CN106500683A - Method and system of the attitude measuring from dynamic(al) correction - Google Patents
Method and system of the attitude measuring from dynamic(al) correction Download PDFInfo
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- CN106500683A CN106500683A CN201610867127.2A CN201610867127A CN106500683A CN 106500683 A CN106500683 A CN 106500683A CN 201610867127 A CN201610867127 A CN 201610867127A CN 106500683 A CN106500683 A CN 106500683A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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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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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of method of attitude measuring from dynamic(al) correction, including transmitter module, receiver module, processing module, the transmitter module includes attitude measuring and discharger, the discharger can launch lasing area, the receiver module includes at least horizontal Photoinduction device and longitudinal Photoinduction device, compared with prior art, the present invention launches the mode of lasing area and receiver module reception different characteristic optical signal using discharger, adjustment x-axis, y-axis, the position of z-axis angle zero point, reduce the impact that the error accumulation of attitude measuring brings, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning.
Description
Technical field
A kind of the present invention relates to attitude measurement field, more particularly, it relates to method of attitude measuring from dynamic(al) correction
And system.
Background technology
Attitude measurement typically measures angle information using attitude measuring, and the type of attitude measuring is a lot, profit
Decoupled with three axle earth magnetism and three axis accelerometer, affected very greatly, in the environment such as movement/vibration by external force acceleration, output side
Larger to angle error, geomagnetic sensor has shortcoming in addition, the characteristics of its absolute object of reference is the magnetic line of force in earth's magnetic field, earth magnetism is
Use range is big, but intensity is relatively low, about a few Gausses of zero point, is highly susceptible to the interference of other magnets.Gyroscope output angle speed
Degree, is instantaneous flow, and angular velocity is directly to use on posture balancing, needs angular velocity to calculate angle with time integral, obtains
The angle variable quantity for 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 that its measuring basiss are itself, the not absolute object of reference outside system, it is not to add Dt
May be infinitely small, so the cumulative error of integration can be increased sharply as time go on, ultimately result in output angle with reality not
Symbol.
Content of the invention
The defect of angular surveying is affected to solve current pose measurement apparatus cumulative errors, and the present invention provides one kind can be with
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：A kind of attitude measuring is provided from dynamic(al) correction
Method, including transmitter module, receiver module, processing module, the transmitter module includes attitude measuring and discharger, institute
State discharger and can launch lasing area, the receiver module includes at least horizontal Photoinduction device and longitudinal Photoinduction device,
The attitude measuring is carried out from dynamic(al) correction by following steps：
S1：Lasing area launched by the discharger, and the receiver module is in holding state；
S2：The receiver module is sentenced according to the signal of the horizontal Photoinduction device and longitudinal Photoinduction device transmission
Break control information whether is transmitted to the processing module；
S3：The processing module is corrected to the attitude measuring according to the information that the receiver module is transmitted.
Preferably, the receiver module includes that receiving module in length and breadth, the receiving module in length and breadth include front panel, described vertical
It is arranged on the front panel to Photoinduction device and the horizontal Photoinduction device.
Preferably, the transmitter module is handle, and the signal that the processing module transmit according to the Photoinduction device is logical
Cross following steps and judge control information：
S2.1 sets up rectangular coordinate system on the basis of the front panel, and z-axis is perpendicular to the ground, positive direction upward, x-axis and institute
State front panel vertical, with the radiation direction of light vertical incidence front panel 1011 as x-axis negative direction, y-axis is flat with the front panel
OK, positive direction meets coordinate system xyz into right-handed system；
S2.2 when the handle geometry axle center perpendicular to ground and the handle top upward when, the x of the handle
Axle, y-axis angle are zero；When handle transmitting lasing area is perpendicular to the front panel and the light direction of propagation is negative towards x-axis
During direction, the z-axis angle of the handle is zero；
Preferably, the transmitter module is handle, and the handle includes emission port dough-making powder generating laser, the transmitting
Port is rectangular slot shape, and the laser of the face laser transmitter projects is injected space outerpace by emission port, formed and do not sent out
Scattered parallel laser face.
