CN102289305B

CN102289305B - Attitude sensing equipment and positioning method thereof and method for controlling mouse pointer

Info

Publication number: CN102289305B
Application number: CN201110252742XA
Authority: CN
Inventors: 龙涛; 刘正东; 龙江; 唐元浩; 严松
Original assignee: Jiangsu Huitong Group Co Ltd
Current assignee: Jiangsu Huitong Group Co Ltd
Priority date: 2011-08-29
Filing date: 2011-08-29
Publication date: 2013-12-11
Anticipated expiration: 2031-08-29
Also published as: CN102289305A; WO2013029301A1

Abstract

The invention relates to attitude sensing equipment and a positioning method thereof as well as a method for controlling a mouse pointer. The attitude sensing equipment comprises at least one inertial device. The positioning method of the attitude sensing equipment comprises the following steps of: establishing a corresponding relation between index values and parameters of a sensitive axis, wherein the index values correspond to measured values of the sensitive axis of the inertial device, and the parameters of the sensitive axis comprise an inclination angle of the sensitive axis of the inertial device and a trigonometric function value of the inclination angle and/or coordinate values, determined according to the inclination angle of the sensitive axis, of the sensitive axis of the inertial device; acquiring the measured values of each sensitive axis of the inertial device; and inquiring the corresponding relation according to the index values corresponding to the acquired measured values to determine a space coordinate of the attitude sensing equipment. According to the technical scheme, the attitude sensing equipment can be positioned quickly and the power consumption can be reduced.

Description

The control method of attitude sensing equipment and localization method thereof, mouse pointer

Technical field

The present invention relates to field of locating technology, particularly the control method of a kind of attitude sensing equipment and localization method thereof, mouse pointer.

Background technology

At present, the location great majority of computer mouse pointer all rely on optical sensor or laser sensor to realize, these sensors, all based on the physical optics principle, make sensor need to rely on the platforms such as desktop to realize.But in a lot of occasions, for example, in computer multimedia teaching, the user thinks to control mouse pointer aloft or realizes the application such as multimedia television broadcasting, web page browsing by controlling mouse pointer aloft, only uses traditional sensor just can't realize, so air mouse is arisen at the historic moment.Air mouse is a kind of input equipment, function screen cursor (mouse pointer) as conventional mouse, but do not need to be placed on any plane, rock the perception that just can directly rely on the aerial sports attitude aloft and realize the control to mouse pointer.Realize the perception of aerial sports attitude, generally for example, in attitude sensing equipment (air mouse) inertia device is set, utilize the inertia device measuring technique to realize the tracking to the motion carrier attitude.

The tracking that utilizes the inertia device measuring technique to carry out the motion carrier attitude has boundless prospect.The ultimate principle of inertia tracker is on target initial position and the known basis of attitude, according to principle of inertia, utilize the inertia devices such as gyro sensor, acceleration transducer to measure angular velocity and the linear acceleration of object of which movement, then by integration, obtain position and the attitude of object.Wherein, the gyroscope ultimate principle is while using the objects at high speed rotation, and powerful angular momentum makes the turning axle stable character of pointing to a direction always, manufacturing directed instrument out.Point to when inconsistent when direction of motion and rotating shaft, can produce corresponding drift angle, then according to the relation of drift angle and motion, movement locus and the position of moving object up till now, thereby realize the function of location.And the acceleration transducer technology is the detection synthesis of inertia and power, at automotive electronics and consumer electronics field, more application is arranged at present.Acceleration transducer, by Real-time Collection moving object acceleration signal, obtains the track realization location of motion by the mode of Second Order Integral.In addition, at device, under metastable state, can pass through analyte sensors part self gravitation acceleration, self attitude of device up till now.Yet, because all existing moving object attitude and motion state, gyro sensor technology and acceleration transducer technology be difficult to the deficiency embodied fully, therefore, usually by gyro sensor technology and the combination of acceleration transducer technology, thus Stability and veracity that can the location, implementation space.

But, in prior art, the angular velocity that is no matter gyro sensor by measuring its sensitive axes and then utilize integral operation to show that pitch angle is to determine changes in coordinates, or the component of acceleration of acceleration transducer by measuring each sensitive axes and then show that by the inverse trigonometric function computing pitch angle is to determine changes in coordinates, all need to carry out complex calculations (integral operation, inverse trigonometric function computing etc.), and mostly relate to floating-point operation in these computings, this is for the processing controls chip in attitude sensing equipment, microcontroller (MCU for example, Micro Control Unit), if select the relatively weak MCU of processing power, due to its limited processing power, need to expend more resource carrying out complexity during a large amount of computing, cause processing speed slower, and there is higher power consumption, if select the MCU that processing power is stronger, can make again cost increase.

The international patent application that correlation technique can be also WO2005108119 (A2) with reference to publication number, this Patent Application Publication a kind of with slope compensation with improve the free space positioning equipment of availability.

Summary of the invention

The problem to be solved in the present invention is that in prior art, attitude sensing equipment utilizes its inertia device measured angular speed or/and component of acceleration obtains pitch angle when determining changes in coordinates, because complicated a large amount of calculating need to expend more resource, cause processing speed slower, and there is higher power consumption.

For addressing the above problem, technical scheme of the present invention provides a kind of localization method of attitude sensing equipment, and described attitude sensing equipment comprises at least one inertia device, and the localization method of described attitude sensing equipment comprises:

Set up the corresponding relation between the parameter of index value and sensitive axes, the measured value institute of described index value and the sensitive axes of described inertia device is corresponding, and the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle of sensitive axes of described inertia device and trigonometric function value and/or the pitch angle based on described sensitive axes thereof are definite;

Obtain the measured value of each sensitive axes of described inertia device;

The index value that measured value based on obtained is corresponding is inquired about described corresponding relation, determines the volume coordinate of described attitude sensing equipment.

Optionally, the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle based on described sensitive axes is determined; The index value that measured value based on obtained is corresponding is inquired about described corresponding relation, determines that the volume coordinate of described attitude sensing equipment comprises:

The index value that measured value based on obtained is corresponding is inquired about described corresponding relation, obtains the coordinate figure of the sensitive axes of the inertia device corresponding with described index value;

The coordinate figure of the sensitive axes of the inertia device based on inquiring is determined the volume coordinate of described attitude sensing equipment.

Optionally, the parameter of described sensitive axes comprises pitch angle and the trigonometric function value thereof of the sensitive axes of described inertia device; The index value that measured value based on obtained is corresponding is inquired about described corresponding relation, determines that the volume coordinate of described attitude sensing equipment comprises:

The index value that measured value based on obtained is corresponding is inquired about described corresponding relation, obtains pitch angle and the trigonometric function value thereof of the sensitive axes corresponding with described index value;

The pitch angle of the sensitive axes of the inertia device based on inquiring and trigonometric function value thereof, determine the volume coordinate of described attitude sensing equipment.

Optionally, the localization method of described attitude sensing equipment also comprises: the volume coordinate at least two continuous definite attitude sensing equipments is carried out interpolation arithmetic, with all volume coordinates that obtain after interpolation arithmetic, locates described attitude sensing equipment.

Optionally, carry out interpolation arithmetic and comprise: if the acceleration that in first schedule time, described volume coordinate changes is less than predetermined threshold value, carries out linear interpolation arithmetic, otherwise carry out the parabola interpolation computing.

Optionally, progressively reduce by pitch angle corresponding slope order from large to small the configuration that segmentation precision is determined the parameter of sensitive axes in described corresponding relation.

