CN102306054A - Attitude sensing equipment and positioning method and device thereof and method and device for controlling mouse pointer - Google Patents

Attitude sensing equipment and positioning method and device thereof and method and device for controlling mouse pointer Download PDF

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Publication number
CN102306054A
CN102306054A CN201110252933A CN201110252933A CN102306054A CN 102306054 A CN102306054 A CN 102306054A CN 201110252933 A CN201110252933 A CN 201110252933A CN 201110252933 A CN201110252933 A CN 201110252933A CN 102306054 A CN102306054 A CN 102306054A
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weight
attitude
awareness apparatus
acceleration
acceleration transducer
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CN102306054B (en
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龙涛
刘正东
龙江
唐元浩
严松
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Jiangsu Huitong Group Co Ltd
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Jiangsu Huitong Group Co Ltd
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Priority to PCT/CN2011/081625 priority patent/WO2013029303A1/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)

Abstract

The invention relates to attitude sensing equipment and a positioning method and a positioning device thereof and a method and a device for controlling a mouse pointer. The positioning method for the attitude sensing equipment comprises the following steps of: acquiring the rotation angle of a sensitive shaft of a gyroscope; acquiring the deflection angle and linear acceleration of a sensitive shaft of an acceleration sensor, wherein the sensitive shaft of the acceleration sensor corresponds to the sensitive shaft of the gyroscope; setting a first weight corresponding to the gyroscope and a second weight corresponding to the acceleration sensor based on the linear acceleration of the sensitive shaft of the acceleration sensor; and weighting the rotation angle and the deflection angle based on the first weight and the second weight to acquire the attitude angle of the attitude sensing equipment. By the technical scheme, the attitude sensing equipment can be accurately positioned and the mouse pointer can be accurately controlled.

Description

The control method of attitude awareness apparatus and location thereof, mouse pointer and device
Technical field
The present invention relates to attitude awareness apparatus and applied technical field thereof, particularly the control method of attitude awareness apparatus and localization method thereof and device, mouse pointer and device.
Background technology
At present, the location great majority of computer mouse pointer all rely on optical sensor or laser sensor to realize, these sensors make sensor need rely on platforms such as desktop to realize all based on the physical optics principle.But in a lot of occasions; For example in computer multimedia teaching; The user thinks to control mouse pointer aloft or realizes application such as multimedia television broadcast, web page browsing through controlling mouse pointer aloft, only uses traditional sensor just can't realize, so the space mouse arises at the historic moment.The space mouse is a kind of input equipment, as conventional mouse function screen cursor (mouse pointer), but need not be placed on any plane, rocks the perception that just can directly rely on the aerial sports attitude aloft and realizes the control to mouse pointer.Realize the perception of aerial sports attitude, generally in attitude awareness apparatus (for example space mouse), inertia device is set, utilize the inertia device measuring technique to realize tracking 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 the known basis of target initial position and attitude; According to principle of inertia; Utilize the angular velocity and the linear acceleration of inertia device Measuring Object motions such as gyro sensor (hereinafter to be referred as gyroscope), acceleration transducer, obtain the position and the attitude of object then through integration.Wherein, when the gyroscope ultimate principle was the rotation of utilization objects at high speed, powerful angular momentum made the stable always character of pointing to a direction of turning axle, the directed instrument that manufacturing is come out.Point to when inconsistent when direction of motion and rotating shaft, can produce corresponding drift angle, again according to the relation of drift angle and motion, the 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 is through gathering in real time the moving object acceleration signal, and the track that the mode through the second order integration obtains moving is realized the location.In addition, be under the metastable state, can pass through analyte sensors spare self gravitation acceleration at device, self attitude of device up till now.
Gyroscope output angle speed is instantaneous flow, and angular velocity to angle variable quantity and initial angle addition that time integral calculates, is obtained angle, and wherein integral time, dt was more little, and the output angle is accurate more.But gyrostatic its measuring basis of principle decision is self, does not have the absolute object of reference outside the system, adds that dt can not be infinitely small, so the cumulative errors of integration can increase sharply in time, causes finally exporting angle and do not conform to the actual conditions.What acceleration transducer was measured is gravity direction, and the absolute object of reference " gravity axis " outside the system is arranged, and under the situation of no external force acceleration, can export angle exactly and not have cumulative errors.But acceleration transducer is the miniature deformation that causes with MEMS technology for detection inertial force; And inertial force is exactly gravity in essence; So acceleration transducer can not be distinguished acceleration of gravity and external force acceleration; When system when three dimensions is done variable motion, the output of acceleration transducer is just inaccurate.
Correlation technique can be the international patent application of WO2005108119 (A2) with reference to publication number also, and this patented claim discloses a kind of slope compensation and free space positioning equipment that improves availability of having.
Because gyroscope technology and acceleration transducer technology all exist moving object attitude and motion state to be difficult to the deficiency that embodies fully; Therefore; How gyroscope technology and acceleration transducer technology are combined effectively, thereby the accuracy of location, ability implementation space is the long-term problems of inquiring into of those skilled in the art with stability.
Summary of the invention
The problem that the present invention solves provides the control method and the device of a kind of attitude awareness apparatus and localization method and device, mouse pointer, the accuracy and the stability that combine the technological implementation space of gyroscope technology and acceleration transducer to locate.
For addressing the above problem; Embodiment of the present invention provides a kind of localization method of attitude awareness apparatus; Said attitude awareness apparatus comprises gyroscope and acceleration transducer, and the localization method of said attitude awareness apparatus comprises: the rotation angle of obtaining gyrostatic sensitive axes; Obtain the deflection angle and the linear acceleration of the sensitive axes of acceleration transducer, the corresponding said gyrostatic sensitive axes of the sensitive axes of said acceleration transducer; Second weight of corresponding said gyrostatic first weight and corresponding said acceleration transducer is set based on the linear acceleration of the sensitive axes of said acceleration transducer; Based on said first weight and second weight, said rotation angle and said deflection angle are carried out weighted, obtain the attitude angle of attitude awareness apparatus.
For addressing the above problem, embodiment of the present invention also provides a kind of control method of mouse pointer, comprising: the localization method of above-mentioned attitude awareness apparatus; Calculate the change component Δ d of said attitude awareness apparatus, wherein, Δ d=d-dcos θ, θ are attitude angle, and d is the initial component of attitude awareness apparatus in space coordinates; Confirm the displacement variable Δ s of said mouse pointer, wherein, Δ s=Δ d/ (SF*MF), SF are said gyrostatic sensitivity coefficient, and MF is the sensitivity coefficient of mouse pointer; Control moving of said mouse pointer based on the displacement variable of said mouse pointer.
For addressing the above problem, embodiment of the present invention also provides a kind of locating device of attitude awareness apparatus, comprising: first acquiring unit is suitable for obtaining the rotation angle of gyrostatic sensitive axes; Second acquisition unit is suitable for obtaining the deflection angle and the linear acceleration of the sensitive axes of acceleration transducer, the corresponding said gyrostatic sensitive axes of the sensitive axes of said acceleration transducer; The unit is set, is suitable for being provided with second weight of corresponding said gyrostatic first weight and corresponding said acceleration transducer based on the linear acceleration of the sensitive axes of said acceleration transducer; Processing unit is suitable for based on said first weight and second weight said rotation angle and said deflection angle being carried out weighted, obtains the attitude angle of attitude awareness apparatus.
For addressing the above problem, embodiment of the present invention also provides a kind of control device of mouse pointer, comprising: the locating device of above-mentioned attitude awareness apparatus; Component variation is confirmed the unit, is suitable for calculating the component variation Δ d of said attitude awareness apparatus, and wherein, Δ d=d-dcos θ, θ are attitude angle, and d is the initial component of attitude awareness apparatus in space coordinates; Change in displacement is confirmed the unit, is suitable for confirming the displacement variable Δ s of said mouse pointer, and wherein, Δ s=Δ d/ (SF*MF), SF are said gyrostatic sensitivity coefficient, and MF is the sensitivity coefficient of mouse pointer; The pointer control module is suitable for controlling moving of said mouse pointer based on the displacement variable of said mouse pointer.
