CN107976205A - The method and system of attitude measuring automatic pattern correction - Google Patents
The method and system of attitude measuring automatic pattern correction Download PDFInfo
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- CN107976205A CN107976205A CN201710932735.1A CN201710932735A CN107976205A CN 107976205 A CN107976205 A CN 107976205A CN 201710932735 A CN201710932735 A CN 201710932735A CN 107976205 A CN107976205 A CN 107976205A
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- 238000012937 correction Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 18
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- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000003760 hair shine Effects 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 8
- 230000005855 radiation Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 3
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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 present invention provides a kind of method of attitude measuring automatic pattern correction, including locating module, receiving module, processing module, the locating module includes attitude measuring and positioner, the positioner includes globe-type luminescence body, infrared electro-optical device is provided with the globe-type luminescence body, the receiving module includes camera and infrared camera, and the attitude measuring is corrected automatically by following steps：The globe-type luminescence body shines, and the receiving module is in reception state；The processing module judges whether to transmit control information to the locating module according to the signal of the infrared camera transmission；The locating module is corrected according to the control information received.
Description
Technical field
The present invention relates to attitude measurement field, more specifically to a kind of correction of attitude measuring automatic pattern
Method and system.
Background technology
For attitude measurement generally using attitude measuring come measurement angle information, the type of attitude measuring is very much, profit
With the decoupling of three axis earth magnetism and three axis accelerometer, influenced very greatly by external force acceleration, in the environment such as movement/vibration, output side
The characteristics of larger to angle error, geomagnetic sensor has shortcoming in addition, its absolute object of reference is the magnetic line of force in earth's magnetic field, earth magnetism be
Use scope is big, but intensity is relatively low, about several Gausses of zero point, is highly susceptible to the interference of other magnets.Gyroscope output angle speed
Degree, is instantaneous flow, and angular speed cannot be directly used, it is necessary to which angular speed and time integral calculating angle, obtain on posture balancing
The angle variable quantity arrived is added with initial angle, just obtains target angle, wherein time of integration Dt is smaller, and output angle is more smart
Really, but the principle of gyroscope determines that its measuring basis is itself, and the absolute object of reference outside system, is not plus Dt
May be infinitely small, so the accumulated error of integration can increase sharply as time go on, ultimately result in output angle and reality not
Symbol.
The content of the invention
In order to solve the defects of current pose measuring device cumulative errors influence angular surveying, the present invention provides one kind can be with
Eliminate the method and system of the attitude measuring automatic pattern correction of cumulative errors.
The technical solution adopted by the present invention to solve the technical problems is：A kind of attitude measuring automatic pattern school is provided
Positive method, including locating module, receiving module, processing module, the locating module includes attitude measuring and positioning fills
Put, the positioner includes globe-type luminescence body, and infrared electro-optical device, the receiving module bag are provided with the globe-type luminescence body
Camera and infrared camera are included, the attitude measuring is corrected automatically by following steps：
S1：The globe-type luminescence body shines, and the receiving module is in reception state；
S2：The processing module judges whether to transmit control information to described fixed according to the signal of the infrared camera transmission
Position module；
S3：The locating module is corrected according to the control information received.
Preferably, the infrared camera has the function of threshold test.
Preferably, the infrared electro-optical device is geometrically symmetric figure, is made of two annulars.
Preferably, the locating module includes transmitting terminal embedded type control module, the transmitting terminal embedded type control module
It can receive the data of attitude measuring transmission, and by the data transfer received to the processing module.
Preferably, the receiving module judges correction letter according to the signal of the Photoinduction device transmission by following steps
Breath：
S2.1 establishes rectangular coordinate system on the basis of the camera, and z-axis is perpendicular to the ground, positive direction upward, with light
The radiation direction of camera center of lens described in vertical incidence is negative direction of the x-axis, and positive direction of the y-axis meets coordinate system xyz into the right hand
System；
S2.2 is when the processing module detects that the image that infrared light is formed has 4 endpoints on the horizontal scale, the place
Reason module calculates 4 endpoints, and abscissa value is labeled as x1, x2, x3, x4 from small to large, as x2-x1=x4-x3,
The processing module zeroing locating module z-axis；
For S2.3 when the image that infrared light is formed meets S2.2, the processing module judges abscissa for the infrared point of x1
Quantity, if the quantity that abscissa is the infrared point of x1 is more than adjustment threshold value, the x of the processing module zeroing locating module
Axis.