Preferably, the face generating laser includes horizontal face generating laser and longitudinal surface generating laser, the horizontal stroke
It is d to the width in face generating laser and the parallel laser face of the longitudinal surface laser transmitter projects.
Preferably, the distance between two described horizontal Photoinduction devices are d, between two longitudinal Photoinduction devices
Distance be d, when two horizontal Photoinduction devices and two longitudinal Photoinduction devices sense laser beam simultaneously
And when producing response, the x-axis, y-axis and z-axis of the handle that returns to zero.
Preferably, the transmitter module includes transmitting terminal embedded type control module, the transmitting terminal embedded type control module
The data of the attitude measuring transmission can be received, and by the data transfer for receiving to the processing module.
Preferably, the transmitting terminal embedded type control module is receiving the data message that the attitude measuring is sent
Afterwards, data message is stamped and be sent to after timestamp the processing module and processed.
Preferably, after the processing module receives the correction signal that the receiver module transmission comes, the process mould
Block verification receives the moment t of correction signal2, and the data message with timestamp for receiving is detected, when the 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, 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 the receiver module transmit the correction signal that come before no longer Monitoring Data information is received again.
A kind of attitude measuring automatic correction system is provided, the transmitter module includes transmitting terminal wireless transport module,
The processing module includes processing end wireless transport module, and the transmitting terminal wireless transport module and the process end are wirelessly transferred
Between module can by way of being wirelessly transferred transmission information.
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, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning.Phase
For the zero point for resetting Attitute detecting device manually, attitude measuring of the present invention is adjusted 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, was on the other hand using user
Natural and unconsciously return to zero in journey, feeling of immersion is increased, deliberately adjust stiff is decreased, be increased game, lifted
Experience effect.Using the setting of reflective surface, it is ensured that light must is fulfilled for certain incident condition fills just can photoinduction
Put the corresponding response of generation, it is achieved that the method that transmitter module attitude is judged by photoinduction, lead to the adjustment of attitude
Photoinduction realization is crossed, is also achieved the attitude zeroing of the present invention.By arranging the dead-center position of x-axis, y-axis, z-axis corresponding to
The irradiating angle of lasing area, so as to the method for the attitude of corresponding transmitter module, establishes relatively simple gesture recognition rule, more
Convenient use photoinduction corrects attitude.Laterally emit port and longitudinal emission port of handle is arranged to narrow and long rectangular shape, can
To ensure that the laser of outgoing is formed than relatively thin lasing area without dissipating, it is ensured that the realization of photoinduction zeroing.Parallel laser
Spacing between the spacing in face and two horizontal Photoinduction devices, two longitudinal Photoinduction devices is equal, makes transmitter module 2 necessary
Meet two horizontal Photoinduction devices and two longitudinal Photoinduction devices are made while producing
Response, it is ensured that the degree of accuracy of correction.
Description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is system module schematic diagram of the attitude measuring of the present invention from dynamic(al) correction；
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, y-axis, z-axis schematic diagram；
Working-flow schematic diagram of Fig. 5 attitude measurings of the present invention from dynamic(al) correction.
Specific embodiment
The defect of angular surveying is affected to solve current pose measurement apparatus cumulative errors, and the present invention provides one kind can be with
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 control accompanying drawing is described in detail
The specific embodiment of the present invention.
Fig. 1 is referred to, 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 that processing end 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, are processed end wireless transport module 31 and can be wirelessly transferred mould with transmitting terminal
The transmission information by way of wirelessly connecting of block 29.Reception device 11 is mainly used in the light of the transmitting of receiving and transmitting unit 21, and
The light information for receiving is delivered to receiving terminal embedded type control module 13 to be 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
Attitude and angle information of the module 2 in space, operation device 27 can be operated and be sent command information, attitude measurement by user
The command information that the related data and operation device 27 that device 23 is measured sends can be delivered to by way of the signal of telecommunication to be sent out
End embedded type control module 22 is penetrated, 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 for receiving
Number mode be delivered to arithmetic processor 33 and processed.