For addressing the above problem, embodiment of the present invention also provides a kind of attitude awareness apparatus, comprising: the locating device of gyroscope, acceleration transducer and above-mentioned attitude awareness apparatus.
Compared with prior art, technique scheme is provided with different weights based on linear acceleration to gyroscope and acceleration transducer, makes the weight of gyrostatic weight and acceleration transducer to change and the self-adaptation adjustment with linear acceleration; And; Combine through the deflection angle of weighted the sensitive axes of the rotation angle of gyrostatic sensitive axes and acceleration transducer; Merge the data of gyrostatic data and acceleration transducer thus effectively, realized the accurate location of attitude awareness apparatus and the accurate control of mouse pointer.
Description of drawings
Fig. 1 is the process flow diagram of localization method of the attitude awareness apparatus of embodiment of the present invention;
Fig. 2 is the synoptic diagram of the three dimensional space coordinate system of embodiment of the present invention;
Fig. 3 is the process flow diagram of step S3 of localization method of the attitude awareness apparatus of the embodiment of the invention 1;
Fig. 4 is the process flow diagram of step S4 of localization method of the attitude awareness apparatus of the embodiment of the invention 1;
Fig. 5 is the structural representation of locating device of the attitude awareness apparatus of the embodiment of the invention 1;
Fig. 6 is the process flow diagram of step S3 of localization method of the attitude awareness apparatus of the embodiment of the invention 2;
Fig. 7 is the process flow diagram of step S4 of localization method of the attitude awareness apparatus of the embodiment of the invention 2;
Fig. 8 is the structural representation of locating device of the attitude awareness apparatus of the embodiment of the invention 2;
Fig. 9 is the process flow diagram of control method behind the positioning step of attitude awareness apparatus of the mouse pointer of the embodiment of the invention;
Figure 10 is the structural representation of control device of the mouse pointer of the embodiment of the invention.
Embodiment
For make above-mentioned purpose of the present invention, feature and advantage can be more obviously understandable, does detailed explanation below in conjunction with the accompanying drawing specific embodiments of the invention.Set forth a lot of details in the following description so that make much of the present invention, implement but the present invention can also adopt other to be different from alternate manner described here, so the present invention has not received the restriction of following disclosed specific embodiment.
The attitude awareness apparatus of embodiment of the present invention comprises gyroscope and acceleration transducer; Because it is maximum that the attitude awareness apparatus generally is a nose motion; Therefore gyroscope and acceleration transducer can be installed in the attitude awareness apparatus position near front end, to respond to the motion of attitude awareness apparatus better.To realize accurately location to the attitude awareness apparatus; Need to merge the data of gyrostatic data and acceleration transducer; Merge and generally include real time fusion and long-term fusion; Each algorithm cycle of real time fusion is carried out once (being all to carry out once after each sampled data), and long-term converged fixed sense cycle (for example 256 algorithm cycles) is carried out once.
Fusion can be that complementary weight merges, and also can combine complementary weight to merge and the Kalman filtering fusion.So-called complementary weight fusion is meant gyroscope and acceleration transducer is provided with different weights that both weight sums are 1, then the data of gyrostatic data and acceleration transducer are carried out weighted.Because under the situation of no external force acceleration, acceleration transducer can be exported angle exactly and not have cumulative errors, that is to say, acceleration transducer precision when static state or low-speed motion is very high; And do variable motion at three dimensions when the attitude awareness apparatus, particularly during high-speed motion, because acceleration transducer can not be distinguished acceleration of gravity and external force acceleration, its precision when high-speed motion has just reduced.Therefore can be based on the different motion state of attitude awareness apparatus; Like static state, low speed or high speed; Gyroscope and acceleration transducer are provided with different weights, particularly, when static state or low speed; The precision of acceleration transducer is higher, and the weight that acceleration transducer is set is greater than gyrostatic weight; When high speed, precision of gyroscope is higher, and the weight of gyrostatic weight greater than acceleration transducer is set.Need to prove; Embodiment of the present invention is to combine gyroscope and two kinds of inertia devices of acceleration transducer that the attitude awareness apparatus is positioned; Therefore both weights are complementary, and promptly the weight sum is 1, still; (for example geomagnetic sensor) positions if the attitude awareness apparatus also combines other inertia devices, and then the weight sum of gyroscope and acceleration transducer can be less than 1.
Based on above-mentioned analysis, embodiment of the present invention provides a kind of localization method of attitude awareness apparatus as shown in Figure 1, comprising:
Step S1 obtains the rotation angle of gyrostatic sensitive axes;
Step S2 obtains the deflection angle and the linear acceleration of the sensitive axes of acceleration transducer, the corresponding said gyrostatic sensitive axes of the sensitive axes of said acceleration transducer;
Step S3 is provided with second weight of corresponding said gyrostatic first weight and corresponding said acceleration transducer based on the linear acceleration of the sensitive axes of said acceleration transducer;
Step S4 based on said first weight and second weight, carries out weighted to said rotation angle and said deflection angle, obtains the attitude angle of attitude awareness apparatus.
As shown in Figure 2; Attitude awareness apparatus A0 moves in three dimensions, establishes three dimensional space coordinate system and comprises x axle perpendicular to each other, y axle and z axle, wherein; X axle and y axle are parallel to ground level; The z axle is perpendicular to ground level, and gyroscope can be single axis gyroscope, two axis gyroscope appearance or three-axis gyroscope, and acceleration transducer can be single shaft acceleration of gravity sensor, diaxon acceleration of gravity sensor or three acceleration of gravity sensors.When the attitude awareness apparatus was parallel to ground level, gyrostatic sensitive axes overlapped with corresponding coordinate axis, and the sensitive axes of acceleration transducer overlaps with corresponding coordinate axis.
Comprise that with the attitude awareness apparatus two orthogonal single axis gyroscopes and three acceleration of gravity sensors are example, when the attitude awareness apparatus was parallel to ground level, the sensitive axes of one of them single axis gyroscope overlapped with the x axle, was designated as x axle gyroscope; The sensitive axes of another single axis gyroscope overlaps with the z axle, is designated as z axle gyroscope; Three sensitive axes of acceleration transducer overlap with x axle, y axle and z axle respectively, are designated as x sensitive axes, y sensitive axes and the z sensitive axes of acceleration transducer respectively; Wherein, the gyrostatic sensitive axes of the corresponding x axle of the x sensitive axes of acceleration transducer, the gyrostatic sensitive axes of the corresponding z axle of the z sensitive axes of acceleration transducer.