Preferably, the transmitting terminal embedded type control module is in the data message for receiving the attitude measuring and sending
Afterwards, data message is stamped and is sent to the processing module after timestamp and is handled.
Preferably, after the processing module receives the correction signal that the receiving module transmission comes, the processing mould
T2 at the time of block verification receives correction signal, and the data message with timestamp received is detected, when the processing mould
Block detects that the time point that the timestamp of the data message with timestamp is shown is later than or during equal to the t2 moment, the processing module
The angle information of the attitude measuring is corrected according to control information, after the completion of correction, the arithmetic processor exists
The timestamp of no longer monitoring data information before the correction signal that the receiving module transmission comes is received again.
A kind of automatic pattern correction system is provided, its described locating module includes transmitting terminal wireless transport module, the place
Reason module includes processing end wireless transport module, the transmitting terminal wireless transport module and the processing end wireless transport module it
Between information can be transmitted by way of being wirelessly transferred, the positioner further comprises globe-type luminescence body, the spherical hair
Infrared electro-optical device is provided with body of light.
Preferably, the infrared electro-optical device is geometrically symmetric figure, is made of two annulars.
Compared with prior art, the present invention utilizes the mode that infrared image is identified, adjustment x-axis, z-axis angle zero point
Position, reduce the influence that the error accumulation of attitude measuring is brought, reduce the inadaptable sense of user and add
Feeling of immersion, there is larger meaning for somatosensory operation and virtual reality.Relative to the manual zero point for resetting Attitute detecting device, sheet
The adjustment of method and system that invention attitude measuring corrects automatically is more natural and accurate, on the one hand prevent user with
The error that " sensation " zeroing is brought, on the other hand makes user natural in use and unconsciously returns to zero, it is heavy to add
Leaching sense, decreases and deliberately adjusts stiff, add game, improve experience effect.Infrared electro-optical device is arranged to two
The symmetric figure that a annular is formed is conducive to carry out feature recognition so as to judge the position that return to zero, very convenient.It is red
Infrared radiation source can be arranged on inside the photosphere of globe-type luminescence body by outer identification, can be indicated to avoid being set outside globe-type luminescence body
Thing and influence the space orientation of globe-type luminescence body in itself.Stamp timestamp while control information is transmitted and can effectively eliminate and prolong
The error that slow time-bands are come, makes zeroing more accurate.
Brief description of the drawings
Below in conjunction with accompanying drawings and embodiments, the invention will be further described, in attached drawing：
Fig. 1 is the system module schematic diagram of the present invention；
Fig. 2 is using handle as exemplary locating module schematic diagram；
Fig. 3 is using camera and infrared camera as exemplary reception device schematic diagram；
Fig. 4 is the spherical illuminator light path schematic diagram of handle；
Fig. 5 is globe-type luminescence body zeroing x-axis, z-axis image schematic diagram；
Fig. 6 is that globe-type luminescence body only adjusts z-axis image schematic diagram；
Fig. 7 is globe-type luminescence body without one of the image schematic diagram that returns to zero；
Fig. 8 is globe-type luminescence body without the two of zeroing image schematic diagram.
Embodiment
In order to solve the defects of current pose measuring device cumulative errors influence angular surveying, the present invention provides one kind can be with
Eliminate the method and system of the attitude measuring automatic pattern correction of cumulative errors.
In order to which the technical features, objects and effects of the present invention are more clearly understood, now compare attached drawing and describe in detail
The embodiment of the present invention.