Fig. 2 is referred to, Fig. 2 schematically illustrates the transmitter module 2 with handle 201 as first embodiment, in the 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 two face generating lasers, i.e. laterally face generating laser 211 and longitudinal direction
Face generating laser 212, horizontal face generating laser 211 include laterally emitting port 2113 and horizontal lasing light emitter 2115, laterally
Emission port 2113 is rectangular slot shape, in four rectangular edges of rectangular slot, two shorter rectangular edges being parallel to each other with
The geometry axle center L of handle 2011Parallel, the laser of the transmitting of horizontal lasing light emitter 2115 can laterally emit end by slit-shaped
Mouth 2113 is transmitted in the space outerpace of handle 201, forms the rim ray L not dissipated2And L3The parallel laser being parallel to each other
Face, the width of lasing area is d.Longitudinal surface generating laser 212 includes longitudinal emission port 2123 and longitudinal lasing light emitter 2125, when
The geometry axle center L of handle 2011Perpendicular to ground when, parallel laser face is parallel with ground.Longitudinal emission port 2123 is rectangle
Slit-shaped, in four rectangular edges of rectangular slot, the geometry axle center L of two longer rectangular edges being parallel to each other and handle 2011
Parallel, the laser of the transmitting of longitudinal lasing light emitter 2125 can be transmitted into handle 201 by longitudinal emission port 2123 of slit-shaped
Space outerpace in, form the rim ray L that do not dissipate4And L5The parallel laser face being parallel to each other, the width of lasing area is d.When
The geometry axle center L of handle 2011Perpendicular to ground when, parallel laser face is perpendicular with ground.
Fig. 3 is referred to, Fig. 3 schematically illustrates the reception device 11 with receiving module 101 in length and breadth as first embodiment,
In this embodiment, receiving module 101 includes the horizontal Photoinduction device 1013, two of front panel 1011, two longitudinal direction light in length and breadth
Induction installation 1015, in length and breadth receiving module 101 be fixedly installed.Handle 201 is adjusted by we, makes the geometrical axis of handle 201
, perpendicular to ground, the lasing area of the transmitting of horizontal lasing light emitter 2115 is perpendicular to front panel 1011, now, horizontal lasing light emitter 2115 for the heart
The laser that penetrates forms horizontal laser rays 2116 on front panel 1011, and the laser of the transmitting of longitudinal lasing light emitter 2125 is in front panel 1011
Upper form horizontal laser rays 2126.We are respectively provided with horizontal Photoinduction device centered on two end points of laser rays 2116
1013, longitudinal Photoinduction device 1015 is respectively provided with centered on two end points of laser rays 2126.As lasing area does not dissipate,
Therefore, the distance between two horizontal Photoinduction devices 1013 are d, and the distance between two longitudinal Photoinduction devices 1015 are also
d.
Fig. 4 is referred to, Fig. 4 schematically illustrates a kind of feelings of the zeroing of receiving module 101 attitude measuring 23 in length and breadth
Condition.We set up rectangular coordinate system on the basis of the front panel 1011 of receiving module 101 in length and breadth, and z-axis is perpendicular to the ground, positive direction
Upward；X-axis is vertical with front panel 1011, and the radiation direction with light vertical incidence front panel 1011 is as x-axis negative direction；Y-axis with
Front panel 1011 is parallel, and positive direction meets coordinate system xyz into right-handed system.Attitude measuring 23, appearance is provided with handle 201
The meeting cumulative errors during measurement of state measurement apparatus 23, make the error between measurement result and legitimate reading increasing.
