CN107941240A - The method and system that attitude measuring corrects automatically - Google Patents
The method and system that attitude measuring corrects automatically Download PDFInfo
- Publication number
- CN107941240A CN107941240A CN201710932885.2A CN201710932885A CN107941240A CN 107941240 A CN107941240 A CN 107941240A CN 201710932885 A CN201710932885 A CN 201710932885A CN 107941240 A CN107941240 A CN 107941240A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012545 processing Methods 0.000 claims abstract description 50
- 238000004020 luminiscence type Methods 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000003760 hair shine Effects 0.000 claims abstract description 4
- 238000012937 correction Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000007654 immersion Methods 0.000 abstract description 5
- 230000003238 somatosensory effect Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 6
- 230000001186 cumulative effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000009825 accumulation Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of method that attitude measuring corrects automatically, including locating module, receiving module, processing module, the locating module includes attitude measuring and positioner, the positioner includes globe-type luminescence body, shade is provided with the globe-type luminescence body, the receiving module includes 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 receiving module judges whether to transmit control information to the processing module according to the signal of the camera transmission；The processing module is corrected the attitude measuring according to the information of the receiving module transmission.Compared with prior art, The present invention reduces user inadaptable sense and add feeling of immersion, have larger meaning for somatosensory operation and virtual reality.
Description
Technical field
The present invention relates to attitude measurement field, a kind of method corrected automatically more specifically to attitude measuring
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, not the absolute object of reference outside system, is plus Dt
Can not possibly be infinitely small, so the accumulated error of integration can increase sharply as time go on, ultimately result in output angle and reality
It is not inconsistent.
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 that the attitude measuring of cumulative errors corrects automatically.
The technical solution adopted by the present invention to solve the technical problems is：There is provided what a kind of attitude measuring corrected automatically
Method, including locating module, receiving module, processing module, the locating module include attitude measuring and positioner, institute
Stating positioner includes globe-type luminescence body, and shade is provided with the globe-type luminescence body, and the receiving module includes shooting
Head, the attitude measuring are corrected automatically by following steps：
S1：The globe-type luminescence body shines, and the receiving module is in reception state；
S2：The receiving module judges whether to transmit control information to the processing according to the signal of the camera transmission
Module；
S3：The processing module is corrected the attitude measuring according to the information of the receiving module transmission.
Preferably, the camera has the function of pixel detection, and the laser of the positioner transmitting can be identified in institute
State the pixel of the image formed on camera.
Preferably, the shade is geometrically symmetric figure, is made of two sections curve, the two of two sections curve
A intersection point is characterized a little.
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 equal to when the horizontal distance between the left side characteristic point image and the globe-type luminescence body leftmost side pixel
During horizontal distance between the right side characteristic point image and the globe-type luminescence body rightmost side pixel, the receiving module is to institute
State processing module transmission zeroing x-axis, the information of z-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.
There is provided a kind of automatic correction system, it is characterised in that the locating module includes transmitting terminal wireless transport module, institute
Stating processing module includes processing end wireless transport module, and the transmitting terminal wireless transport module and the processing end are wirelessly transferred mould
Information can be transmitted between block by way of being wirelessly transferred, the positioner further comprises globe-type luminescence body, the ball
Shade is provided with shape illuminator.
Preferably, the shade is geometrically symmetric figure, is made of two sections curve, the two of two sections curve
A intersection point is characterized a little.
Compared with prior art, the present invention adjusts x using characteristic point and the mode that specific range is identified is set
The position of axis, z-axis angle zero point, reduces the influence that the error accumulation of attitude measuring is brought, reduces user not
Adapt to feel and add feeling of immersion, there is larger meaning for somatosensory operation and virtual reality.Posture inspection is reset relative to manual
The zero point of device is surveyed, the method and system adjustment that attitude measuring of the present invention corrects automatically is more natural and accurate, on the one hand
User is prevented with the error brought of " sensation " zeroing, on the other hand makes user natural in use and unconsciously
Zeroing, adds feeling of immersion, decreases and deliberately adjusts stiff, adds game, improve experience effect.Shading is filled
Install and be set to the symmetric figure that two sections of curves are formed and be conducive to carry out feature recognition so as to judge the position that return to zero, ten
It is convenient to divide.Method by judging photosphere image point-to-point transmission horizontal distance simplifies identification process.In the same of transmission control information
When stamp the error that timestamp can effectively eliminate time delay and bring, make 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 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 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 that the attitude measuring of cumulative errors corrects automatically.