Referring to Fig. 1, attitude measuring automatic pattern correction system of the present invention includes receiving module 1,2 and of locating module
Processing module 3.Receiving module 1 includes reception device 11, receiving terminal embedded type control module 13, image processing apparatus 15, receives
Device 11 and image processing apparatus 15 are electrically connected, and image processing apparatus 15 electrically connects with receiving terminal embedded type control module 13
Connect.Locating module 2 include positioner 21, transmitting terminal embedded type control module 22, attitude measuring 23, power module 24,
Operation device 27 and transmitting terminal wireless transport module 29, wherein, transmitting terminal embedded type control module 22 and power module 24 are electrical
Connection, transmitting terminal embedded type control module 22 are filled with positioner 21, attitude measuring 23, operation respectively with power module 24
Put 27 and transmitting terminal wireless transport module 29 be electrically connected.Processing module 3 is included at processing end wireless transport module 31 and computing
Device 33 is managed, processing end wireless transport module 31 and arithmetic processor 33 are electrically connected, and arithmetic processor 33 and receiving terminal are embedded
Control module 13 is electrically connected, and processing end wireless transport module 31 can pass through wireless connection with transmitting terminal wireless transport module 29
Mode transmit information.Reception device 11 is mainly used for the light of the transmitting of receiving positioner 21, and the light received is believed
Breath is delivered to receiving terminal embedded type control module 13 and is handled, the knot that receiving terminal embedded type control module 13 can be processed to
Fruit is sent to arithmetic processor 33 and is further processed.Attitude measuring 23 can be with appearance of the measurement and positioning module 2 in space
State and angle information, operation device 27 can be operated by user and send command information, the phase that attitude measuring 23 measures
Transmitting terminal embedded Control can be delivered to by way of electric signal by closing the command information that data and operation device 27 are sent
Above- mentioned information can be delivered to processing by module 22, transmitting terminal embedded type control module 22 by transmitting terminal wireless transport module 29
Wireless transport module 31 is held, the data received can be delivered to by processing end wireless transport module 31 by way of electric signal
Arithmetic processor 33 is handled.
Fig. 2-Fig. 3 is referred to, Fig. 2 schematically illustrates the locating module 2 for first embodiment with handle 201, at this
In embodiment, positioner 21 includes being arranged at the globe-type luminescence body 202 on 201 top of handle, globe-type luminescence body 202 be it is spherical,
Infrared electro-optical device 203 is equipped with globe-type luminescence body 202, infrared electro-optical device 203 is arranged within globe-type luminescence body, for outside
Launch infrared light.Globe-type luminescence body 202 is used for the position for measuring the locus, i.e. x-axis, y-axis and z-axis of handle 201, x-axis, y
Axis and z-axis can be manually set according to system.Whole handle 201 is run through in the geometry axle center of handle 201.Fig. 3 is exemplarily illustrated
Reception device 11 with camera 101 and infrared camera 102 for first embodiment, in this embodiment, infrared camera 102 is set
Put has the function of threshold test in the surface of camera 101, infrared camera 102, can be carried out to meeting the infrared light of condition
Identification.When camera 101 captures the image of globe-type luminescence body 202, image is delivered to image processing apparatus by camera 101
15, image processing apparatus is handled the image received, and processing information is passed through receiving terminal embedded type control module 13
It is delivered to arithmetic processor 33.Similarly, the infrared light image that infrared camera 102 photographs equally can be for transmission to arithmetic processor
33.In the first embodiment, infrared electro-optical device 203 is geometrically symmetric figure, is made of the annular of left and right two, two annular width
Spend equal.