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.I
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 handss
The geometry axle center L1 of handle 201 perpendicular to ground and handle 201 top upward when, we remember that the x-axis of handle 201, y-axis angle are
Zero；When handle 201 transmitting lasing area perpendicular to front panel 1011 and the light direction of propagation towards x-axis negative direction when, Wo Menji
The z-axis angle of handle 201 is 0.Handle 201 is gripped by user, in use, when the geometry axle center L1 of handle 201 hangs down
Straight in ground and during the lasing area vertical incidence front panel 1011 of the transmitting of handle 201, horizontal laser rays 2126 dozens are in front panel
On 1011 and by two horizontal Photoinduction devices 1013, meanwhile, longitudinal laser rays 2116 dozens on front panel 1011 and pass through
Two longitudinal Photoinduction devices 1015, two horizontal Photoinduction devices 1013 and two longitudinal Photoinduction devices 1015 sense simultaneously
Response is produced to laser beam, and transmits the electrical signal to receiving terminal embedded type control module 13, receiving terminal embedded type control module
13 transmission signals are to arithmetic processor 33, and to reset handle x-axis, y-axis, the angle-data of z-axis be zero.Due to this calibration be
Occur during user use unintentionally, so, have no situation about discovering in operating process not deliberately with user
The calibration to handle x-axis, y-axis and z-axis can be just completed down, prevents error persistent accumulation from causing measurement error excessive, while greatly
Width enhances the feeling of immersion of user.What this zeroing mode simultaneously avoided that other optical zeroing modes usually occur cannot know
The geometry axle center L1 of the defect of other mirror image laser, i.e. handle 201 perpendicular to ground and handle 201 top down with top upward
The situation of same laser pattern is often formed, and the present embodiment is by arranging horizontal Photoinduction device 1013 and longitudinal Photoinduction device
1015 situations for preventing mirror image laser effect measurement result.
Fig. 5 is referred to, when attitude measuring automatic correction system of the present invention is started working, the transmitting of transmitter module 2 swashs
Bright finish, while receiver module 1 is in holding state.1013 longitudinal Photoinduction device of horizontal Photoinduction device of reception device 11
1015 monitor in real time laser reactives, when two horizontal Photoinduction devices 1013 in reception device 11 and two longitudinal photoinduction dresses
1015 are put while when producing response, receiving terminal embedded type control module 13 will send information to processing module 3, processing module 3 with
Return to zero x-axis, y-axis, z-axis data；When two horizontal Photoinduction devices 1013 in reception device 11 and two longitudinal photoinduction dresses
1015 are put not while when producing 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, the time we
Referred to as t time delay, processing module 3 is in t0Reception to the attitude data of the transmission of transmitter module 2 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 after breath at once, and that can cause 3 actual adjustment of processing module is (t1- 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,
Affect the accuracy of attitude measuring 23 and the experience that equipment is overall.Used as an alternative embodiment of the invention, transmitting terminal is embedding
Enter formula control module 22 after the data message that attitude measuring 23 is sent is received, data message is stamped and send out after timestamp
Transmitting terminal wireless transport module 29 is sent to, transmitting terminal wireless transport module 29 will stamp the data information transfer of timestamp to process
Wireless transport module 31 is held, 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 the transmission of receiver module 1 comes, the verification of arithmetic processor 33 receives the moment of correction signal
t2, and detect the data message with timestamp for receiving.When the timestamp that arithmetic processor 33 detects data message shows
The time point for showing is later than or is equal to t2During the moment, the angle at once according to control information to attitude measuring 23 of arithmetic processor 33
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 for causing time delay
Poor accumulation, greatly improved the degree of accuracy and availability of equipment.