The trigonometric function value at pitch angle that optionally, will be corresponding with described index value enlarges prearranged multiple and rounds.

Optionally, the volume coordinate of described definite described attitude sensing equipment comprises the volume coordinate of determining described attitude sensing equipment with stable sensitive axes; Judge sensitive axes stable comprising whether: if in buffer area, the quantity of different index values is less than or equal to first threshold, and the difference between each index value all is less than or equal to Second Threshold, determines that this sensitive axes is stable; Described buffer area has the index value obtained every second schedule time.

Optionally, described inertia device is Gravity accelerometer, and it at least comprises two orthogonal sensitive axes, and one of them sensitive axes is perpendicular to ground level.

Optionally, described Gravity accelerometer is the condenser type Gravity accelerometer, the capacitance of the sensitive axes that described measured value is described condenser type Gravity accelerometer.

Optionally, the localization method of described attitude sensing equipment also comprises based on described index value with perpendicular to the spatial attitude of the described attitude sensing equipment of orientation determination of the sensitive axes of ground level.

Optionally, described inertia device is gyro sensor, the magnitude of voltage of the sensitive axes that described measured value is described gyro sensor.

For addressing the above problem, technical scheme of the present invention also provides a kind of control method of mouse pointer, comprise: determine the variation of the volume coordinate of air mouse with the localization method of above-mentioned attitude sensing equipment, by the variable quantity of described volume coordinate divided by sensitivity coefficient after output with the movement of mouse beacon pointer.

For addressing the above problem, technical scheme of the present invention also provides a kind of attitude sensing equipment, and described attitude sensing equipment comprises at least one inertia device, also comprises:

The corresponding relation generation unit, for the corresponding relation between the parameter of setting up index value and sensitive axes, the measured value institute of described index value and each sensitive axes of described inertia device is corresponding, and the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle of sensitive axes of described inertia device and trigonometric function value and/or the pitch angle based on described sensitive axes thereof are definite;

Acquiring unit, for the measured value of each sensitive axes of obtaining described inertia device;

Positioning unit, for the measured value based on obtaining, corresponding index value is inquired about described corresponding relation, determines the volume coordinate of described attitude sensing equipment.

Compared with prior art, the technical program at least has the following advantages:

By the corresponding relation between the parameter (coordinate figure of the sensitive axes of the described inertia device that pitch angle and trigonometric function value thereof and/or the pitch angle based on described sensitive axes are determined) of setting up index value and sensitive axes, after the measured value of the sensitive axes that gets inertia device, index value based on corresponding with described measured value is inquired about described corresponding relation, can obtain fast the coordinate figure of the sensitive axes of the described inertia device determined with the corresponding pitch angle of described index value and trigonometric function value thereof and/or the pitch angle based on described sensitive axes, and then determine that fast volume coordinate is in order to locate in time attitude sensing equipment, a large amount of calculating (integral operation owing to having avoided complexity, inverse trigonometric function computing etc.), therefore can improve processing speed, and make power-dissipation-reduced.

The trigonometric function value at the pitch angle by will be corresponding with index value enlarges prearranged multiple and rounds, and has avoided floating-point operation, thereby can calculate with the microcontroller implementation of relative low side, reduce cost.

Due to the speed that has improved definite volume coordinate, therefore with respect to prior art, within the same time, can export more volume coordinate, can improve the sensitivity that the space mouse pointer is controlled.

The accompanying drawing explanation

Fig. 1 is the schematic flow sheet of the localization method of the attitude sensing equipment that provides of embodiment of the present invention;

Fig. 2 determines the schematic diagram of volume coordinate according to the pitch angle of sensitive axes;

Fig. 3 is the segmentation precision schematic diagram at the concordance list medium dip angle, pitch angle of the embodiment of the present invention one;

Fig. 4 is the spatial attitude identification schematic diagram after the Gravity accelerometer of the embodiment of the present invention one is opened;

Fig. 5 is the schematic diagram of linear interpolation arithmetic;

Fig. 6 is the schematic diagram of parabola interpolation computing;

Fig. 7 is the structural representation of the attitude sensing equipment that provides of the embodiment of the present invention one;

Fig. 8 is the structural representation of the attitude sensing equipment that provides of the embodiment of the present invention two.

Embodiment

In prior art, attitude sensing equipment utilizes its inertia device measured angular speed or/and component of acceleration obtains pitch angle when determining changes in coordinates, because complicated a large amount of calculating need to expend more resource, causes that processing speed is slow, power consumption is higher.The technical program is by the corresponding relation between the parameter (coordinate figure of the sensitive axes of the described inertia device that pitch angle and trigonometric function value thereof and/or the pitch angle based on described sensitive axes are determined) of setting up index value and sensitive axes, after the measured value of the sensitive axes that gets inertia device, index value based on corresponding with described measured value is inquired about described corresponding relation, can obtain fast the coordinate figure of the sensitive axes of the described inertia device determined with the corresponding pitch angle of described index value and trigonometric function value thereof and/or the pitch angle based on described sensitive axes, and then determine that fast volume coordinate is in order to locate in time attitude sensing equipment, a large amount of calculating owing to having avoided complexity, therefore can improve processing speed, and make power-dissipation-reduced.

For above-mentioned purpose of the present invention, feature and advantage can more be become apparent, below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Set forth detail in the following description so that fully understand the present invention.But the present invention can be different from alternate manner described here and implements with multiple, and those skilled in the art can be in the situation that do similar popularization without prejudice to intension of the present invention.Therefore the present invention is not subject to the restriction of following public embodiment.

Fig. 1 is the schematic flow sheet of the localization method of the attitude sensing equipment that provides of embodiment of the present invention.The described attitude sensing equipment of embodiment of the present invention comprises at least one inertia device, and as shown in Figure 1, the localization method of described attitude sensing equipment comprises:

Step S101, set up the corresponding relation between the parameter of index value and sensitive axes, the measured value institute of described index value and each sensitive axes of described inertia device is corresponding, and the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle of sensitive axes of described inertia device and trigonometric function value and/or the pitch angle based on described sensitive axes thereof are definite;

Step S102, obtain the measured value of each sensitive axes of described inertia device;

Step S103, the index value that the measured value based on obtained is corresponding is inquired about described corresponding relation, determines the volume coordinate of described attitude sensing equipment.

Below with two specific embodiments, the localization method to above-mentioned attitude sensing equipment elaborates.

Embodiment mono-

In the present embodiment, described attitude sensing equipment is specially air mouse, and described inertia device is acceleration transducer, further, this acceleration transducer is the condenser type Gravity accelerometer, and it at least comprises two orthogonal sensitive axes, and one of them sensitive axes is perpendicular to ground level.During concrete enforcement, what generally select is three axle Gravity accelerometers, will be designated as perpendicular to the sensitive axes of ground level the z axle, and all the other two sensitive axes are mutually vertically and respectively perpendicular to the z axle, be designated as respectively x axle, y axle, the plane parallel that x axle and y axle form is in ground level.The requirement reached due to current air mouse is only the two-dimentional coordinate-system that is actually of realizing on screen, therefore adopt any diaxon in three axles can reach necessary requirement (determining the coordinate in the two-dimensional coordinate system), for example choose x axle and z axle (plane parallel that x axle and z axle form is in screen), although what spatially realize is Three-Dimensional Dynamic, and only require and realize that two-dimensional coordinate gets final product, therefore do not use temporarily the y axle in the present embodiment on screen.Certainly, in other embodiments, for example, if add the y axle can realize the processing (in 3D game to the control of mouse) of screen Three-Dimensional Dynamic effect, in addition, can also use the calibration of y axle as other two axis data.