Fig. 4-Fig. 6 is referred to, Fig. 4 schematically illustrates a kind of feelings of the zeroing attitude measuring 23 of reception device 11
Condition.We establish rectangular coordinate system on the basis of camera 101, and z-axis is perpendicular to the ground, and positive direction is upward；Vertically entered with light
The radiation direction for penetrating camera center of lens is negative direction of the x-axis, and positive direction of the y-axis meets coordinate system xyz into right-handed system.Camera
101 back side for one perpendicular to x-axis plane.Attitude measuring 23 is provided with handle 201, attitude measuring 23 exists
Meeting cumulative errors, make the error between measurement result and legitimate reading increasing during measurement.Attitude measuring 23
Can be according to the attitudes vibration of handle 201, there is provided angle change of the handle 201 in x-axis, y-axis and z-axis.We can be set in advance
The x-axis of handle 201, y-axis, the position of z-axis angle zero point, as a kind of set-up mode therein, when handle 201 meets following three
During a condition, we remember the x-axis, y-axis, z-axis 0 of handle 201：1st, the geometry axle center of handle 201 is perpendicular to ground；2nd, handle
201 top is upward；3rd, 201 face camera 101 of handle.When 201 face camera 101 of handle, camera 101 can be clapped
Handle 201 is taken the photograph on the symmetrical images of geometry axle center L, globe-type luminescence body 202 and infrared electro-optical device 203 are all on symmetry axis L
Symmetrically.In position fixing process, camera 101 and infrared camera 102 can gather the image of the globe-type luminescence body 202 photographed,
And image is delivered to associated processing equipment and is handled.
Fig. 5-Fig. 8 is referred to, Fig. 5 schematically illustrates the infrared phase when 202 face camera 101 of globe-type luminescence body
The picture that machine 102 photographs, in picture, the image of infrared electro-optical device is divided into the left and right sides, and what infrared camera 102 photographed contains
In the abscissa data of infrared light, there are four endpoints, wherein the Diff E between two endpoints in left side is d1, two, right side end
Diff E between point is d2, work as d1=d2And on the corresponding abscissa of each endpoint, the quantity of infrared point is both greater than for the moment,
X-axis, the z-axis angle of handle 201 are zero.In Fig. 6, when globe-type luminescence body 202 is being slightly slanted in x-axis, infrared camera 102 is clapped
In the abscissa data containing infrared light taken the photograph, still there are four endpoints, wherein the Diff E between two endpoints in left side is
d1, the Diff E between the endpoint of two, right side is d2, work as d1=d2And on the corresponding abscissa of each endpoint, the number of infrared point
Amount is equal to for the moment, and the z-axis angle of handle 201 is zero.It is infrared when globe-type luminescence body 202 is tilting larger in x-axis in Fig. 7
In the abscissa data containing infrared light that camera 102 photographs, only two endpoints, cannot judge the specific shape of handle at this time
State.In Fig. 8, when globe-type luminescence body 202 is rotating in z-axis, abscissa data containing infrared light that infrared camera 102 photographs
In, there are four endpoints, wherein the Diff E between two endpoints in left side is d1, the Diff E between the endpoint of two, right side is
d2, d1≠d2, the particular state of handle 201 can not be also judged at this time.Using above-mentioned characteristic, we can be to the zero point of handle 201
Position is adjusted.
When attitude measuring automatic pattern of the present invention corrects system starts, locating module 2 shines, and receives at the same time
Module 1 is in reception state.The camera 101 of reception device 11 monitors the position of globe-type luminescence body 202 in real time, and by image
Spherical size and sphere center position coordinate that device 15 calculates globe-type luminescence body 202 are managed, to calculate the space of globe-type luminescence body 202
Position.102 immediately monitoring infrared light image of infrared camera, and the abscissa of infrared light is sent to image processing apparatus 15.When
Image processing apparatus 15 handles image and handling result is transferred to processing module 3, when processing module 3 detect it is infrared
For the image that light is formed when having 4 endpoints on the horizontal scale, processing module 3 calculates 4 endpoints, by abscissa value from it is small to
Mark is greatly1、x2、x3、x4, work as x2-x1=x4-x3When, the zeroing handle z-axis of processing module 3, meanwhile, processing module 3 judges horizontal seat
It is designated as x1Infrared point quantity, if abscissa is x1The quantity of infrared point when being more than z, processing module 3 returns to zero handle at the same time
X-axis.Here z be known as adjust threshold value, be processing module 3 judge handle 201 x-axis whether the foundation for being zero.Adjust threshold value z roots
According to infrared camera 102 sensitivity and locating module 2 characteristic it is different and different, ideally, z values be equal to 1；General feelings
Under condition, the sensitivity of infrared camera 102 is higher, and the value of z is smaller, and the minimum value of z is 1.