Promptly comprise two orthogonal single axis gyroscopes and three acceleration of gravity sensors with the attitude awareness apparatus below, the attitude awareness apparatus moves in said space coordinates and is elaborated for example.At first rotation angle, deflection angle, pitch angle and attitude angle are defined:
The rotation angle of gyrostatic sensitive axes is meant the angle of the coordinate axis that gyrostatic sensitive axes is corresponding with it, representes with α.Particularly, the rotation angle of the gyrostatic sensitive axes of x axle is meant the angle of gyrostatic sensitive axes of x axle and x axle, is designated as α xThe rotation angle of the gyrostatic sensitive axes of z axle is meant the angle of gyrostatic sensitive axes of z axle and z axle, is designated as α z
The deflection angle of the sensitive axes of acceleration transducer is meant the angle of the coordinate axis that the sensitive axes of acceleration transducer is corresponding with it, representes with β.Particularly, the deflection angle of the x sensitive axes of acceleration transducer is meant and is designated as β by the angle of x sensitive axes and x axle xThe deflection angle of the z sensitive axes of acceleration transducer is meant the angle of z sensitive axes and z axle, is designated as β z
What acceleration transducer was measured is the pitch angle of sensitive axes; The pitch angle of the sensitive axes of acceleration transducer is meant the angle of the sensitive axes and the acceleration of gravity direction of acceleration transducer; In fact just the angle of the sensitive axes of acceleration transducer and z axle; Represent that with γ the deflection angle of the sensitive axes of acceleration transducer is converted to through the pitch angle of sensitive axes.Particularly, the pitch angle of the x sensitive axes of acceleration transducer is meant and is designated as γ by the angle of x sensitive axes and z axle xThe pitch angle of the z sensitive axes of acceleration transducer is meant the angle of z sensitive axes and z axle, is designated as γ z
The attitude angle of attitude awareness apparatus is meant the angle of attitude awareness apparatus and each coordinate axis, representes with θ.Particularly, the attitude angle of attitude awareness apparatus and x axle is meant and is designated as θ by the angle of attitude awareness apparatus and x axle xThe attitude angle of attitude awareness apparatus and z axle is meant that the angle of attitude awareness apparatus and z axle is designated as θ z
Above-mentioned angle is acute angle.
Embodiment 1
The deflection angle that combine present embodiment complementary weight filtering fusion and Kalman filtering merge the sensitive axes of the rotation angle of gyrostatic sensitive axes and acceleration transducer merges, and obtains the attitude angle of attitude awareness apparatus.
Please refer to Fig. 1, step S1 obtains the rotation angle of gyrostatic sensitive axes.What gyroscope was exported is the angular velocity of sensitive axes, and angular velocity can obtain angle variable quantity to time integral, can obtain rotation angle with the initial angle addition again, can be formulated as: α=α 1+ ω dt, wherein, α is the rotation angle of gyrostatic sensitive axes, α 1Be the initial angle (rotation angle that last sampling instant is confirmed) of gyrostatic sensitive axes, ω is the angular velocity (angular velocity that current sampling instant is obtained) of gyrostatic sensitive axes.
During practical implementation, the rotation angle α of the gyrostatic sensitive axes of x axle x=α X1+ ω xDt, wherein, α xBe the rotation angle of the gyrostatic sensitive axes of x axle, α X1Be the initial angle of the gyrostatic sensitive axes of x axle, ω xAngular velocity for the gyrostatic sensitive axes of x axle.The rotation angle α of the gyrostatic sensitive axes of z axle z=α Z1+ ω zDt, wherein, α zBe the rotation angle of the gyrostatic sensitive axes of z axle, α Z1Be the initial angle of the gyrostatic sensitive axes of z axle, ω zAngular velocity for the gyrostatic sensitive axes of z axle.
Step S2 obtains the deflection angle and the linear acceleration of the sensitive axes of acceleration transducer, the corresponding said gyrostatic sensitive axes of the sensitive axes of said acceleration transducer.What acceleration transducer was exported is the pitch angle of each sensitive axes, can obtain the deflection angle of each sensitive axes after the pitch angle of each sensitive axes is changed.
During practical implementation, the deflection angle β of the x sensitive axes of acceleration transducer x=90 °-γ x, the deflection angle β of z sensitive axes z=γ z, γ zBe the pitch angle of the x sensitive axes of acceleration transducer, γ zPitch angle for the z sensitive axes of acceleration transducer.
Acceleration transducer is also exported the linear acceleration of each sensitive axes, can reflect the different motion state of attitude awareness apparatus, therefore can be used as the foundation that weight is set, and specifically sees also the explanation of step S3.
Step S3 is provided with second weight of corresponding said gyrostatic first weight and corresponding said acceleration transducer based on the linear acceleration of the sensitive axes of said acceleration transducer.
In the present embodiment; Before the data (deflection angle of sensitive axes) of gyrostatic data (rotation angle of sensitive axes) and acceleration transducer are carried out weighting; Also need carry out filtering (referring to step S4) to the data of gyrostatic data and acceleration transducer; Therefore, step S3 at first sets up linear acceleration related of time constant filter and the sensitive axes of acceleration transducer, the related weighted value that obtains that exists based on time constant filter and first weight and second weight again.As shown in Figure 3, the step S3 of present embodiment comprises:
Step S31 is provided with the first filtering parameter n and the second filtering parameter m, and the said second filtering parameter m is 3～5 times of the said first filtering parameter n, is generally integral multiple.The first filtering parameter n and the second filtering parameter m are the related parameters needed of setting up time constant filter and the linear acceleration of the sensitive axes of acceleration transducer.The said first filtering parameter n is an empirical value, and in the present embodiment, the span of the first filtering parameter n is [3,6], round numbers usually, for example, 3,4,5 or 6.
Step S32; Confirm time constant filter τ; Wherein, if Ki≤n/m then τ=-m*Ki+n, if Ki＞n/m τ=0 then; Ki is the resultant acceleration of said acceleration transducer and the difference of acceleration of gravity G, the resultant acceleration of said acceleration transducer be meant each sensitive axes (x sensitive axes, y sensitive axes and z sensitive axes) linear acceleration vector with.Acceleration transducer is also exported the linear acceleration of sensitive axes except the pitch angle of output sensitive axes, and linear acceleration is a vector; Size and Orientation is arranged; Size normally representes with the multiple of acceleration of gravity G, and like 1G, 1.2G, 2G, 2.5G etc., so Ki and acceleration of gravity G are multiple and concern.Time constant filter τ is for the duration of signal; For LPF; The signal of permission duration more than or equal to time constant filter τ passes through; The signal of duration less than time constant filter τ then can be by filtering (allowing low frequency signal to pass through the filtering high-frequency signal); For high-pass filtering, the signal that allows the duration to be less than or equal to time constant filter τ passes through, and the signal of duration greater than time constant filter τ then can be by filtering (allowing high-frequency signal to pass through the filters low signal).
Step S33; Confirm the first weight a and the second weight b; Wherein,
Figure BDA0000087548970000091
a=1-b.Time constant filter τ is appreciated that to be that the ratio of two weights multiply by sampling time dt again; Promptly
Figure BDA0000087548970000092
also can confirm corresponding to the gyrostatic first weight a with corresponding to the second weight b of acceleration transducer after time constant filter τ confirms.
Set up related between the difference Ki of resultant acceleration and acceleration of gravity of the first weight a, the second weight b and acceleration transducer through above-mentioned steps, thereby made the weight a that wins, the second weight b can self-adaptation adjustment with the variation of the difference Ki of the resultant acceleration of acceleration transducer and acceleration of gravity.
Specifically, when Ki＜n/m, τ＞0, τ reduces with Ki and increases, and b increases with τ, and a increases with τ and reduces; During Ki=n/m, τ=0, a=1; B=0, external force of environment to the function influence of attitude awareness apparatus the linear acceleration of acceleration transducer change, when the difference Ki of the resultant acceleration of acceleration transducer and acceleration of gravity reaches higher limit n/m; The effect that external force of environment is described is too big, and the reliability of the data of acceleration transducer reduces greatly, and the corresponding gyrostatic first weight a is 1; The second weight b of corresponding acceleration transducer is 0; That is to say, need not combine the data of acceleration transducer to go to revise gyrostatic data, and directly gyrostatic data carried out follow-up location Calculation.Further, when Ki＞n/m, if according to τ=-m*Ki+n calculates τ＜0; It is also just nonsensical that combine the data of acceleration transducer to go to revise gyrostatic data this moment again, so when Ki＞n/m, τ=0 is set directly; Correspondingly, a=1, b=0.