Those skilled in the art know, Gravity accelerometer is usingd gravity and is decided the direction of object in space as input vector, and pitch angle is exactly the angle of gravity and its sensitive axes, when gravity is vertical with its sensitive axes, it is the most responsive to tilting, the highest in the sensitivity at Shang Qidui inclination angle, this orientation.When sensitive axes is parallel with gravity, every inclination 1 degree all causes the variation of output acceleration.Below the simple principle of lower Gravity accelerometer to incline measurement of introducing.Because the direction of gravity is constant, all the time vertically plane is downward, when certain sensitive axes of acceleration transducer and gravity form pitch angle, the acceleration of this sensitive axes that can be based on measuring, pass through trigonometric function, can draw the relation between acceleration and pitch angle, for example, in the situation that single sensitive axes (x axle):

A _x＝g _n*cosβ

In above-mentioned expression formula, A _xvalue for the acceleration of x sensitive axes; g _nfor the acceleration as a reference with gravity; β is angle of inclination.So the value of β can obtain by the inverse cosine function Solving Equations, i.e. β=arccos (A _x/ g _n).Certainly, also can calculate pitch angle by other inverse trigonometric function.If while having a plurality of sensitive axes, can determine volume coordinate according to the component of acceleration of each sensitive axes and gravity formation pitch angle and each sensitive axes.Fig. 2 determines the schematic diagram of volume coordinate according to the pitch angle of sensitive axes.As shown in Figure 2, establishing original coordinate axis data and be respectively X, Y, Z, is X1, Y1, Z1 after changing, and the pitch angle of z axle is α, and the pitch angle of x axle is θ, significantly, and θ=90 °-α:

Y1＝Y

Z1＝Z*cosα+X*sinα

X1＝-Z*sinα+X*cosα

By matrix relationship, be expressed as:

[\begin{matrix} Y 1 \\ Z 1 \\ X 1 \end{matrix}] = [\begin{matrix} 1 & 0 & 0 \\ 0 & \cos α & \sin α \\ 0 & - \sin α & \cos α \end{matrix}] [\begin{matrix} Y \\ Z \\ X \end{matrix}]

Therefore, the pitch angle that only need to calculate the z axle is α, just can determine the volume coordinate (X1, Y1, Z1) after variation.Especially, in the two-dimensional coordinate system of x axle and z axle formation, only need to obtain coordinate (X1, Z1).Certainly, can determine equally the volume coordinate after variation by the tiltangleθ of x axle.

Yet, in prior art, according to the accekeration measured, calculate pitch angle, need the inverse trigonometric function computing, and computing machine is unusual consumes resources when carrying out the inverse trigonometric function computing, the relatively weak MCU for processing power, because of its limited processing power, cause processing speed slower, and then cause determining that the speed of volume coordinate also can be slower, and power consumption is higher, if but select the MCU that processing power is stronger, can make again cost increase.

In the present embodiment, pitch angle and the corresponding relation between trigonometric function value thereof of the sensitive axes by setting up index value and described inertia device (in the present embodiment for Gravity accelerometer) can address the above problem, and the parameter of sensitive axes described in step S101 comprises pitch angle and the trigonometric function value thereof of the sensitive axes of described inertia device.Particularly, set up the pitch angle of sensitive axes of index value and Gravity accelerometer and the corresponding relation between trigonometric function value thereof, described index value is corresponding with the measured value institute of each sensitive axes of described inertia device.Because the condenser type Gravity accelerometer can be converted to the acceleration of measuring the electric capacitance change of capacitor, the difference of the capacitance recorded, the value be reflected in register is also different, therefore can the value in its corresponding register be set according to the capacitance of sensitive axes actual measurement under different acceleration or the scope of capacitance, and and pitch angle now and trigonometric function value thereof between set up corresponding relation, for example, when the value in register is 1, corresponding pitch angle is 2.69 degree, 2.69 the sine value of degree is about 0.046932, 2.69 the cosine value of degree is about 0.998898, described corresponding relation is stored in to ROM (read-only memory) (ROM with the form of showing, Read-Only Memory) in, at the present embodiment, this table is called to the pitch angle concordance list.It should be noted that, the described index value in step S101 specifically is the value in above-mentioned register, referred to as register value.

After opening Gravity accelerometer, the condenser type Gravity accelerometer can record the capacitance that the component of acceleration based on each sensitive axes transforms, perform step S102, obtain the measured value of each sensitive axes of inertia device, wherein, described measured value specifically is the capacitance recorded, and then, MCU can read and the corresponding register value of the capacitance recorded from register.

After reading register value, inquire about described pitch angle concordance list based on described register value, can rely on described corresponding relation directly to obtain the corresponding pitch angle of this register value and trigonometric function value thereof, and the coordinate figure of the described pitch angle based on inquiring and trigonometric function value thereof the sensitive axes of determining described Gravity accelerometer, thereby determine that the volume coordinate of attitude sensing equipment is to realize the location to it, perform step S103, the index value that measured value based on obtained is corresponding is inquired about described corresponding relation (pitch angle concordance list), determine the volume coordinate of described attitude sensing equipment.

It should be noted that, while setting up the pitch angle of sensitive axes of index value, described inertia device and the corresponding relation between trigonometric function value (setting up the pitch angle concordance list in the present embodiment) thereof, the deflection of sensitive axes (deflection generation pitch angle) need to be divided into to four different quadrants, the scope at each quadrant medium dip angle is all from 0 degree to 90 degree, the trigonometric function value that different angle values is corresponding different, wherein the most key is what kind of segmentation precision to configure the pitch angle in described corresponding relation (pitch angle concordance list) with.On the one hand, segmentation precision need to consider that the demand of application is configured, such as 0.5 degree or 0.1 degree, higher segmentation precision can guarantee the accuracy of follow-up determined volume coordinate.But segmentation precision is higher, the quantity at concordance list medium dip angle, pitch angle is also more, and the memory space of data is also larger, also to MCU, has higher requirement simultaneously, such as the segmentation precision when pitch angle is accurate to 0.1 while spending, just needs the ROM storage space of the 4K of MCU.Therefore, on the other hand, also need to consider storage space and the travelling speed of MCU for the pitch angle in the concordance list of configuration pitch angle.

