：Described processing module is corrected to described attitude measuring according to the information that described receiver module transmits.
2. attitude measuring according to claim 1 is from the method for dynamic(al) correction it is characterised in that described receiver module bag
Include reflective receiving module, described reflective receiving module includes reflective surface, and described reflective surface is arranged on described reflective receiving module
End, described reflective receiving module includes two described Photoinduction devices, and two described Photoinduction devices are fixed on described reflective
The inside of receiving module, and the direction towards described reflective surface, laser beam can reach described light sensation by described reflective surface
Answer device and make described Photoinduction device produce response.
3. attitude measuring according to claim 2 is from the method for dynamic(al) correction it is characterised in that described transmitter module bag
Include transmitting terminal embedded type control module, described transmitting terminal embedded type control module can receive described attitude measuring transmission
Data, and by the data transfer receiving to described processing module.
4. attitude measuring according to claim 3 is from the method for dynamic(al) correction it is characterised in that described transmitter module is
Handle, described processing module judges control information according to the signal that described Photoinduction device transmits by following steps：
S2.1 sets up rectangular coordinate system on the basis of described reflective surface, and z-axis is perpendicular to the ground, and x-axis is vertical with described reflective surface, y
Axle is parallel with described reflective surface；
S2.2 when described handle geometry axle center perpendicular to ground and described handle top upward when, the x-axis of described handle, y
Shaft angle degree is zero；When the reflective surface described in lasing area vertical incidence of described handle transmitting, the z-axis angle of described handle is zero.
5. Attitute detecting device according to claim 3 is from the method for dynamic(al) correction it is characterised in that described transmitter module is
Handle, described handle includes emission port dough-making powder generating laser, and described emission port is rectangular slot shape, and described face laser is sent out
The laser of emitter transmitting injects space outerpace by emission port, forms the parallel laser face not dissipated.
6. attitude measuring according to claim 4 is from the method for dynamic(al) correction it is characterised in that two described photoinduction
The distance between device is equal with the width of described lasing area.
7. attitude measuring according to claim 6 is from the method for dynamic(al) correction it is characterised in that described transmitting terminal embeds
Formula control module, after receiving the data message that described attitude measuring is sent, data message is stamped and is sent after timestamp
Processed to described processing module.
8. attitude measuring according to claim 7 is from the method for dynamic(al) correction it is characterised in that working as described processing module
After receiving the correction signal that described receiver module transmission comes, described processing module verification receives the moment t of correction signal2,
And detect the data message with timestamp receiving, when described processing module detect the data message with timestamp when
Between stab display time point be later than or be equal to t2During the moment, described processing module is according to control information to described attitude measuring
Angle information be corrected, after the completion of correction, described arithmetic processor is receiving what the transmission of described receiver module came again
The timestamp of no longer Monitoring Data information before correction signal.
9. a kind of attitude measuring according to claim 1 is from the attitude measuring of the method for dynamic(al) correction from dynamic(al) correction
It is characterised in that described transmitter module includes transmitting terminal wireless transport module, it is wireless that described processing module includes process end to system
Transport module, can be by being wirelessly transferred between described transmitting terminal wireless transport module and described process end wireless transport module
Mode transmission information.
10. Attitute detecting device automatic correction system according to claim 9 is it is characterised in that described receiver module bag
Include reflective receiving array, described reflective receiving array includes at least two reflective receiving modules, reflective reception described at least two
Module is set up in parallel, and described reflective receiving module includes reflective surface, the respective described reflective surface of at least two reflective receiver modules
It is parallel to each other.
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