Due to locating module 2 to processing module 3 transmit attitude detection data need expend the regular hour, the time we
Referred to as time delay t, processing module 3 is in t0Reception to the attitude data that transmits of locating module 2 actually corresponding be
(t0- t) moment locating module 2 attitude information.If processing module 3 is in t1The correction letter that reception is sent to receiving module 1
The angle information of attitude measuring 23 is corrected after breath at once, that can cause that processing module 3 actually adjusts is (t1- t) moment
The angle information of attitude measuring 23, makes (t1- t) arrive t1The error of attitude measuring 23 between moment is cumulative,
Influence the experience of the accuracy and equipment entirety of attitude measuring 23.It is embedding as an alternative embodiment of the invention, transmitting terminal
Enter formula control module 22 after the data message that attitude measuring 23 is sent is received, sent out after data message is stamped timestamp
It is sent to transmitting terminal wireless transport module 29, transmitting terminal wireless transport module 29 will stamp the data information transfer of timestamp to processing
Wireless transport module 31 is held, and arithmetic processor 33 is transferred to by processing end wireless transport module 31 and is handled.At computing
After reason device 33 receives the correction signal that the transmission of receiving module 1 comes, at the time of the verification of arithmetic processor 33 receives correction signal
t2, and detect the data message with timestamp received.When arithmetic processor 33 detects that the timestamp of data message is shown
The time point shown is later than or equal to t2During the moment, the angle according to control information to attitude measuring 23 at once of arithmetic processor 33
Degree information be corrected, after the completion of correction arithmetic processor 33 receive again receiving module 1 transmit come correction signal it
The timestamp of preceding no longer monitoring data information.The present embodiment is prevented since data caused by time delay are missed by delay correction
The accumulation of difference, greatly improved the accuracy and availability of equipment.
Compared with prior art, the present invention utilizes the mode that infrared image is identified, adjustment x-axis, z-axis angle zero point
Position, reduce the influence that the error accumulation of attitude measuring 23 is brought, reduce the inadaptable sense of user and increase
Feeling of immersion, there is larger meaning for somatosensory operation and virtual reality.The zero of Attitute detecting device 23 is reset relative to manual
Point, the method and system adjustment that attitude measuring 23 of the present invention corrects automatically is more natural and accurate, and on the one hand preventing makes
The error that user brings with " sensation " zeroing, on the other hand makes user natural in use and unconsciously returns to zero, increase
Feeling of immersion is added, has decreased and deliberately adjust stiff, add game, improve experience effect.By infrared electro-optical device 203
It is arranged to the symmetric figure that two annulars are formed and is conducive to carry out feature recognition so as to judge the position that return to zero, very
It is convenient.Infrared radiation source can be arranged on inside the photosphere of globe-type luminescence body 202 by infrared identification, can be to avoid in globe-type luminescence body
202 outsides set markers and influence globe-type luminescence body 202 space orientation of itself.When being stamped while control information is transmitted
Between stamp can effectively eliminate the error that time delay brings, make zeroing more accurate.
The embodiment of the present invention is described above in conjunction with attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, those of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make very much
Form, these are belonged within the protection of the present invention.
Claims (9)
- A kind of 1. method of attitude measuring automatic pattern correction, it is characterised in that including locating module, receiving module, place Module is managed, the locating module includes attitude measuring and positioner, and the positioner includes globe-type luminescence body, described Infrared electro-optical device is provided with globe-type luminescence body, the receiving module includes camera and infrared camera, the attitude measurement dress Put and corrected automatically by following steps：S1：The globe-type luminescence body shines, and the receiving module is in reception state；S2：The processing module judges whether to transmit control information to the positioning mould according to the signal of the infrared camera transmission Block；S3：The locating module is corrected according to the control information received.
- 2. the method for attitude measuring automatic pattern correction according to claim 1, it is characterised in that the infrared phase Machine has the function of threshold test.
- 3. the method for attitude measuring automatic pattern correction according to claim 2, it is characterised in that the infrared light Device is geometrically symmetric figure, is made of two annulars.