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 correction system of the present invention includes receiving module 1, locating module 2 and processing
Module 3.Receiving module 1 includes reception device 11, receiving terminal embedded type control module 13, image processing apparatus 15, reception device
11 and image processing apparatus 15 be electrically connected, image processing apparatus 15 is electrically connected with receiving terminal embedded type control module 13.It is fixed
Position module 2 includes positioner 21, transmitting terminal embedded type control module 22, attitude measuring 23, power module 24, operation dress
27 and transmitting terminal wireless transport module 29 are put, wherein, transmitting terminal embedded type control module 22 is electrically connected with power module 24, hair
Penetrate end embedded type control module 22 and power module 24 respectively with positioner 21, attitude measuring 23, operation device 27 and
Transmitting terminal wireless transport module 29 is electrically connected.Processing module 3 includes processing end wireless transport module 31 and arithmetic processor 33,
Processing end wireless transport module 31 and arithmetic processor 33 are electrically connected, arithmetic processor 33 and receiving terminal embedded type control module
13 are electrically connected, and processing end wireless transport module 31 can be passed with transmitting terminal wireless transport module 29 by way of wireless connection
Pass information.Reception device 11 is mainly used for the light of the transmitting of receiving positioner 21, and the light information received is delivered to
Receiving terminal embedded type control module 13 is handled, and the result that receiving terminal embedded type control module 13 can be processed to is sent
It is further processed to arithmetic processor 33.Attitude measuring 23 can be with posture of the measurement and positioning module 2 in space and angle
Information is spent, operation device 27 can be operated by user and send command information, the related data that attitude measuring 23 measures
And the command information that operation device 27 is sent can be delivered to transmitting terminal embedded type control module 22 by way of electric signal,
It is wireless that above- mentioned information by transmitting terminal wireless transport module 29 can be delivered to processing end by transmitting terminal embedded type control module 22
The data received can be delivered at computing by transport module 31, processing end wireless transport module 31 by way of electric signal
Reason device 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,
Shade 203 is equipped with globe-type luminescence body 202, shade 203 is used for the light for blocking the transmitting of globe-type luminescence body 202.
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, and x-axis, y-axis and z-axis can be with
It is manually set according to system.Whole handle 201 is run through in the geometry axle center of handle 201.Fig. 3 is schematically illustrated with camera
101 be the reception device 11 of first embodiment, and in this embodiment, camera 101 has the function of pixel detection.For the external world
Incident light, different pixel values is able to detect that according to the different cameras 101 of its incident angle, and according to the figure of shooting
As the position of shade 203 in identification image.When camera 101 captures the image of globe-type luminescence body 202, camera
Image is delivered to image processing apparatus 15 by 101, and image processing apparatus is handled the image received, and by processing information
Arithmetic processor 33 is delivered to by receiving terminal embedded type control module 13.In the first embodiment, shade 203 is geometry
Symmetric figure, is made of two sections curve.Two intersection points of two sections curve are characterized a little 204, and globe-type luminescence body 202 is sent out
The light gone out forms a pointed figure in 204 position of characteristic point.
Referring to Fig. 4, Fig. 4 schematically illustrates a kind of situation of the zeroing attitude measuring 23 of camera 101.We
Rectangular coordinate system is established on the basis of camera 101, z-axis is perpendicular to the ground, and positive direction is upward；With light vertical incidence camera
The radiation direction of 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.The back side of camera 101
For one perpendicular to x-axis plane.Attitude measuring 23, mistake of the attitude measuring 23 in measurement are provided with handle 201
Meeting cumulative errors, make the error between measurement result and legitimate reading increasing in journey.Attitude measuring 23 can be according to hand
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 set handle 201 in advance
X-axis, y-axis, the position of z-axis angle zero point, as a kind of set-up mode therein, when handle 201 meets following three conditions,
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, the top court of handle 201
On；3rd, 201 face camera 101 of handle.When 201 face camera 101 of handle, camera 101 can photograph handle 201
It is all symmetrical on symmetry axis L on the symmetrical images of geometry axle center L, globe-type luminescence body 202 and shade 203.Positioning
Cheng Zhong, camera 101 can gather the image of the globe-type luminescence body 202 photographed, and image is delivered to associated processing equipment
Handled.