At definite time constant filter τ; And behind the second weight b of corresponding said gyrostatic first weight a and corresponding said acceleration transducer; As shown in Figure 4, the step S4 of present embodiment is based on said first weight and second weight; Said rotation angle and said deflection angle are carried out weighted, and the attitude angle that obtains the attitude awareness apparatus comprises:
Step S41 carries out multiply by said first weight after the high-pass filtering to said rotation angle based on said time constant filter τ, obtains first result of product;
Step S42 carries out multiply by said second weight behind the LPF to said deflection angle based on said time constant filter τ, obtains second result of product;
Step S43 carries out Kalman filtering to said first result of product and second result of product, obtains said attitude angle.
Because low frequency signal can reduce gyrostatic accuracy of detection, therefore need the low frequency signal in the gyrostatic data of filtering, promptly the rotation angle of gyrostatic sensitive axes is carried out high-pass filtering, filtered data are approximately α; Therefore and high-frequency signal can reduce the accuracy of detection of acceleration transducer, needs the high-frequency signal in the data of filtering acceleration transducer, promptly the deflection angle of the sensitive axes of acceleration transducer is carried out LPF, and filtered data are approximately β; And then the data of filtered gyrostatic data and acceleration transducer are carried out the weighted sum Kalman filtering.Kalman filtering has been widely used in utilizing the multidate information of target in the Target Tracking System, removes noise effect, obtains the accurate estimation of target location, because it is the technology of known in the art and extensive employing, no longer launches explanation at this.
In the specific implementation, to the rotation angle α of the gyrostatic sensitive axes of x axle xCarry out multiply by the first weight a again after the high-pass filtering; Deflection angle β to the x sensitive axes of acceleration transducer xCarry out multiply by the second weight b again behind the LPF; With two multiplied result input card Thalmann filters, the output result of Kalman filter is the attitude angle θ of attitude awareness apparatus and x axle xRotation angle α to the gyrostatic sensitive axes of z axle zCarry out multiply by the first weight a again after the high-pass filtering; Deflection angle β to the z sensitive axes of acceleration transducer zCarry out multiply by the second weight b again behind the LPF; With two multiplied result input card Thalmann filters, the output result of Kalman filter is the attitude angle θ of attitude awareness apparatus and z axle zBecause the attitude awareness apparatus of present embodiment only comprises two gyroscopes; Therefore; The attitude angle of confirming the attitude awareness apparatus only need be confirmed the attitude angle of attitude awareness apparatus and x axle and get final product with the attitude angle of z axle; In other embodiments, can also comprise y axle gyroscope, correspondingly just can confirm the attitude angle of attitude awareness apparatus and y axle according to the deflection angle of the y sensitive axes of the rotation angle of the gyrostatic sensitive axes of y axle and acceleration transducer.
In other embodiments; Step S4 also can not carry out Kalman filtering, but directly adds up after the weighting, is about to said first result of product and the second result of product addition; Obtain said attitude angle; Because gyrostatic data are carried out being approximately α after the high-pass filtering, the data of acceleration transducer are carried out being approximately β behind the LPF, so the attitude angle θ of attitude awareness apparatus and x axle xWith with the attitude angle θ of z axle zCan be expressed as respectively: θ x≈ a* α x+ b* β x, θ z≈ a* α z+ b* β zPresent embodiment adopts Kalman filtering can further improve the accuracy and the stability of location.
Confirm the location that the attitude angle of attitude awareness apparatus has also just realized the attitude awareness apparatus, promptly can represent the position of attitude awareness apparatus with the attitude angle of attitude awareness apparatus.Further; The position that can also represent the attitude awareness apparatus with the attitude awareness apparatus at the component of each coordinate axis of space coordinates; The localization method of the attitude awareness apparatus of the embodiment of the invention can also comprise: confirm that said attitude awareness apparatus is at the component dcos of space coordinates θ; D is the initial component of attitude awareness apparatus in space coordinates, and θ is an attitude angle.
Present embodiment in the specific implementation, said attitude awareness apparatus comprises at the component dcos of space coordinates θ: the attitude awareness apparatus is at the component d of the x of space coordinates axle xCos θ xWith component d at the z of space coordinates axle zCos θ z, d xBe the initial component of attitude awareness apparatus at the x of space coordinates axle, d zFor the initial component of attitude awareness apparatus at the z of space coordinates axle, use coordinate representation, the attitude awareness apparatus is from initial position (d x, d z) moved to current location (d xCos θ x, d zCos θ z).
Accordingly, the locating device of the attitude awareness apparatus of present embodiment is as shown in Figure 5, comprising:
The first acquiring unit A1 is suitable for obtaining the rotation angle of gyrostatic sensitive axes;
Second acquisition unit A2 is suitable for obtaining the deflection angle and the linear acceleration of the sensitive axes of acceleration transducer, the corresponding said gyrostatic sensitive axes of the sensitive axes of said acceleration transducer;
Unit A3 is set; Be suitable for obtaining the linear acceleration of the sensitive axes of said acceleration transducer, second weight of corresponding said gyrostatic first weight and corresponding said acceleration transducer is set based on the linear acceleration of the sensitive axes of said acceleration transducer from said second acquisition unit A2;
Processing unit A4; Be suitable for first weight and second weight that unit A3 is provided with being set based on said; The deflection angle of the rotation angle of the gyrostatic sensitive axes that the said first acquiring unit A1 is obtained and the sensitive axes of the acceleration transducer that said second acquisition unit A2 obtains is carried out weighted, obtains the attitude angle of attitude awareness apparatus.
The said unit A3 that is provided with further comprises:
Filtering parameter is provided with unit A31, is suitable for being provided with the first filtering parameter n and the second filtering parameter m, and the span of the said first filtering parameter n is [3,6], and the said second filtering parameter m is 3～5 times of the said first filtering parameter n;
Time constant is confirmed unit A32; Be suitable for obtaining the linear acceleration of the sensitive axes of said acceleration transducer, from said filtering parameter unit A31 be set and obtain the first filtering parameter n and the second filtering parameter m, confirm time constant filter τ from said second acquisition unit A2; Wherein, If Ki≤n/m then τ=-m*Ki+n, if Ki＞n/m τ=0 then, Ki be said acceleration transducer each sensitive axes linear acceleration vector and with the difference of acceleration of gravity;
Weight is confirmed unit A33, is suitable for confirming that from said time constant unit A32 obtains time constant filter τ, confirms the said first weight a and the second weight b based on said time constant filter τ, wherein, b = τ τ + dt , A=1-b.
Said processing unit A4 further comprises:
Hi-pass filter A41, the rotation angle of the gyrostatic sensitive axes that is suitable for the said first acquiring unit A1 is obtained is carried out high-pass filtering, and the time constant filter of said Hi-pass filter confirms that from time constant unit A32 obtains;
The first multiplier A42 is suitable for the output result of said Hi-pass filter A41 multiply by first weight that said weight confirms that unit A33 confirms, obtains first result of product;
Low-pass filter A43, the deflection angle of the acceleration transducer that is suitable for said second acquisition unit A2 is obtained is carried out LPF, and the time constant filter of said low-pass filter confirms that from time constant unit A32 obtains;
The second multiplier A44 is suitable for the output result of said low-pass filter A43 multiply by second weight that said weight confirms that unit A33 confirms, obtains second result of product;
Kalman filter A45 is suitable for first result of product of said first multiplier A42 output and second result of product of second multiplier A44 output are carried out Kalman filtering, obtains the attitude angle of said attitude awareness apparatus.
In other embodiments, also can utilize totalizer to substitute said Kalman filter A45, said totalizer is suitable for said first result of product and the second result of product addition are obtained said attitude angle.
In addition; The locating device of the attitude awareness apparatus of present embodiment can also comprise that component confirms the unit (not shown); Said component confirms that the unit is suitable for confirming that said attitude awareness apparatus is at the component dcos of space coordinates θ; Wherein, d is the initial component of attitude awareness apparatus in space coordinates, and θ is an attitude angle.