In the present embodiment, be progressively to reduce segmentation precision by pitch angle corresponding slope order from large to small to determine the configuration of concordance list medium dip angle, described pitch angle and trigonometric function value thereof (the configuration of having determined pitch angle has determined the configuration of its trigonometric function value).Fig. 3 is the segmentation precision schematic diagram at the concordance list medium dip angle, pitch angle of the embodiment of the present invention one.As shown in Figure 3, the sine value corresponding to pitch angle of 0 degree to 90 degree of take is example, and the slope that A is ordered is greater than the B point, and therefore, under the condition of identical segmentation precision, near A point, the variation of corresponding sine value is greater than near the variation of the sine value of the correspondence of B point.Thus, can consider to arrange relatively higherly by near the segmentation precision at pitch angle corresponding the A point, and arrange relatively lowlyer by near the segmentation precision at pitch angle corresponding the B point, for example, in the tilt angle ranges of 0 to 45 degree, multiselect is got several angles and trigonometric function value deposits described pitch angle concordance list (segmentation precision is relatively high) in, choose less several angles and trigonometric function value at 45 to 90 degree and deposit described pitch angle concordance list (segmentation precision is relatively low) in, so just can both guarantee to a certain extent the accuracy of follow-up determined volume coordinate, reduced again the storage space of MCU and the requirement of travelling speed.Still consult Fig. 3, in the present embodiment, progressively reduce according to pitch angle corresponding slope order from large to small the configuration that segmentation precision is determined concordance list medium dip angle, described pitch angle and trigonometric function value thereof, be that pitch angle is from 0 degree to 90 degree, corresponding slope progressively diminishes, and deposit difference between the pitch angle in the concordance list of pitch angle in, increasing (between angle, difference is larger, segmentation precision is lower), for instance, pitch angle is from 0 degree to 90 degree, start most to select 0 degree, 2.69 degree, 5.38 degree, 8.08 degree, 10.81 degree, segmentation precision is respectively 2.69 degree (2.69 degree-0 degree), 2.69 degree (5.38 degree-2.69 degree), 2.7 degree (8.08 degree-5.38 degree), 2.73 degree (10.81 degree-8.08 degree), can find out that segmentation precision is progressively reducing, and select finally 57.54 degree, 62.95 degree, 69.64 degree, 79.86 degree, segmentation precision is respectively 5.41 degree, 6.69 degree, 10.22 degree, can find out that segmentation precision is more and more lower.It should be noted that, above-mentionedly progressively reduce segmentation precision by pitch angle corresponding slope order from large to small and determine that the mode of the configuration of concordance list medium dip angle, described pitch angle and trigonometric function value thereof is a kind of cardinal rule of choosing pitch angle, during concrete enforcement, under this cardinal rule, can determine according to actual conditions the configuration of concordance list medium dip angle, pitch angle and trigonometric function value thereof, as shown in the table, table 1 is repeatedly to measure the example of rear determined pitch angle concordance list according to actual conditions.

Table 1

In table 1, listed the angle value at 23 pitch angle selected from 0 degree to 90 degree, the angle value at each pitch angle, to an index value should be arranged, is followed successively by 0～22.0 degree and 90 these two end points of degree are generally that any pitch angle concordance list is essential, and the pitch angle between 0 degree～90 degree can progressively reduce the cardinal rule of segmentation precision and determine in conjunction with actual conditions by pitch angle corresponding slope order from large to small according to above-mentioned.

It should be noted that, usually relate to floating-point operation in the computing due to the participation of inverse trigonometric function value, and be difficult to realize processing fast the complicated and a large amount of floating-point operation MCU relatively weak for processing power, if but select the MCU that processing power is stronger, can increase cost again.Therefore in the present embodiment, the method for taking is to be stored in described pitch angle concordance list by the trigonometric function value at the pitch angle corresponding with index value expansion prearranged multiple and after rounding.As shown in table 1, the trigonometric function value at the corresponding pitch angle of index value comprises sine value (sin) and cosine value (cos), wherein, sine value has two row, the left side one row are to round after the sine value at the corresponding pitch angle of index value is enlarged to 10000 times, and the right one row are to round after the sine value at the corresponding pitch angle of index value is enlarged to 100 times; Similarly, cosine value also has two row, and the left side one row are to round after the cosine value at the corresponding pitch angle of index value is enlarged to 10000 times, and the right one row are to round after the cosine value at the corresponding pitch angle of index value is enlarged to 100 times.The prearranged multiple of described expansion can be set according to the actual requirements, if need higher computational accuracy, it is larger that the prearranged multiple that trigonometric function value should be enlarged is set ground, if to computational accuracy require relatively lowly, it is a little that the prearranged multiple that trigonometric function value can be enlarged is set the ground less.Certainly, it is larger that the prearranged multiple that trigonometric function value is enlarged is set ground, means that the calculated amount that MCU need to carry out also can be larger.In a word, the trigonometric function value at the pitch angle by will be corresponding with index value enlarge prearranged multiple and round after be stored in described pitch angle concordance list, avoid floating-point operation, thereby can for example, realize calculating with the microcontroller (can adopt the MCU of 8) of relative low side, reduced cost.In other embodiments, if to precision require highly, and have the stronger MCU of processing power to support, can use the trigonometric function value at the pitch angle corresponding with index value to participate in floating-point operation.

The above-mentioned query script to the pitch angle concordance list can realize that by binary search binary search is conventional means in prior art, does not repeat them here.

In addition, in the present embodiment, the localization method of described attitude sensing equipment also comprises by judging the whether stable of sensitive axes, determines the value of the volume coordinate of attitude sensing equipment with the stable trigonometric function value that sensitive axes was obtained.Due in the specific implementation, the stability of each sensitive axes of described attitude sensing equipment may be not identical, the corresponding pitch angle drawn is also different, can produce the value of different separately volume coordinates thus, now just need to the corresponding trigonometric function value in the resulting pitch angle of sensitive axes based on stable determine the value of volume coordinate.For example: can adopt x axle and z axle to do mutually compensation, the index value which stabilizer shaft just adopts stable sensitive axes to obtain simultaneously.Usually, while moving horizontally, the z stabilizer shaft; During vertical the movement, the x stabilizer shaft; Oblique movement, x, the z axle is all unstable, the index value before now returning when stablizing.Concrete judge whether sensitive axes is stable and can take following mode: if in buffer area, the quantity of different index values is less than or equal to first threshold, and the difference between each index value (absolute value) all is less than or equal to Second Threshold, determines that this sensitive axes stablizes; Described buffer area has the index value obtained every second schedule time.During concrete enforcement, variation along with each sensitive axes acceleration, the index value that is arranged in register also can change to some extent, and the index value read in second schedule time is deposited in a buffer area, can judge that whether sensitive axes is stable by the data of analyzing in this buffer area.Described first threshold is desirable 3, and Second Threshold is desirable 2, that is: the quantity when certain sensitive axes different index value in buffer area is less than or equal to 3, and the difference between each index value all is less than or equal to 2, can determine that this sensitive axes is stable.For instance, suppose that the index value of x axle in buffer area comprises: 22,22,22,21,21,20,20,20,19,19,18,18,17,17, and the index value of z axle in buffer area comprises: 2,2,2,2,2,2,3,3,3,3,3,3,3,3.Analysis by the index value in buffer area is known: the quantity of x axle different index value in buffer area has 6, and between minimum index value and maximum index value, difference is 4, the difference do not met between each index value all is less than or equal to 2, determines that the x axle plays pendulum; And the quantity of z axle different index value in buffer area is only 2, and between minimum index value and maximum index value, difference is 1, and the difference that can meet between each index value all is less than or equal to 2, determines that the z axle is in steady state (SS).It should be noted that, the difference described in the present embodiment between index value refers to absolute value poor between index value.

In addition, data in buffer area (index value) can also be used to judgement and pause, as entirely just, when negative or difference maximum index value and minimum index value is less than certain number entirely, just automatically detect be as described in the awareness apparatus state that seizes up, standstill state also belongs to a kind of of steady state (SS).Index value before can returning when sensitive axes is all unstable, but, as long as slightly have pause, Gravity accelerometer will think to have stablized, will acceleration change be detected immediately and convert volume coordinate to.The control of air mouse of take is example, such as just starting it is that level is taken, and motion obliquely upward suddenly, if stable (slightly have and pause or other stable situations) do not detected, mouse can move horizontally, once detect stablely, mouse will move along oblique upper.As long as, because stable (if any pausing) detected, the acceleration of gravity sensing will be exported correct value.In actual life, when hand-held air mouse is controlled, motion state in unsettled (such as obliquely) always, pause or the Data Detection in buffer area is determined to sensitive axes is stable if slightly have, will export correct index value and the index value in steady state (SS) before can not returning.