Clapped referring to Fig. 5, Fig. 5 schematically illustrates the camera 101 when 202 face camera 101 of globe-type luminescence body
The picture taken the photograph, in picture, the image of globe-type luminescence body 202 is in crescent shape, 204 image of left feature point and globe-type luminescence body
Horizontal distance between 202 leftmost side pixels is d1, 204 image of right feature point and 202 rightmost side pixel of globe-type luminescence body it
Between horizontal distance be d2, work as d1=d2When, x-axis, the z-axis angle of handle 201 are zero.We can utilize this characteristic opponent
The x-axis and z axis of handle 201 carry out zeroing operation.In addition, the zeroing for the y-axis of handle 201 operates, can be by gravity sensing
Device is adjusted, this is the prior art, and details are not described herein.
When attitude measuring automatic correction system of the present invention is started to work, locating module 2 shines, while receiving 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 procossing
Device 15 calculates the spherical size and sphere center position coordinate of globe-type luminescence body 202, to calculate the space bit of globe-type luminescence body 202
Put.When image processing apparatus 15 detects d1=d2When, this information is delivered to arithmetic processor 33 by image processing apparatus 15,
Arithmetic processor 33 sends a signal to locating module 2 by processing end wireless transport module 31, and the handle 201 of locating module 2 will
X-axis, the z-axis angle of itself are adjusted to zero.
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 that reception is sent to receiving module 1
The angle information of attitude measuring 23 is corrected after information at once, that can cause that processing module 3 actually adjusts is (t1- t) moment
Attitude measuring 23 angle information, make (t1- t) arrive t1The error of attitude measuring 23 between moment is by under accumulation
Come, influence the experience of the accuracy and equipment entirety of attitude measuring 23.As an alternative embodiment of the invention, transmitting terminal
Embedded type control module 22 is after the data message that attitude measuring 23 is sent is received, after data message is stamped timestamp
Transmitting terminal wireless transport module 29 is sent to, transmitting terminal wireless transport module 29 will stamp the data information transfer of timestamp everywhere
End wireless transport module 31 is managed, and arithmetic processor 33 is transferred to by processing end wireless transport module 31 and is handled.Work as computing
Processor 33 receive receiving module 1 transmit come correction signal after, arithmetic processor 33 check receive correction signal when
Carve t2, and detect the data message with timestamp received.When arithmetic processor 33 detects the timestamp of data message
The time point of display is later than or equal to t2During the moment, arithmetic processor 33 is at once according to control information to attitude measuring 23
Angle information is corrected, and arithmetic processor 33 is receiving the next correction signal of the transmission of receiving module 1 again after the completion of correction
The no longer timestamp of monitoring data information before.The present embodiment is prevented due to data caused by time delay by delay correction
The accumulation of error, greatly improved the accuracy and availability of equipment.
Compared with prior art, the present invention adjusts x using characteristic point and the mode that specific range is identified is set
The position of axis, z-axis angle zero point, reduces the influence that the error accumulation of attitude measuring 23 is brought, reduces user's
It is inadaptable to feel and add feeling of immersion, there is larger meaning for somatosensory operation and virtual reality.Posture is reset relative to manual
The zero point of detection device 23, the method and system adjustment that attitude measuring 23 of the present invention corrects automatically is more natural and accurate,
On the one hand prevent user with the error brought of " sensations " zeroing, on the other hand make user in use it is natural with not
Consciously return to zero, add feeling of immersion, decrease and deliberately adjust stiff, add game, improve experience effect.Will
Shade 203 is arranged to the symmetric figure that two sections of curves are formed and is conducive to carry out feature recognition so as to judge return to zero
Position, it is very convenient.Method by judging photosphere image point-to-point transmission horizontal distance simplifies identification process.Corrected in transmission
The error that timestamp can effectively eliminate time delay and bring is stamped while information, makes 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)
1. a kind of method that attitude measuring corrects automatically, it is characterised in that including locating module, receiving module, processing mould
Block, the locating module include attitude measuring and positioner, and the positioner includes globe-type luminescence body, described spherical
Be provided with shade on illuminator, the receiving module includes camera, the attitude measuring by following steps into
The automatic correction of row：
S1：The globe-type luminescence body shines, and the receiving module is in reception state；
S2：The receiving module judges whether to transmit control information to the processing mould according to the signal of the camera transmission
Block；
S3：The processing module is corrected the attitude measuring according to the information of the receiving module transmission.