Embodiment 2
The step S1 of present embodiment is identical with embodiment 1 with S2, faces step S3 and S4 down and is elaborated.
The difference of the step S4 of the step S4 of present embodiment and embodiment 1 is to the direct weighting of the data of gyrostatic data and acceleration transducer; Before weighting, do not carry out filtering, therefore, the step S3 of present embodiment can not be provided with filtering parameter; And directly the linear acceleration that records of degree of will speed up sensor converts linear velocity to; Based on said linear velocity relatively-stationary first weight and second weight are set within the specific limits, first weight and the second weight sum are 1, particularly; Please refer to Fig. 6, step S3 comprises:
Step S31 ' obtains linear velocity with the vector of the linear acceleration of each sensitive axes of said acceleration transducer with to time integral.Ask said acceleration transducer x sensitive axes, y sensitive axes and z sensitive axes linear acceleration vector and, the vector of trying to achieve and can obtain linear velocity to time integral.
Whether step S32 ' judges said linear velocity less than preset value, if execution in step S33 ' then then carries out S34 ' if not.
Step S33 ' is provided with said first weight less than said second weight.At static state or low-speed motion state, linear velocity is less than preset value, and the precision of acceleration transducer is higher than precision of gyroscope, so be provided with corresponding to second weight of acceleration transducer greater than corresponding to gyrostatic first weight.
Step S34 ' is provided with said first weight greater than said second weight.At high-speed motion state, linear velocity is more than or equal to said preset value, and precision of gyroscope is higher than the precision of acceleration transducer, so be provided with corresponding to gyrostatic first weight greater than second weight corresponding to acceleration transducer.
Said preset value is for according to the predefined empirical value of actual conditions, and in the present embodiment, the span of said preset value can be [0.4; 0.6], unit is a meter per second, for example; Said preset value is 0.5m/s, and less than said preset value, the span of then said first weight can be [0 as if said linear velocity; 2/5], it is 1/3 that first weight for example is set, and then second weight is 2/3; Perhaps, it is 2/5 that first weight is set, and then second weight is 3/5; If linear velocity is very little or be 0, can first weight be made as 0, the second weight and be made as 1.If said linear velocity is more than or equal to said preset value; The span of then said first weight can be [3/5,1], when general on-line velocity increases; The reliability of the data of acceleration transducer reduces; The gyrostatic data sense of the data correction of applied acceleration sensor is little, and it is 1 that first weight can be set, and then second weight is 0.
In other embodiments, also two preset values can be set in advance, like first preset value and second preset value; Said second preset value is greater than said first preset value, when said linear velocity less than said first preset value, for example during 0.3m/s; First weight is set less than second weight; For example, first weight being set is that 1/3, the second weight is 2/3; When said linear velocity greater than said second preset value, for example during 0.6m/s, it is that 1, the second weight is 0 that first weight is set; Otherwise first weight is set greater than second weight, it is that 2/3, the second weight is 1/3 that first weight for example is set.That is to say,, reduce the weight of acceleration transducer gradually, increase gyrostatic weight along with linear velocity increases.
Please continue with reference to figure 7, the step S4 of present embodiment comprises:
Step S41 ' multiply by said first weight with said rotation angle, obtains the 3rd result of product;
Step S42 ' multiply by said second weight with said deflection angle, obtains the 4th result of product;
Step S43 ' carries out Kalman filtering to said the 3rd result of product and the 4th result of product, obtains said attitude angle.
The difference of the step S4 of step S4 and embodiment 1 is: the rotation angle of gyrostatic sensitive axes directly multiply by first weight, do not carry out high-pass filtering before the weighting; The deflection angle of the sensitive axes of degree of will speed up sensor directly multiply by second weight, does not carry out LPF before the weighting.In addition, applied first weight of step S4 and second weight can be set first weight and second weights of the step S3 of present embodiment, also can be set first weight and second weights of step S3 of embodiment 1.
In other embodiments, step S4 also can not carry out Kalman filtering, but directly adds up after the weighting, is about to said the 3rd result of product and the 4th result of product addition, obtains said attitude angle, particularly, and the attitude angle θ of attitude awareness apparatus and x axle xWith with the attitude angle θ of z axle zCan be expressed as respectively: θ x=a* α x+ b* β x, θ z=a* α z+ b* β zPresent embodiment adopts Kalman filtering can improve the accuracy and the stability of location.
Further, the localization method of the attitude awareness apparatus of present embodiment can also comprise: confirm said attitude awareness apparatus at the component dcos of space coordinates θ, d is the initial component of attitude awareness apparatus in space coordinates, and θ is an attitude angle.
Accordingly, the locating device of the attitude awareness apparatus of present embodiment is as shown in Figure 8, comprising:
The first acquiring unit B1 is suitable for obtaining the rotation angle of gyrostatic sensitive axes;
Second acquisition unit B2 is suitable for obtaining the deflection angle and the linear acceleration of the sensitive axes of acceleration transducer, the corresponding said gyrostatic sensitive axes of the sensitive axes of said acceleration transducer;
Unit B 3 is set, and the linear acceleration of the sensitive axes of the said acceleration transducer that is suitable for obtaining based on said second acquisition unit B2 is provided with second weight of corresponding said gyrostatic first weight and corresponding said acceleration transducer;
Processing unit B4; Be suitable for first weight and second weight that unit B 3 is provided with being set based on said; The deflection angle of the rotation angle of the gyrostatic sensitive axes that the said first acquiring unit B1 is obtained and the sensitive axes of the acceleration transducer that said second acquisition unit B2 obtains is carried out weighted, obtains the attitude angle of attitude awareness apparatus.
The said unit B 3 that is provided with further comprises:
Linear velocity computing unit B31 is suitable for obtaining linear velocity with the vector of the linear acceleration of each sensitive axes of said acceleration transducer with to time integral, and the linear acceleration of each sensitive axes of said acceleration transducer is obtained from said second acquisition unit B2;
Judging unit B32 is suitable for judging that whether said linear velocity that said linear velocity computing unit B31 obtains is less than preset value;
Weight is provided with unit B 33, is suitable for said first weight being set less than said second weight in the judged result of said judging unit B32 when being; Said first weight is set greater than said second weight in the judged result of said judging unit B32 for not the time.
In other embodiments, the said unit that is provided with can comprise:
The linear velocity computing unit is suitable for obtaining linear velocity with the vector of the linear acceleration of each sensitive axes of said acceleration transducer with to time integral, and the linear acceleration of each sensitive axes of said acceleration transducer is obtained from said second acquisition unit;
First judging unit is suitable for judging that whether linear velocity that said linear velocity computing unit obtains is less than first preset value;
Second judging unit; Be suitable for judging that whether linear velocity that said linear velocity computing unit obtains is greater than second preset value; Said second preset value is greater than said first preset value, and second judging unit can judge that whether said linear velocity is greater than second preset value for not the time in the judged result of said first judging unit;
Weight is provided with the unit, is suitable for first weight being set less than second weight in the judged result of said first judging unit when being; First weight being set in the judged result of said second judging unit when being is that 1, the second weight is 0; Otherwise first weight is set greater than second weight.
Said processing unit B4 further comprises:
The 3rd multiplier B41, the rotation angle of the gyrostatic sensitive axes that is suitable for the said first acquiring unit B1 is obtained multiply by said weight first weight that unit B 33 is provided with is set, and obtains the 3rd result of product;
The 4th multiplier B42, the deflection angle of the sensitive axes of the acceleration transducer that is suitable for said second acquisition unit B2 is obtained multiply by said weight second weight that unit B 33 is provided with is set, and obtains the 4th result of product;
Kalman filter B43 is suitable for the 3rd result of product of said the 3rd multiplier B41 output and the 4th result of product of said the 4th multiplier B42 output are carried out Kalman filtering, obtains the attitude angle of said attitude awareness apparatus.