As previously mentioned, while setting up the pitch angle concordance list, the deflection of sensitive axes (deflection generation pitch angle) need to be divided into to four different quadrants (quadrant that means the place, pitch angle that deflection produces), the scope at each quadrant medium dip angle is all from 0 degree to 90 degree, the trigonometric function value that different angle values is corresponding different, have identical angle value but when different quadrant, resulting trigonometric function value has positive and negative minute, and corresponding index value also has positive and negative minute.Therefore, in the present embodiment, after opening Gravity accelerometer, also can be based on described index value with perpendicular to the spatial attitude of the described attitude sensing equipment of orientation determination of the sensitive axes (z axle) of ground level.Described spatial attitude specifically refers to that attitude sensing equipment is just to take, instead take, whether have deflection and inclined to one side to which direction.Particularly, can be to be greater than zero, to equal zero or to be less than zero according to index value, and mean that the axial value of z is to be less than for zero (direction upwards) or to be greater than zero the spatial attitude that (direction is downward, and the direction of gravity of take is positive dirction) determines attitude sensing equipment.The axial value of described expression z can be averaged and obtain after judging by the value to data in buffer area (index value).As previously mentioned, Gravity accelerometer is in operational process, and described buffer area has the index value obtained every second schedule time, by the analysis of the described index value in buffer area, whether stablely can judge sensitive axes.For example: the data (index value) of setting in the present embodiment in buffer area are 14, if in these 14 data in complete just or entirely negative and buffer area the value of data be no more than 3 different, and gap is not more than at 2 o'clock, judges that current sensitive axes is stable.Further, can just export 1 if average is positive number to the computing of being averaged of the value of the data in buffer area, if average is just output-1 of negative, and output 1 or-1 be the axial value of described expression z.Especially, if the value of the data in buffer area entirely on the occasion of and to judge sensitive axes stable be sure output 1, if entirely for negative value and to judge sensitive axes stable be output-1 certainly.

Fig. 4 is the spatial attitude identification schematic diagram after the Gravity accelerometer of the embodiment of the present invention one is opened.As shown in Figure 4, after Gravity accelerometer is opened, can and mean that according to index value the value of the direction of z axle is identified the spatial attitude of attitude sensing equipment, particularly:

If index value equals zero, (zero deflection) and the axial value of expression z are less than zero, just are identified as and take;

If index value equals zero, (zero deflection) and the axial value of expression z are greater than zero, are identified as counter taking;

If index value is less than zero (deflection is arranged) and means that the axial value of z is less than zero, be identified as first quartile, now being calculated as of the volume coordinate pitch angle γ of x axle (take be example):

X1＝X*cosγ+Z*sinγ

Z1＝-X*sinγ+Z*cosγ

If index value is less than zero (deflection is arranged) and means that the axial value of z is greater than zero, be identified as the second quadrant, now being calculated as of the volume coordinate pitch angle γ of x axle (take be example):

X1＝-X*cosγ+Z*sinγ

Z1＝-X*sinγ-Z*cosγ

If index value is greater than zero (deflection is arranged) and means that the axial value of z is greater than zero, be identified as third quadrant, now being calculated as of the volume coordinate pitch angle γ of x axle (take be example):

X1＝-X*cosγ-Z*sinγ

Z1＝X*sinγ-Z*cosγ

If index value is greater than zero (deflection is arranged) and means that the axial value of z is less than zero, be identified as fourth quadrant, now being calculated as of the volume coordinate pitch angle γ of x axle (take be example):

X1＝X*cosγ-Z*sinγ

Z1＝X*sinγ+Z*cosγ

Associative list 1, can obtain its corresponding pitch angle and trigonometric function value thereof based on index value, the above-mentioned formula of trigonometric function value substitution just can be calculated to the coordinate figure of the sensitive axes of Gravity accelerometer, thereby determine the value (being two-dimensional coordinate in the present embodiment) of volume coordinate.It should be noted that, corresponding pitch angle and trigonometric function value thereof when only listing index value in table 1 and being more than or equal to zero, and corresponding pitch angle and trigonometric function value unlisted thereof when index value is less than to zero, but can implement with reference to table 1.For example: index value is 1 o'clock, and the corresponding tilt angle is 2.69 degree, and, when index value is-1, the corresponding tilt angle still can be 2.69 degree.As previously mentioned, the positive and negative pitch angle quadrant of living in just can be used for producing after sensitive axes deflection in conjunction with the axial value of expression z of index value is identified, and at different quadrants, drawn trigonometric function value has positive and negative dividing at described pitch angle.

During concrete enforcement, for can mouse beacon the motion of pointer more level and smooth, air mouse need to be exported more volume coordinate, therefore, in the present embodiment, describedly locate described attitude sensing equipment with described volume coordinate and also comprise: the volume coordinate at least two continuous definite attitude sensing equipments is carried out interpolation arithmetic, with all volume coordinates that obtain after interpolation arithmetic, locates described attitude sensing equipment.Particularly, can by determining the acceleration that in first schedule time, volume coordinate changes, (be the component of acceleration of x axle and z axle, can directly record by Gravity accelerometer), if described acceleration is less than predetermined threshold value, carry out linear interpolation arithmetic, otherwise carry out the parabola interpolation computing.

Linear interpolation is the simple form of Algebraic interpolation.Fig. 5 is the schematic diagram of linear interpolation arithmetic.Suppose that variable y and independent variable x relation are as shown in Fig. 5 curve y=f (x).Known y is at an x ₀and x ₁respective value y ₀and y ₁, need now with a linear interpolation function g (x)=ax+b the approximate f (x) that replaces.According to interpolation condition, should meet:

ax ₀+b＝y ₀

ax ₁+b＝y ₁

Separate this system of equations, just can determine parameter a and the b of linear interpolation function g (x).As shown in Figure 5, the geometric meaning of linear interpolation is with passing through a some A (x ₀, y ₀) and some B (x ₁, y ₁) straight line replace approx curve y=f (x), this straight line expression formula that can be easy to ask:

g (x) = y_{0} + \frac{y_{1} - y_{0}}{x_{1} - x_{0}} ({x - x}_{0})

(point slope form)

Or

g (x) = y_{0} (\frac{x_{1} - x}{x_{1} - x_{0}}) + y_{1} (\frac{x_{0} - x}{x_{0} - x_{1}})

(two point form)

Interpolation knot x ₀and x ₁between spacing less, the error between this interval g (x) and f (x) is just less so.If interpolation point x is at x ₀and x ₁between, be called interpolation, otherwise be called extrapolation, generally only consider the interpolation situation.

If described acceleration is more than or equal to predetermined threshold value, just it is improper to adopt above-mentioned linear interpolation algorithm to carry out computing, on interpolation arithmetic, should be presented as the non-linear interpolation computing, can adopt the parabola interpolation algorithm in the present embodiment.Parabola interpolation is called again quadratic interpolation, and it is to remove a certain section curve of matching with the One-place 2-th Order polynomial expression, and precision is naturally high than linear interpolation.Fig. 6 is the schematic diagram of parabola interpolation computing, as shown in Figure 6, and 3 A (x on a known curve y=f (x) ₀, y ₀), B (x ₁, y ₁), C (x ₂, y ₂); Cross at these 3 and can make a para-curve, i.e. a quafric curve g (x), and be unique.