Compared with prior art, using the transmitting lasing area of discharger 21, 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 for reducing attitude measuring 23 are brought
Impact, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning
Justice.Relative to the zero point for resetting Attitute detecting device 23 manually, attitude measuring of the present invention 23 from the method for dynamic(al) correction and is
System adjustment is more natural and accurate, the error on the one hand preventing user to bring with " sensation " zeroing, on the other hand use
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 the setting of reflective surface 1011, it is ensured that light must is fulfilled for certain incident condition and just may be used
So that laterally Photoinduction device 1013 and longitudinal Photoinduction device 1015 produce corresponding response simultaneously, it is achieved that by photoinduction
Method to judge 2 attitude of transmitter module, allows the adjustment of attitude to realize by photoinduction, also adjusts the attitude of the present invention
Zero is achieved.By arranging the dead-center position of x-axis, y-axis, z-axis come the irradiating angle of corresponding lasing area, so as to corresponding transmitting mould
The method of the attitude of block 2, establishes relatively simple gesture recognition rule, is more convenient to correct attitude using photoinduction.Handle 201
Laterally emit port 2113 and longitudinal emission port 2123 is arranged 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 the realization of photoinduction zeroing.The spacing in parallel laser face and two lateral lights
Spacing between the longitudinal Photoinduction devices 1015 of induction installation 1013, two is equal, make transmitter module 2 must be fulfilled for x-axis, y-axis,
Be possible to make when z-axis is zero two horizontal Photoinduction devices 1013 and two longitudinal Photoinduction devices 1015 while producing sound
Should, it is ensured that the degree of accuracy of correction.
Embodiments of the invention are described above in conjunction with accompanying drawing, but be the invention is not limited in above-mentioned concrete
Embodiment, above-mentioned specific embodiment are only schematic, rather than restricted, one 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, can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. method of a kind of attitude measuring from dynamic(al) correction, it is characterised in that including transmitter module, receiver module, process mould
Block, the transmitter module include that attitude measuring and discharger, the discharger can launch lasing area, the reception
Module includes that at least horizontal Photoinduction device and longitudinal Photoinduction device, the attitude measuring are carried out certainly by following steps
Dynamic(al) correction：
S1：Lasing area launched by the discharger, and the receiver module is in holding state；
S2：The receiver module is judged according to the signal of the horizontal Photoinduction device and longitudinal Photoinduction device transmission
No transmission control information is to the processing module；
S3：The processing module is corrected to the attitude measuring according to the information that the receiver module is transmitted.
2. method of the attitude measuring according to claim 1 from dynamic(al) correction, it is characterised in that the receiver module bag
Receiving module in length and breadth is included, the receiving module in length and breadth includes front panel, longitudinal Photoinduction device and the horizontal photoinduction
Device is arranged on the front panel.
3. method of the attitude measuring according to claim 2 from dynamic(al) correction, it is characterised in that the transmitter module is
Handle, the processing module judge control information according to the signal that the Photoinduction device is transmitted by following steps：
S2.1 sets up rectangular coordinate system on the basis of the front panel, and z-axis is perpendicular to the ground, positive direction upward, x-axis with described before
Panel is vertical, and with the radiation direction of light vertical incidence front panel 1011 as x-axis negative direction, y-axis is parallel with the front panel, just
Direction meets coordinate system xyz into right-handed system；
S2.2 when the handle geometry axle center perpendicular to ground and the handle top upward when, the x-axis of the handle, y
Shaft angle degree is zero；When the handle transmitting lasing area is perpendicular to the front panel and the light direction of propagation is towards x-axis negative direction
When, the z-axis angle of the handle is zero.
4. method of the Attitute detecting device according to claim 3 from dynamic(al) correction, it is characterised in that the transmitter module is
Handle, the handle include emission port dough-making powder generating laser, and the emission port is rectangular slot shape, and the face laser is sent out
The laser of emitter transmitting injects space outerpace by emission port, forms the parallel laser face not dissipated.
5. method of the Attitute detecting device according to claim 4 from dynamic(al) correction, it is characterised in that the face Laser emission
Device includes horizontal face generating laser and longitudinal surface generating laser, the horizontal face generating laser and the longitudinal surface laser
The width in the parallel laser face of emitter transmitting is d.