In other embodiments, also can utilize totalizer to substitute said Kalman filter B43, said totalizer is suitable for said the 3rd result of product and the 4th result of product addition are obtained said attitude angle.
In addition; The locating device of the attitude awareness apparatus of present embodiment can also comprise that component confirms the unit (not shown); Said component confirms that the unit is suitable for confirming that said attitude awareness apparatus is at the component dcos of space coordinates θ; D is the initial component of attitude awareness apparatus in space coordinates, and θ is an attitude angle.
Above-mentioned attitude awareness apparatus can be used as the space mouse, is used to control moving of mouse pointer on the screen.The embodiment of the invention also provides a kind of control method of mouse pointer, comprising: the localization method of above-mentioned attitude awareness apparatus, and as shown in Figure 9, also comprise:
Step S5 calculates the change component Δ d of said attitude awareness apparatus, and wherein, Δ d=d-dcos θ, θ are attitude angle, and d is the initial component of attitude awareness apparatus in space coordinates;
Step S6 confirms the displacement variable Δ s of said mouse pointer, and wherein, Δ s=Δ d/ (SF*MF), SF are said gyrostatic sensitivity coefficient, and MF is the sensitivity coefficient of mouse pointer;
Step S7 controls moving of said mouse pointer based on the displacement variable of said mouse pointer.
During practical implementation, the change component Δ d of the described attitude awareness apparatus of step S5 comprises: the attitude awareness apparatus is at the change component Δ A of x axle with at the change component Δ B of z axle, wherein, and Δ A=A-Acos θ x, A is the initial component of attitude awareness apparatus at the x axle; Δ B=B-Bcos θ z, B is the initial component of attitude awareness apparatus at the z axle.Step S5 has confirmed the attitude awareness apparatus at x axle and the determined two-dimensional space of z axle, moves to the variation of the second place from primary importance, wherein; Primary importance can be used coordinate (A; B) expression, A is the component of primary importance at the x axle, B is the component of primary importance at the z axle; The second place can be used coordinate (Acos θ x, Bcos θ z), Acos θ xBe the component of the second place at the x axle, Bcos θ zBe the component of the second place at the z axle.
The spatial movement of attitude awareness apparatus is mapped to the motion of mouse pointer on the screen; With orthogonal X axle (corresponding x axle) and the definite screen of Y axle (corresponding z axle) is example, and the displacement variable Δ s of the described mouse pointer of step S6 comprises: mouse pointer is at the displacement variable Δ X of X axle with at the displacement variable Δ Y of Y axle.
The practical implementation of step S6 can comprise: confirm the displacement variable Δ X of said mouse pointer at the X axle, wherein, Δ X=Δ A/ (SF x* SF MF), xBe the gyrostatic sensitivity coefficient of x axle, MF is the sensitivity coefficient of mouse pointer; Confirm the displacement variable Δ Y of said mouse pointer at the Y axle, wherein, Δ Y=Δ B/ (SF z* SF MF), zBe the gyrostatic sensitivity coefficient of z axle, said Y axle is perpendicular to said X axle.The practical implementation of step S7 can comprise: control moving of said mouse pointer based on said mouse pointer at the displacement variable Δ X of X axle with at the displacement variable Δ Y of Y axle; Mouse pointer is moved to the 4th position from the 3rd position; If the coordinate of mouse in the 3rd position is (X1; Y1), then mouse is (X1+ Δ X, Y1+ Δ Y) at the coordinate of the 4th position.Wherein, the sensitivity coefficient of gyrostatic sensitivity coefficient and mouse is according to the actual requirements and running environment, for example accuracy requirement, screen size and resolution etc. and set and adjustment, and this is conventionally known to one of skill in the art, no longer launches explanation at this.
Need to prove,, also can realize with the attitude awareness apparatus three-dimensional motion control mouse pointer moving based on said method in the two-dimensional/three-dimensional space if three orthogonal gyroscopes are installed in the attitude awareness apparatus.
Accordingly, the control device of the mouse pointer of the embodiment of the invention is shown in figure 10, comprising:
The locating device C1 of attitude awareness apparatus, its concrete structure can be as shown in Figure 5, also can be as shown in Figure 8;
Component variation is confirmed unit C2, is suitable for calculating the component variation Δ d of said attitude awareness apparatus, wherein; Δ d=d-dcos θ; θ is an attitude angle, and d is the initial component of attitude awareness apparatus in space coordinates, and said attitude angle is obtained from the locating device C1 of said attitude awareness apparatus;
Change in displacement is confirmed unit C3; Be suitable for confirming the displacement variable Δ s of said mouse pointer; Wherein, Δ s=Δ d/ (SF*MF), SF are said gyrostatic sensitivity coefficient; MF is the sensitivity coefficient of mouse pointer, and Δ d is the component variation that said component variation is confirmed the said attitude awareness apparatus that unit C2 calculates;
Pointer control module C4 is suitable for confirming that based on said change in displacement the displacement variable of the mouse pointer that unit C3 confirms controls moving of said mouse pointer.
The control device of above-mentioned mouse pointer can all or part ofly be integrated in the attitude awareness apparatus; The attitude awareness apparatus is through opertaing device (for example projector, computing machine etc.) the transmission information of wireless transmitter (for example RF transceiver, infrared transceiver etc.) with the mouse beacon pointer, and wireless transceiver is connected with opertaing device through USB interface.
In one embodiment of the invention, the attitude awareness apparatus comprises: x axle gyroscope, z axle gyroscope, three acceleration of gravity sensors and above-mentioned locating device C1.The attitude awareness apparatus sends the attitude angle information of attitude awareness apparatus to opertaing device through wireless transmitter.Above-mentioned component variation confirms that unit C2, change in displacement confirm that unit C3 and pointer control module C4 can be integrated in the opertaing device.
In another embodiment of the present invention, the attitude awareness apparatus comprises: x axle gyroscope, z axle gyroscope, three acceleration of gravity sensors, above-mentioned locating device C1 and component variation are confirmed unit C2.The attitude awareness apparatus sends the component variation information of attitude awareness apparatus to opertaing device through wireless transmitter.Above-mentioned change in displacement confirms that unit C3 and pointer control module C4 can be integrated in the opertaing device.
In yet another embodiment of the present invention, the attitude awareness apparatus comprises: x axle gyroscope, z axle gyroscope, three acceleration of gravity sensors, above-mentioned locating device C1, component variation confirm that unit C2 and change in displacement confirm unit C3.The space MouseAcross is crossed wireless transmitter sends displacement variable information from mouse pointer to opertaing device.Above-mentioned pointer control module C4 can be integrated in the opertaing device.
In another embodiment of the present invention, the attitude awareness apparatus comprises: the control device of x axle gyroscope, z axle gyroscope, three acceleration of gravity sensors and above-mentioned mouse pointer.The attitude awareness apparatus sends the positional information of mouse pointer to opertaing device through wireless transmitter.
In sum, technique scheme has the following advantages:
Based on linear acceleration gyroscope and acceleration transducer are provided with different weights, make the weight of gyrostatic weight and acceleration transducer to change and the self-adaptation adjustment with linear acceleration; And; Combine through the deflection angle of weighted the sensitive axes of the rotation angle of gyrostatic sensitive axes and acceleration transducer; Merge the data of gyrostatic data and acceleration transducer thus effectively, realized the accurate location of attitude awareness apparatus and the accurate control of mouse pointer.
The weight of the resultant acceleration through setting up acceleration transducer and the difference of acceleration of gravity and gyrostatic weight and acceleration transducer related makes that the weight of gyrostatic weight and acceleration transducer can the self-adaptation adjustment with the variation of the difference of the resultant acceleration of acceleration transducer and acceleration of gravity.