Can establish: g (x)=ax ²+ bx+c

Known: g (x _i)=f (x _i) wherein: i=0,1,2

Can obtain system of equations thus:

ax ₀ ²++bx ₀+c＝y ₀

ax ₁ ²++bx ₁+c＝y ₁

ax ₂ ²++bx ₂+c＝y ₂

Certainly separating this equation method has a lot, such as the method for undetermined coefficients commonly used, the Lagrangian Form that comprises parabola interpolation, Newtonian forms etc., generally can consider to carry out successively linear interpolation on the basis of linear interpolation, also than being easier to use tricks to calculate the machine program, realizes.

Known three point (x ₀, y ₀), (x ₁, y ₁), (x ₂, y ₂) and the x of interpolation point, the y value.

With rectilinear point inclined formula:

The first step: cross point (x ₀, y ₀), (x ₁, y ₁) make straight line L ₀₁,

L_{01} = y_{0} + \frac{y_{1} - y_{0}}{x_{1} - x_{0}} ({x - x}_{0})

Second step: cross point (x ₀, y ₀), (x ₂, y ₂) make straight line L ₀₂,

L_{02} = y_{0} + \frac{y_{2} - y_{0}}{x_{2} - x_{0}} ({x - x}_{0})

The 3rd step: by (x ₁, L ₀₁), (x ₂, L ₀₂) also be interpreted as " point ", cross these 2 works " straight line ", be designated as L ₀₁₂,

L_{012} = L_{01} + \frac{L_{02} - L_{01}}{x_{2} - x_{1}} ({x - x}_{1})

The 4th step: L ₀₁, L ₀₂the substitution above formula:

L_{012} = y_{0} + \frac{y_{1} - y_{0}}{x_{1} - x_{0}} ({x - x}_{0}) + [\frac{\frac{y_{2} - y_{0}}{x_{2} - x_{0}} - \frac{y_{1} - y_{0}}{x_{1} - x_{0}}}{x_{2} - x_{1}}] ({x - x}_{0}) ({x - x}_{1})

Can express:

L ₀₁₂(x _i)＝y _i，(i＝0，1，2)

So, L ₀₁₂be exactly desired quadratic interpolation polynomial expression g (x).

By scrutinizing L ₀₁₂, can find out,

be single order difference coefficient (speed), and the fraction in square bracket is second order difference coefficient (acceleration).The above-mentioned result by two linear interpolations obtains g (x), so can be called successively linear interpolation.Therefore complete owing to can directly calling the linear interpolation algorithm program, calculate very convenient, certainly in the embodiment of the present invention, only consider the situation of interpolation.

When the application interpolation algorithm, should consider two following concrete problems:

1, choosing about interpolation point: in the single-chip microcomputer application, often function commonly used, the form with form is solidificated in program storage.For example,, for arbitrary given interpolation point x, x ₀and x ₁the functional value y of respective value ₀and y ₁, then just can carry out interpolation arithmetic, try to achieve the value of interpolation point (x, y).

2, about precision and complexity: in order to improve interpolation precision, in most cases can consider to adopt floating-point operation, now can consider that data and the form that will participate in interpolation arithmetic convert normalized floating point in advance to.But this kind of situation can make program seem complicated, affects the arithmetic speed of single-chip microcomputer.

In above-described embodiment, described inertia device is Gravity accelerometer, in other embodiments, described inertia device can be also gyro sensor, with above-described embodiment is distinguished to some extent, be, in prior art, gyro sensor is by the variation of sensitive axes (be called again and detect axle or detection arm) measuring voltage, corresponding relation according to the magnitude of voltage recorded and angular velocity, angular velocity is carried out obtaining pitch angle after integral operation, therefore, for fear of complicated and a large amount of integral operation, the inverse trigonometric function computing, improve processing speed, can set up index value equally, the pitch angle of the sensitive axes of gyro sensor and the corresponding relation between trigonometric function value thereof (pitch angle concordance list), inquire about described corresponding relation (pitch angle concordance list) by the corresponding index value of measured value (being generally magnitude of voltage) (register value) of sensitive axes, obtain pitch angle and the trigonometric function value thereof corresponding with described index value, determine the coordinate figure of the sensitive axes of described Gravity accelerometer based on described trigonometric function value, and then the volume coordinate of definite attitude sensing equipment is to realize the location to it.

Localization method based on above-mentioned attitude sensing equipment, embodiment of the present invention also provides a kind of control method of mouse pointer, comprise: determine the variation of the volume coordinate of air mouse with the localization method of above-mentioned attitude sensing equipment, by the variable quantity of described volume coordinate divided by sensitivity coefficient after output with the movement of mouse beacon pointer.Because the localization method of above-mentioned attitude sensing equipment has improved the speed of definite volume coordinate, so, with respect to prior art, within the same time, more volume coordinate can be exported, the sensitivity that the space mouse pointer is controlled can be improved.

Localization method based on above-mentioned attitude sensing equipment, the present embodiment also provides a kind of attitude sensing equipment.Fig. 7 is the structural representation of the attitude sensing equipment that provides of the embodiment of the present invention one, as shown in Figure 7, described attitude sensing equipment comprises at least one inertia device, also comprise: corresponding relation generation unit 201, for the corresponding relation between the parameter of setting up index value and sensitive axes, the parameter of described sensitive axes comprises pitch angle and the trigonometric function value thereof of the sensitive axes of described inertia device, and described index value is corresponding with the measured value institute of each sensitive axes of described inertia device; Acquiring unit 202, for the measured value of each sensitive axes of obtaining described inertia device; Positioning unit 203, for the measured value based on obtaining, corresponding index value is inquired about described corresponding relation, determines the volume coordinate of described attitude sensing equipment.Described positioning unit 203 comprises: the second query unit 203a, and for the measured value based on obtained, corresponding index value is inquired about described corresponding relation, obtains pitch angle and the trigonometric function value thereof of the sensitive axes corresponding with described index value; The second determining unit 203b, for pitch angle and the trigonometric function value thereof of the sensitive axes of the inertia device based on inquiring, determine the volume coordinate of described attitude sensing equipment.

In specific embodiment, the corresponding relation of setting up between the parameter of described index value and sensitive axes (pitch angle of the sensitive axes of inertia device and trigonometric function value thereof) is stored in ROM (read-only memory) with the form of table, and this table is the pitch angle concordance list 20 shown in Fig. 7.Described corresponding relation generation unit 201 comprises the dispensing unit (not shown), for by pitch angle corresponding slope order from large to small, progressively reducing the configuration that segmentation precision is determined described pitch angle concordance list 20 medium dip angles and trigonometric function value thereof.Described corresponding relation generation unit 201 also comprises that the expansion value rounds the unit (not shown), for the trigonometric function value at pitch angle that will be corresponding with described index value enlarge prearranged multiple and round after be stored in described pitch angle concordance list 20.Described attitude sensing equipment also comprises stablizes the judging unit (not shown), for judging that whether sensitive axes is stable, comprise: if in buffer area, the quantity of different index values is less than or equal to first threshold, and the difference between each index value all is less than or equal to Second Threshold, determine that this sensitive axes is stable; Described buffer area has the index value obtained every second schedule time; Described positioning unit 203 is determined described volume coordinate with the stable trigonometric function value that sensitive axes was obtained.