2. the method that attitude measuring according to claim 1 corrects automatically, it is characterised in that the camera has
Pixel detection function, can identify the pixel for the image that the laser of the positioner transmitting is formed on the camera.
3. the method that attitude measuring according to claim 2 corrects automatically, it is characterised in that the shade is
Geometrically symmetric figure, is made of two sections curve, and two intersection points of two sections curve are characterized a little.
4. the method that attitude measuring according to claim 3 corrects automatically, it is characterised in that the locating 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 received to the processing module.
5. the method that attitude measuring according to claim 4 corrects automatically, it is characterised in that the receiving module root
Signal according to the Photoinduction device transmission judges control information 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 equal to right side when the horizontal distance between the left side characteristic point image and the globe-type luminescence body leftmost side pixel
During horizontal distance between the characteristic point image and the globe-type luminescence body rightmost side pixel, the receiving module is to the place
Manage module transmission zeroing x-axis, the information of z-axis.
6. the method that attitude measuring according to claim 5 corrects automatically, it is characterised in that the transmitting terminal insertion
Formula control module is sent after the data message that the attitude measuring is sent is received after data message is stamped timestamp
Handled to the processing module.
7. the method that attitude measuring according to claim 6 corrects automatically, it is characterised in that when the processing module
After receiving the correction signal that the receiving module transmission comes, t at the time of the processing module verification receives correction signal2,
And detect the data message with timestamp that receives, when the processing module detect the data message with timestamp when
Between stab time point of display and be later than or 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 receiving again the receiving module transmission come
The no longer timestamp of monitoring data information before correction signal.
8. the attitude measuring automatic correction system that a kind of method according to claim 11 is corrected, its feature exist
In the locating module includes transmitting terminal wireless transport module, and the processing module includes processing end wireless transport module, described
Information can be transmitted by way of being wirelessly transferred between transmitting terminal wireless transport module and the processing end wireless transport module,
The positioner further comprises globe-type luminescence body, and shade is provided with the globe-type luminescence body.
9. attitude measuring automatic correction system according to claim 8, it is characterised in that the shade is several
What symmetric figure, is made of, two intersection points of two sections curve are characterized a little two sections curve.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710932885.2A CN107941240A (en) | 2017-10-10 | 2017-10-10 | The method and system that attitude measuring corrects automatically |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710932885.2A CN107941240A (en) | 2017-10-10 | 2017-10-10 | The method and system that attitude measuring corrects automatically |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1987000653A1 (en) * | 1985-07-18 | 1987-01-29 | Hughes Aircraft Company | Autonomous spin axis attitude controller for a spinning spacecraft |
| US20030080976A1 (en) * | 2001-10-26 | 2003-05-01 | Kiyohide Satoh | Image display apparatus, method and recording medium |
| CN102353970A (en) * | 2011-06-10 | 2012-02-15 | 北京航空航天大学 | GPS/SINS (global positioning system/strapdown inertial navigation system) combined navigating system with high anti-interference performance and realizing method thereof |
| CN106404000A (en) * | 2016-09-30 | 2017-02-15 | 深圳市虚拟现实科技有限公司 | Method and system for automatically correcting attitude measurement device |
-
2017
- 2017-10-10 CN CN201710932885.2A patent/CN107941240A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1987000653A1 (en) * | 1985-07-18 | 1987-01-29 | Hughes Aircraft Company | Autonomous spin axis attitude controller for a spinning spacecraft |
| US20030080976A1 (en) * | 2001-10-26 | 2003-05-01 | Kiyohide Satoh | Image display apparatus, method and recording medium |
| CN102353970A (en) * | 2011-06-10 | 2012-02-15 | 北京航空航天大学 | GPS/SINS (global positioning system/strapdown inertial navigation system) combined navigating system with high anti-interference performance and realizing method thereof |
| CN106404000A (en) * | 2016-09-30 | 2017-02-15 | 深圳市虚拟现实科技有限公司 | Method and system for automatically correcting attitude measurement device |
Non-Patent Citations (2)
| Title |
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| 李方锁;何树森;王淑玲;于世元;: "动基座姿态传递对准与试验" * |
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