- 4. the method for attitude measuring automatic pattern correction according to claim 3, it is characterised in that the positioning mould Block includes transmitting terminal embedded type control module, and the transmitting terminal embedded type control module can receive the attitude measuring and pass Defeated data, and by the data transfer received to the processing module.
- 5. the method for attitude measuring automatic pattern correction according to claim 4, it is characterised in that the reception mould Root tuber judges control information according to the signal of the Photoinduction device transmission by following steps：S2.1 establishes rectangular coordinate system on the basis of the camera, and z-axis is perpendicular to the ground, and positive direction is upward, vertical with light The radiation direction of the incident camera center of lens is negative direction of the x-axis, and positive direction of the y-axis meets coordinate system xyz into right-handed system；S2.2 is when the processing module detects that the image that infrared light is formed has 4 endpoints on the horizontal scale, the processing mould Block calculates 4 endpoints, and abscissa value is labeled as x from small to large1、x2、x3、x4, work as x2-x1=x4-x3When, the place Manage the module zeroing locating module z-axis；For S2.3 when the image that infrared light is formed meets S2.2, the processing module judges number of the abscissa for the infrared point of x1 Amount, if the quantity that abscissa is the infrared point of x1 is more than adjustment threshold value, the x of the processing module zeroing locating module Axis.
- 6. the method for attitude measuring automatic pattern correction according to claim 5, it is characterised in that the transmitting terminal Embedded type control module is after the data message that the attitude measuring is sent is received, after data message is stamped timestamp The processing module is sent to be handled.
- 7. the method for attitude measuring automatic pattern correction according to claim 6, it is characterised in that when the processing After module receives the correction signal that the receiving module transmission comes, at the time of the processing module verification receives correction signal t2, and the data message with timestamp received is detected, when the processing module detects the data message with timestamp Time point for showing of timestamp be later than or equal to t2During the moment, the processing module is according to control information to the attitude measurement The angle information of device is corrected, and after the completion of correction, the arithmetic processor is receiving the receiving module transmission again The timestamp of no longer monitoring data information before the correction signal come.
- 8. the attitude measuring automatic pattern correction system that a kind of method according to claim 11 is corrected, it is special Sign is that the locating module includes transmitting terminal wireless transport module, and the processing module includes processing end wireless transport module, It can be transmitted between the transmitting terminal wireless transport module and the processing end wireless transport module by way of being wirelessly transferred Information, the positioner further comprise globe-type luminescence body, infrared electro-optical device are provided with the globe-type luminescence body.
- 9. attitude measuring automatic pattern according to claim 8 corrects system, it is characterised in that the infrared light dress Geometrically symmetric figure is set to, is made of two annulars.
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| CN201710932735.1A CN107976205A (en) | 2017-10-10 | 2017-10-10 | The method and system of attitude measuring automatic pattern correction |
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|---|---|---|---|---|
| US20020169578A1 (en) * | 2001-02-01 | 2002-11-14 | Chun Yang | Method and device for obtaining attitude under interference by a GPS receiver equipped with an array antenna |
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| WO2017077918A1 (en) * | 2015-11-02 | 2017-05-11 | 株式会社ソニー・インタラクティブエンタテインメント | Information processing apparatus, information processing system, and information processing method |
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- 2017-10-10 CN CN201710932735.1A patent/CN107976205A/en active Pending
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| US20020169578A1 (en) * | 2001-02-01 | 2002-11-14 | Chun Yang | Method and device for obtaining attitude under interference by a GPS receiver equipped with an array antenna |
| WO2017077918A1 (en) * | 2015-11-02 | 2017-05-11 | 株式会社ソニー・インタラクティブエンタテインメント | Information processing apparatus, information processing system, and information processing method |
| CN106248110A (en) * | 2016-09-30 | 2016-12-21 | 深圳市虚拟现实科技有限公司 | Attitude measuring is from the method and system of dynamic(al) correction |
| CN106814738A (en) * | 2017-03-30 | 2017-06-09 | 南通大学 | A kind of wheeled robot and its control method based on motion sensing control technology |
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