In addition, during concrete enforcement, described attitude sensing equipment also can comprise the interpolating unit (not shown), described interpolating unit is connected with described the second determining unit 203b, carry out interpolation arithmetic for the volume coordinate at least two continuous definite attitude sensing equipments, described positioning unit 203 is located described attitude sensing equipment with all volume coordinates that obtain after interpolation arithmetic.Described interpolating unit specifically can comprise selected cell, linear interpolation unit and parabola interpolation unit, described selected cell is less than predetermined threshold value for the acceleration that described volume coordinate changes within first schedule time, select described linear interpolation unit to carry out interpolation arithmetic, otherwise select described parabola interpolation unit to carry out interpolation arithmetic.

In the present embodiment, the described inertia device that described attitude sensing equipment comprises is Gravity accelerometer, and it at least comprises two orthogonal sensitive axes, and one of them sensitive axes is perpendicular to ground level.Described attitude sensing equipment also comprises the spatial attitude recognition unit, for based on described index value with perpendicular to the spatial attitude of the described attitude sensing equipment of orientation determination of the sensitive axes of ground level.

Concrete enforcement about attitude sensing equipment described in this enforcement can, with reference to the localization method of above-mentioned attitude sensing equipment, not repeat them here.

Embodiment bis-

In conjunction with Fig. 1, in the present embodiment, the parameter of sensitive axes described in step S101 comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle based on described sensitive axes is determined.With embodiment mono-distinguishes to some extent, be, in order to make in step S103 to determine that the volume coordinate of described attitude sensing equipment is faster to the speed of its location to realize, consider directly to set up the corresponding relation between the coordinate figure of sensitive axes of the described inertia device of determining in described index value and the pitch angle based on described sensitive axes in the present embodiment.Certainly, the form that corresponding relation between the coordinate figure of the sensitive axes of the described inertia device that described index value and the pitch angle based on described sensitive axes are determined can be shown equally is stored in ROM (read-only memory), at the present embodiment, this table is called to the corresponding table of coordinate, be the coordinate figure that the corresponding table of described coordinate comprises the sensitive axes of the described inertia device that described index value and the pitch angle based on described sensitive axes are determined, between described index value and coordinate figure, there is corresponding relation.When reality is implemented, after MCU reads the index value in register, can directly according to described index value, inquire about the corresponding table of described coordinate, obtain the coordinate figure that described index value is corresponding (coordinate figure of the sensitive axes of the determined described inertia device of trigonometric function value at the pitch angle that described index value is corresponding), thereby determine the volume coordinate of attitude sensing equipment.For example: the table 1 in can reference example one, reading index value is 1 (pitch angle is 2.69 degree), inquiring about the corresponding table of coordinate, to obtain corresponding coordinate figure be x ₁and z ₁thereby definite configuration space coordinate is (x ₁, z ₁), reading index value is 2 (pitch angle is 5.38 degree), inquiring about the corresponding table of coordinate, to obtain corresponding coordinate figure be x ₂and z ₂thereby definite volume coordinate is (x ₂, z ₂) etc., can remove like this transformation calculations between trigonometric function value and volume coordinate from, thereby can determine at faster speed that volume coordinate is to realize the location to attitude sensing equipment.Certainly, in other embodiments, also the corresponding table of described coordinate can be merged with pitch angle concordance list described in embodiment mono-, merge in the rear pitch angle concordance list formed except comprising described index value, pitch angle and the trigonometric function value thereof with corresponding relation, also comprise the coordinate figure of sensitive axes that there is the described inertia device of corresponding relation with described index value, pitch angle and trigonometric function value thereof, so can be as required, the pitch angle concordance list after merging by inquiry obtains coordinate figure and/or the pitch angle of the sensitive axes of corresponding described inertia device.

But the associated description about the localization method of attitude sensing equipment described in the concrete enforcement reference example one of the localization method of the described attitude sensing equipment of the present embodiment, do not repeat them here.

Localization method based on above-mentioned attitude sensing equipment, the present embodiment also provides a kind of attitude sensing equipment.Fig. 8 is the structural representation of the attitude sensing equipment that provides of the embodiment of the present invention two, as shown in Figure 8, described attitude sensing equipment comprises at least one inertia device, also comprise: corresponding relation generation unit 301, for the corresponding relation between the parameter of setting up index value and sensitive axes, the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle based on described sensitive axes is determined, described index value is corresponding with the measured value institute of each sensitive axes of described inertia device; Acquiring unit 302, for the measured value of each sensitive axes of obtaining described inertia device; Positioning unit 303, for the measured value based on obtaining, corresponding index value is inquired about described corresponding relation, determines the volume coordinate of described attitude sensing equipment.Described positioning unit comprises: the first query unit 303a, and for the measured value based on obtained, corresponding index value is inquired about described corresponding relation, obtains the coordinate figure of the sensitive axes of the inertia device corresponding with described index value; The first determining unit 303b, determine the volume coordinate of described attitude sensing equipment for the coordinate figure of the sensitive axes of the inertia device based on inquiring.

In specific embodiment, the corresponding relation of setting up between the parameter of described index value and sensitive axes (coordinate figure of the sensitive axes of the described inertia device that the pitch angle based on described sensitive axes is determined) is stored in ROM (read-only memory) with the form of table, and this table is the corresponding table 30 of the coordinate shown in Fig. 8.Described corresponding relation generation unit 301 comprises the dispensing unit (not shown), determines the configuration of coordinate figure of the sensitive axes of the described inertia device that the pitch angle of the corresponding table 30 of described coordinate based on described sensitive axes determined for progressively reduce segmentation precision by pitch angle corresponding slope order from large to small.

In addition, can comprise equally in the present embodiment that the described expansion value of embodiment mono-rounds unit, stablizes judging unit, interpolating unit, spatial attitude recognition unit, but attitude sensing equipment described in concrete reference example one.The concrete enforcement of the attitude sensing equipment provided about the present embodiment can, with reference to the localization method of attitude sensing equipment described in the present embodiment and embodiment mono-, not repeat them here.

To sum up, the control method of the attitude sensing equipment that embodiment of the present invention provides and localization method thereof, mouse pointer at least has following beneficial effect:

By setting up the pitch angle concordance list, after the corresponding index value of the measured value of the sensitive axes that gets inertia device, rely on the corresponding relation had between the parameter (pitch angle and trigonometric function value thereof) of index value and sensitive axes in the concordance list of described pitch angle, can obtain fast and the corresponding pitch angle of the described index value got and trigonometric function value thereof, and then determine that fast volume coordinate is in order to locate in time attitude sensing equipment, a large amount of calculating (integral operation owing to having avoided complexity, inverse trigonometric function computing etc.), therefore can improve processing speed, and make power-dissipation-reduced.

Further, by setting up the corresponding table of coordinate, can be after the corresponding index value of the measured value of the sensitive axes that gets inertia device, rely on the corresponding relation had between the parameter (coordinate figure of the sensitive axes of the described inertia device that the pitch angle based on described sensitive axes is definite) of index value in the corresponding table of described coordinate and sensitive axes, obtain fast the coordinate figure of the sensitive axes of the described inertia device definite with the corresponding pitch angle based on described sensitive axes of accessed index value, and then determine at faster speed volume coordinate.

The trigonometric function value at the pitch angle by will be corresponding with index value enlarge prearranged multiple and round after be stored in described pitch angle concordance list, avoided floating-point operation, thereby can calculate with the microcontroller implementation of relative low side, reduce cost.

Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can utilize method and the technology contents of above-mentioned announcement to make possible change and modification to technical solution of the present invention; therefore; every content that does not break away from technical solution of the present invention; any simple modification, equivalent variations and the modification above embodiment done according to technical spirit of the present invention, all belong to the protection domain of technical solution of the present invention.