6. method of the Attitute detecting device according to claim 5 from dynamic(al) correction, it is characterised in that two lateral lights
The distance between induction installation is d, and the distance between two longitudinal Photoinduction devices are d, when two horizontal light sensations
Device and two longitudinal Photoinduction devices are answered while when sensing laser beam and producing response, the x-axis of the handle that returns to zero, y
Axle and z-axis.
7. method of the attitude measuring according to claim 6 from dynamic(al) correction, it is characterised in that the transmitter module bag
Transmitting terminal embedded type control module is included, the transmitting terminal embedded type control module can receive the attitude measuring transmission
Data, and by the data transfer for receiving to the processing module.
8. method of the attitude measuring according to claim 7 from dynamic(al) correction, it is characterised in that the transmitting terminal is embedded in
Data message after the data message that the attitude measuring is sent is received is stamped and send after timestamp by formula control module
Processed to the processing module.
9. method of the attitude measuring according to claim 8 from dynamic(al) correction, it is characterised in that when the processing module
After receiving the correction signal that the receiver module transmission comes, the processing module verification receives the moment t of correction signal2,
And detect the data message with timestamp for receiving, when the processing module detect the data message with timestamp when
Between stab display time point be later than or be equal to t2During the moment, the processing module is according to control information to the attitude measuring
Angle information be corrected, after the completion of correction, the arithmetic processor is receiving what receiver module transmission came again
The timestamp of no longer Monitoring Data information before correction signal.
10. a kind of attitude measuring according to claim 1 is from the automatic school of the attitude measuring of the method for dynamic(al) correction
Positive system, it is characterised in that the transmitter module includes transmitting terminal wireless transport module, the processing module include processing end without
Line transport module, can be by being wirelessly transferred between the transmitting terminal wireless transport module and process end wireless transport module
Mode transmission information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610867127.2A CN106500683A (en) | 2016-09-30 | 2016-09-30 | Method and system of the attitude measuring from dynamic(al) correction |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610867127.2A CN106500683A (en) | 2016-09-30 | 2016-09-30 | Method and system of the attitude measuring from dynamic(al) correction |
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| JPH0942992A (en) * | 1995-07-26 | 1997-02-14 | Shimadzu Corp | Correction device for position detection device |
| JP2000180172A (en) * | 1998-12-17 | 2000-06-30 | Tokin Corp | Attitude angle detecting device |
| JP2000329557A (en) * | 1999-05-18 | 2000-11-30 | Tokin Corp | Attitude angle detector |
| CN101169320A (en) * | 2007-10-29 | 2008-04-30 | 北京交通大学 | Moving article transient posture measuring apparatus |
| US20130030754A1 (en) * | 2010-09-14 | 2013-01-31 | Stmicroelectronics (China) Investment Co., Ltd. | Method and apparatus for determining attitude of an object |
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2016
- 2016-09-30 CN CN201610867127.2A patent/CN106500683A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4371936A (en) * | 1981-03-30 | 1983-02-01 | United Technologies Corporation | Attitude trimmed airspeed/attitude controls |
| JPH0942992A (en) * | 1995-07-26 | 1997-02-14 | Shimadzu Corp | Correction device for position detection device |
| JP2000180172A (en) * | 1998-12-17 | 2000-06-30 | Tokin Corp | Attitude angle detecting device |
| JP2000329557A (en) * | 1999-05-18 | 2000-11-30 | Tokin Corp | Attitude angle detector |
| CN101169320A (en) * | 2007-10-29 | 2008-04-30 | 北京交通大学 | Moving article transient posture measuring apparatus |
| US20130030754A1 (en) * | 2010-09-14 | 2013-01-31 | Stmicroelectronics (China) Investment Co., Ltd. | Method and apparatus for determining attitude of an object |
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