Before to gyrostatic data weighting, carry out high-pass filtering;, the data of acceleration transducer carry out LPF before being carried out weighting; Influence the signal of precision with filtering, thereby improved the accuracy and the stability of attitude awareness apparatus location, and the degree of accuracy of mouse pointer control.
After to the data weighting of gyrostatic data and acceleration transducer, make that through Kalman filtering the data after merging are more accurate and stable, further improved the accuracy and the stability of attitude awareness apparatus location, and the degree of accuracy of mouse pointer control.
Though oneself discloses the present invention as above with preferred embodiment, the present invention is defined in this.Any those skilled in the art are not breaking away from the spirit and scope of the present invention, all can do various changes and modification, so protection scope of the present invention should be as the criterion with claim institute restricted portion.

Claims (31)

1. the localization method of an attitude awareness apparatus, said attitude awareness apparatus comprises gyroscope and acceleration transducer, it is characterized in that, comprising:
Obtain the rotation angle of gyrostatic sensitive axes;
Obtain the deflection angle and the linear acceleration of the sensitive axes of acceleration transducer, the corresponding said gyrostatic sensitive axes of the sensitive axes of said acceleration transducer;
Second weight of corresponding said gyrostatic first weight and corresponding said acceleration transducer is set based on the linear acceleration of the sensitive axes of said acceleration transducer;
Based on said first weight and second weight, said rotation angle and said deflection angle are carried out weighted, obtain the attitude angle of attitude awareness apparatus.
2. the localization method of attitude awareness apparatus as claimed in claim 1; It is characterized in that; Said acceleration transducer is three acceleration of gravity sensors, and second weight that corresponding said gyrostatic first weight and corresponding said acceleration transducer are set based on the linear acceleration of the sensitive axes of said acceleration transducer comprises:
The first filtering parameter n and the second filtering parameter m are set, and the said second filtering parameter m is 3～5 times of the said first filtering parameter n;
Confirm time constant filter τ, wherein, if Ki≤n/m then τ=-m*Ki+n, if Ki＞n/m τ=0 then, Ki be said acceleration transducer each sensitive axes linear acceleration vector and with the difference of acceleration of gravity;
Confirm the said first weight a and the second weight b; Wherein,
Figure FDA0000087548960000011
a=1-b.
3. the localization method of attitude awareness apparatus as claimed in claim 2 is characterized in that, the span of the said first filtering parameter n is [3,6].
4. the localization method of attitude awareness apparatus as claimed in claim 2 is characterized in that, based on said first weight and second weight, said rotation angle and said deflection angle is carried out weighted, and the attitude angle that obtains the attitude awareness apparatus comprises:
Based on said time constant filter said rotation angle is carried out multiply by said first weight after the high-pass filtering, obtain first result of product;
Based on said time constant filter said deflection angle is carried out multiply by said second weight behind the LPF, obtain second result of product;
With said first result of product and the second result of product addition, obtain said attitude angle.
5. the localization method of attitude awareness apparatus as claimed in claim 2 is characterized in that, based on said first weight and second weight, said rotation angle and said deflection angle is carried out weighted, and the attitude angle that obtains the attitude awareness apparatus comprises:
Based on said time constant filter said rotation angle is carried out multiply by said first weight after the high-pass filtering, obtain first result of product;
Based on said time constant filter said deflection angle is carried out multiply by said second weight behind the LPF, obtain second result of product;
Said first result of product and second result of product are carried out Kalman filtering, obtain said attitude angle.
6. the localization method of attitude awareness apparatus as claimed in claim 1 is characterized in that, said acceleration transducer is three acceleration of gravity sensors, and said first weight and the second weight sum are 1; Second weight that corresponding said gyrostatic first weight and corresponding said acceleration transducer are set based on the linear acceleration of the sensitive axes of said acceleration transducer comprises:
Obtain linear velocity with the vector of the linear acceleration of each sensitive axes of said acceleration transducer with to time integral;
If said linear velocity then is provided with said first weight less than said second weight less than preset value;
If said linear velocity then is provided with said first weight greater than said second weight more than or equal to preset value.
7. the localization method of attitude awareness apparatus as claimed in claim 6 is characterized in that, said preset value is 0.5 meter per second,
If it is 1/3 or 2/5 that said linear velocity then is provided with said first weight less than said preset value;
If it is 1 that said linear velocity then is provided with said first weight more than or equal to said preset value.
8. the localization method of attitude awareness apparatus as claimed in claim 1 is characterized in that, said acceleration transducer is three acceleration of gravity sensors, and said first weight and the second weight sum are 1; Second weight that corresponding said gyrostatic first weight and corresponding said acceleration transducer are set based on the linear acceleration of the sensitive axes of said acceleration transducer comprises:
Obtain linear velocity with the vector of the linear acceleration of each sensitive axes of said acceleration transducer with to time integral;
If said linear velocity then is provided with said first weight less than said second weight less than first preset value;
If it is 1 that said linear velocity then is provided with said first weight greater than second preset value;
Otherwise said first weight is set greater than said second weight.
9. the localization method of attitude awareness apparatus as claimed in claim 8 is characterized in that, said first preset value is 0.3 meter per second, and said second preset value is 0.6 meter per second;
If it is 1/3 that said linear velocity then is provided with said first weight less than said first preset value;
If it is 1 that said linear velocity then is provided with said first weight greater than said second preset value;
Otherwise it is 2/3 that said first weight is set.
10. the localization method of attitude awareness apparatus as claimed in claim 1 is characterized in that, based on said first weight and second weight, said rotation angle and said deflection angle is carried out weighted, and the attitude angle that obtains the attitude awareness apparatus comprises:
Said rotation angle multiply by said first weight, obtain the 3rd result of product;
Said deflection angle multiply by said second weight, obtain the 4th result of product;
With said the 3rd result of product and the 4th result of product addition, obtain said attitude angle.
11. the localization method of attitude awareness apparatus as claimed in claim 1 is characterized in that, based on said first weight and second weight, said rotation angle and said deflection angle is carried out weighted, the attitude angle that obtains the attitude awareness apparatus comprises:
Said rotation angle multiply by said first weight, obtain the 3rd result of product;
Said deflection angle multiply by said second weight, obtain the 4th result of product;
Said the 3rd result of product and the 4th result of product are carried out Kalman filtering, obtain said attitude angle.
12. localization method like each described attitude awareness apparatus of claim 1 to 11; It is characterized in that; Also comprise: confirm said attitude awareness apparatus at the component dcos of space coordinates θ, d is the initial component of attitude awareness apparatus in space coordinates, and θ is an attitude angle.
13. the control method of a mouse pointer is characterized in that, comprising:
The localization method of each described attitude awareness apparatus of claim 1-12;
Calculate the change component Δ d of said attitude awareness apparatus, wherein, Δ d=d-dcos θ, θ are attitude angle, and d is the initial component of attitude awareness apparatus in space coordinates;
Confirm the displacement variable Δ s of said mouse pointer, wherein, Δ s=Δ d/ (SF*MF), SF are said gyrostatic sensitivity coefficient, and MF is the sensitivity coefficient of mouse pointer;
Control moving of said mouse pointer based on the displacement variable of said mouse pointer.
14. the locating device of an attitude awareness apparatus, said attitude awareness apparatus comprises gyroscope and acceleration transducer, it is characterized in that, comprising:
First acquiring unit is suitable for obtaining the rotation angle of gyrostatic sensitive axes;
Second acquisition unit is suitable for obtaining the deflection angle and the linear acceleration of the sensitive axes of acceleration transducer, the corresponding said gyrostatic sensitive axes of the sensitive axes of said acceleration transducer;
The unit is set, is suitable for being provided with second weight of corresponding said gyrostatic first weight and corresponding said acceleration transducer based on the linear acceleration of the sensitive axes of said acceleration transducer;
Processing unit is suitable for based on said first weight and second weight said rotation angle and said deflection angle being carried out weighted, obtains the attitude angle of attitude awareness apparatus.