Claims

1. the localization method of an attitude sensing equipment, described attitude sensing equipment comprises at least one inertia device, it is characterized in that, comprising:

Set up the corresponding relation between the parameter of index value and sensitive axes, described index value is corresponding with the measured value institute of the sensitive axes of described inertia device, and the parameter of the described sensitive axes corresponding with same index value and the measured value of described sensitive axes also the same angular velocity of corresponding sensitive axes or/and acceleration, the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle of sensitive axes of described inertia device and trigonometric function value and/or the pitch angle based on described sensitive axes thereof are determined, in described corresponding relation, the precision of the configuration of the parameter of sensitive axes is directly proportional to the slope at described pitch angle,

Obtain the measured value of each sensitive axes of described inertia device;

2. the localization method of attitude sensing equipment according to claim 1, is characterized in that, the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle based on described sensitive axes is determined; The index value that measured value based on obtained is corresponding is inquired about described corresponding relation, determines that the volume coordinate of described attitude sensing equipment comprises:

3. the localization method of attitude sensing equipment according to claim 1, is characterized in that, the parameter of described sensitive axes comprises pitch angle and the trigonometric function value thereof of the sensitive axes of described inertia device; The index value that measured value based on obtained is corresponding is inquired about described corresponding relation, determines that the volume coordinate of described attitude sensing equipment comprises:

4. the localization method of attitude sensing equipment according to claim 1, it is characterized in that, also comprise: the volume coordinate at least two continuous definite attitude sensing equipments is carried out interpolation arithmetic, with all volume coordinates that obtain after interpolation arithmetic, locates described attitude sensing equipment.

5. the localization method of attitude sensing equipment according to claim 4, it is characterized in that, carrying out interpolation arithmetic comprises: if the acceleration that in first schedule time, described volume coordinate changes is less than predetermined threshold value, carries out linear interpolation arithmetic, otherwise carry out the parabola interpolation computing.

6. according to the localization method of the described attitude sensing equipment of claim 1 to 5 any one, it is characterized in that, the trigonometric function value at pitch angle that will be corresponding with described index value enlarges prearranged multiple and rounds.

7. according to the localization method of the described attitude sensing equipment of claim 1 to 5 any one, it is characterized in that, the volume coordinate of described definite described attitude sensing equipment comprises the volume coordinate of determining described attitude sensing equipment with stable sensitive axes; Judge sensitive axes stable comprising whether: if in buffer area, the quantity of different index values is less than or equal to first threshold, and the difference between each index value all is less than or equal to Second Threshold, determines that this sensitive axes is stable; Described buffer area has the index value obtained every second schedule time.

8. the localization method of attitude sensing equipment according to claim 1, is characterized in that, described inertia device is Gravity accelerometer, and it at least comprises two orthogonal sensitive axes, and one of them sensitive axes is perpendicular to ground level.

9. the localization method of attitude sensing equipment according to claim 8, is characterized in that, described Gravity accelerometer is the condenser type Gravity accelerometer, the capacitance of the sensitive axes that described measured value is described condenser type Gravity accelerometer.

10. the localization method of attitude sensing equipment according to claim 8, is characterized in that, also comprises based on described index value with perpendicular to the spatial attitude of the described attitude sensing equipment of orientation determination of the sensitive axes of ground level.

11. the localization method of attitude sensing equipment according to claim 1, is characterized in that, described inertia device is gyro sensor, the magnitude of voltage of the sensitive axes that described measured value is described gyro sensor.

12. the control method of a mouse pointer, it is characterized in that, comprise: determine the variation of the volume coordinate of air mouse with the localization method of the described attitude sensing equipment of claim 1 to 11 any one, by the variable quantity of described volume coordinate divided by sensitivity coefficient after output with the movement of mouse beacon pointer.

13. an attitude sensing equipment, described attitude sensing equipment comprises at least one inertia device, it is characterized in that, comprising:

The corresponding relation generation unit, for the corresponding relation between the parameter of setting up index value and sensitive axes, described index value is corresponding with the measured value institute of each sensitive axes of described inertia device, and also the same angular velocity of corresponding sensitive axes is or/and acceleration for the parameter of the described sensitive axes corresponding with same index value and the measured value of described sensitive axes, and the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle of sensitive axes of described inertia device and trigonometric function value and/or the pitch angle based on described sensitive axes thereof are determined;

14. attitude sensing equipment according to claim 13, is characterized in that, the parameter of described sensitive axes comprises the coordinate figure of the sensitive axes of the described inertia device that the pitch angle based on described sensitive axes is determined; Described positioning unit comprises:

The first query unit, for the measured value based on obtained, corresponding index value is inquired about described corresponding relation, obtains the coordinate figure of the sensitive axes of the inertia device corresponding with described index value;

The first determining unit, determine the volume coordinate of described attitude sensing equipment for the coordinate figure of the sensitive axes of the inertia device based on inquiring.

15. attitude sensing equipment according to claim 13, is characterized in that, the parameter of described sensitive axes comprises pitch angle and the trigonometric function value thereof of the sensitive axes of described inertia device; Described positioning unit comprises:

The second query unit, for the measured value based on obtained, corresponding index value is inquired about described corresponding relation, obtains pitch angle and the trigonometric function value thereof of the sensitive axes corresponding with described index value;

The second determining unit, for pitch angle and the trigonometric function value thereof of the sensitive axes of the inertia device based on inquiring, determine the volume coordinate of described attitude sensing equipment.

16. attitude sensing equipment according to claim 13, is characterized in that, also comprises interpolating unit, for the volume coordinate at least two continuous definite attitude sensing equipments, carries out interpolation arithmetic.

17. attitude sensing equipment according to claim 16, it is characterized in that, described interpolating unit comprises selected cell, linear interpolation unit and parabola interpolation unit, described selected cell is less than predetermined threshold value for the acceleration that described volume coordinate changes within first schedule time, select described linear interpolation unit to carry out interpolation arithmetic, otherwise select described parabola interpolation unit to carry out interpolation arithmetic.

18. according to claim 13 to the described attitude sensing equipment of 17 any one, it is characterized in that, described corresponding relation generation unit comprises that the expansion value rounds unit, for the trigonometric function value at pitch angle that will be corresponding with described index value, enlarges prearranged multiple and rounds.

19. according to claim 13 to the described attitude sensing equipment of 17 any one, it is characterized in that, also comprise stable judging unit, for judging that whether sensitive axes is stable, comprise: if in buffer area, the quantity of different index values is less than or equal to first threshold, and the difference between each index value all is less than or equal to Second Threshold, determine that this sensitive axes is stable; Described buffer area has the index value obtained every second schedule time; Described positioning unit is determined the volume coordinate of described attitude sensing equipment with stable sensitive axes.

20. attitude sensing equipment according to claim 13, is characterized in that, described inertia device is Gravity accelerometer, and it at least comprises two orthogonal sensitive axes, and one of them sensitive axes is perpendicular to ground level.

21. attitude sensing equipment according to claim 20, is characterized in that, described Gravity accelerometer is the condenser type Gravity accelerometer, the capacitance of the sensitive axes that described measured value is described condenser type Gravity accelerometer.

22. attitude sensing equipment according to claim 20, is characterized in that, also comprises the spatial attitude recognition unit, for based on described index value with perpendicular to the spatial attitude of the described attitude sensing equipment of orientation determination of the sensitive axes of ground level.

23. attitude sensing equipment according to claim 13, is characterized in that, described inertia device is gyro sensor, the magnitude of voltage of the sensitive axes that described measured value is described gyro sensor.