15. the locating device of attitude awareness apparatus as claimed in claim 14 is characterized in that, said acceleration transducer is three acceleration of gravity sensors, and the said unit that is provided with comprises:
Filtering parameter is provided with the unit, is suitable for being provided with the first filtering parameter n and the second filtering parameter m, and the said second filtering parameter m is 3～5 times of the said first filtering parameter n;
Time constant is confirmed the unit, is suitable for confirming time constant filter τ, wherein, if Ki≤n/m then τ=-m*Ki+n, if Ki＞n/m τ=θ then, Ki be said acceleration transducer each sensitive axes linear acceleration vector and with the difference of acceleration of gravity;
Weight is confirmed the unit; Be suitable for confirming the said first weight a and the second weight b; Wherein,
Figure FDA0000087548960000051
a=1-b.
16. the locating device of attitude awareness apparatus as claimed in claim 15 is characterized in that, the span of the said first filtering parameter n is [3,6].
17. the locating device of attitude awareness apparatus as claimed in claim 15 is characterized in that, said processing unit comprises:
Hi-pass filter is suitable for based on said time constant filter said rotation angle being carried out high-pass filtering;
First multiplier is suitable for multiply by said first weight behind the output result with said Hi-pass filter, obtains first result of product;
Low-pass filter is suitable for based on said time constant filter said deflection angle being carried out LPF;
Second multiplier is suitable for the output result of said low-pass filter multiply by said second weight, obtains second result of product;
Totalizer is suitable for said first result of product and the second result of product addition are obtained said attitude angle.
18. the locating device of attitude awareness apparatus as claimed in claim 15 is characterized in that, said processing unit comprises:
Hi-pass filter is suitable for based on said time constant filter said rotation angle being carried out high-pass filtering;
First multiplier is suitable for multiply by said first weight behind the output result with said Hi-pass filter, obtains first result of product;
Low-pass filter is suitable for based on said time constant filter said deflection angle being carried out LPF;
Second multiplier is suitable for the output result of said low-pass filter multiply by said second weight, obtains second result of product;
Kalman filter is suitable for said first result of product and second result of product are carried out Kalman filtering, obtains said attitude angle.
19. the locating device of attitude awareness apparatus as claimed in claim 14 is characterized in that, said acceleration transducer is three acceleration of gravity sensors, and said first weight and the second weight sum are 1; The said unit that is provided with comprises:
The linear velocity computing unit is suitable for obtaining linear velocity with the vector of the linear acceleration of each sensitive axes of said acceleration transducer with to time integral;
Judging unit is suitable for judging that whether said linear velocity is less than preset value;
Weight is provided with the unit, is suitable for said first weight being set less than said second weight in the judged result of said judging unit when being; Said first weight is set greater than said second weight in the judged result of said judging unit for not the time.
20. the locating device of attitude awareness apparatus as claimed in claim 19 is characterized in that, said first preset value is 0.5 meter per second,
If it is 1/3 or 2/5 that said linear velocity then is provided with said first weight less than said preset value;
If it is 2/3 or 3/5 that said angular velocity then is provided with said first weight more than or equal to said preset value.
21. the locating device of attitude awareness apparatus as claimed in claim 14 is characterized in that, said acceleration transducer is three acceleration of gravity sensors, and said first weight and the second weight sum are 1; The said unit that is provided with comprises:
The linear velocity computing unit is suitable for obtaining linear velocity with the vector of the linear acceleration of each sensitive axes of said acceleration transducer with to time integral;
First judging unit is suitable for judging that whether said linear velocity is less than first preset value;
Whether second judging unit is suitable for judging said linear velocity greater than second preset value, and said second preset value is greater than said first preset value;
Weight is provided with the unit, is suitable for first weight being set less than second weight in the judged result of said first judging unit when being; First weight being set in the judged result of said second judging unit when being is that 1, the second weight is 0; Otherwise first weight is set greater than second weight.
22. the locating device of attitude awareness apparatus as claimed in claim 21 is characterized in that, said first preset value is 0.3 meter per second, and said second preset value is 0.6 meter per second;
If it is 1/3 that said linear velocity then is provided with said first weight less than said first preset value;
If it is 1 that said linear velocity then is provided with said first weight greater than said second preset value;
Otherwise it is 2/3 that said first weight is set.
23. the locating device of attitude awareness apparatus as claimed in claim 14 is characterized in that, said processing unit comprises:
The 3rd multiplier is suitable for said rotation angle multiply by said first weight, obtains the 3rd result of product;
The 4th multiplier is suitable for said deflection angle multiply by said second weight, obtains the 4th result of product;
Totalizer is suitable for said the 3rd result of product and the 4th result of product addition are obtained said attitude angle.
24. the locating device of attitude awareness apparatus as claimed in claim 14 is characterized in that, said processing unit comprises:
The 3rd multiplier is suitable for said rotation angle multiply by said first weight, obtains the 3rd result of product;
The 4th multiplier is suitable for said deflection angle multiply by said second weight, obtains the 4th result of product;
Kalman filter is suitable for said the 3rd result of product and the 4th result of product are carried out Kalman filtering, obtains said attitude angle.
25. locating device like each described attitude awareness apparatus of claim 14 to 24; It is characterized in that; Also comprise: component is confirmed the unit; Be suitable for confirming said attitude awareness apparatus at the component dcos of space coordinates θ, d is the initial component of attitude awareness apparatus in space coordinates, and θ is an attitude angle.
26. the control device of a mouse pointer is characterized in that, comprising:
The locating device of each described attitude awareness apparatus of claim 14-25;
Component variation is confirmed the unit, is suitable for calculating the component variation Δ d of said attitude awareness apparatus, and wherein, Δ d=d-dcos θ, θ are attitude angle, and d is the initial component of attitude awareness apparatus in space coordinates;
Change in displacement is confirmed the unit, is suitable for confirming the displacement variable Δ s of said mouse pointer, and wherein, Δ s=Δ d/ (SF*MF), SF are said gyrostatic sensitivity coefficient, and MF is the sensitivity coefficient of mouse pointer;
The pointer control module is suitable for controlling moving of said mouse pointer based on the displacement variable of said mouse pointer.
27. an attitude awareness apparatus comprises gyroscope and acceleration transducer, it is characterized in that, also comprises:
The locating device of each described attitude awareness apparatus of claim 14-25.
28. attitude awareness apparatus as claimed in claim 27 is characterized in that, also comprises:
Component variation is confirmed the unit, is suitable for calculating the component variation Δ d of said attitude awareness apparatus, and wherein, Δ d=d-dcos θ, θ are attitude angle, and d is the initial component of attitude awareness apparatus in space coordinates.
29. attitude awareness apparatus as claimed in claim 28 is characterized in that, also comprises:
Change in displacement is confirmed the unit, is suitable for confirming the displacement variable Δ s of said mouse pointer, and wherein, Δ s=Δ d/ (SF*MF), SF are said gyrostatic sensitivity coefficient, and MF is the sensitivity coefficient of mouse pointer.
30. attitude awareness apparatus as claimed in claim 29 is characterized in that, also comprises:
The pointer control module is suitable for controlling moving of said mouse pointer based on the displacement variable of said mouse pointer.
31. like each described attitude awareness apparatus of claim 27 to 30, it is characterized in that, comprise two orthogonal single axis gyroscopes and three acceleration of gravity sensors.
CN201110252933.6A 2011-08-30 2011-08-30 Attitude sensing equipment and positioning method and device thereof and method and device for controlling mouse pointer Active CN102306054B (en)

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