CN102419173A - Method for locating posture sensing device and method for controlling mouse pointer - Google Patents
Method for locating posture sensing device and method for controlling mouse pointer Download PDFInfo
- Publication number
- CN102419173A CN102419173A CN2011102352054A CN201110235205A CN102419173A CN 102419173 A CN102419173 A CN 102419173A CN 2011102352054 A CN2011102352054 A CN 2011102352054A CN 201110235205 A CN201110235205 A CN 201110235205A CN 102419173 A CN102419173 A CN 102419173A
- Authority
- CN
- China
- Prior art keywords
- gyrostatic
- voltage
- awareness apparatus
- rotation
- output voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Gyroscopes (AREA)
- Position Input By Displaying (AREA)
Abstract
The embodiment of the invention provides a method for acquiring the output voltage of gyroscope, which comprises the steps of: acquiring an initial voltage signal on a detection arm of the gyroscope; amplifying the initial voltage signal by a factor of a first multiple, filtering out high frequency interference, and then performing A/D sampling to acquire a first voltage; amplifying the first voltage by a factor of a second multiple, wherein the second multiple is more than the first multiple, filtering out high frequency interference, and then performing A/D sampling to acquire a second voltage; and comparing the first voltage and the second voltage with a threshold voltage respectively, and selecting the first voltage or the second voltage as the output voltage of the gyroscope. In the embodiment of the invention, more accurate output voltage can be acquired. Based on the method for acquiring the output voltage of gyroscope, the embodiment of the invention further provides a method capable of rapidly and accurately locating posture sensing device, and a method for controlling mouse pointer at high sensitivity.
Description
Technical field
The present invention relates to the positioning field of attitude awareness apparatus, relate in particular to a kind of localization method of attitude awareness apparatus, the control method of mouse pointer.
Background technology
At present, the location great majority of computer pointer mouse pointer all rely on optical sensor or laser sensor to realize.These sensors all are based on the physical optics principle, make sensor need rely on platforms such as desktop to realize.But Along with people's is to the improve day by day of working environment and the requirement of simple operation property, and the user hopes that mouse can break away from the dependence to desktop, upgrades to the space mouse; Can realize unsettled 3D operation; The wrist of only need gently waving, pointer can arbitrarily move, easily equipment such as controlling computer.Therefore, arise at the historic moment based on gyrostatic space mouse.
Realize the perception of aerial sports attitude, can adopt the variation of acceleration transducer induction speed, the perhaps variation of gyroscope sense angular rate.Gyroscope is with its variation that can in time induce the space, can detect that each goes up the advantage of the angular velocity of rotation in the motion process, and makes and comprise that gyrostatic air mouse takes advantage.
When gyrostatic 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 movement parts up till now, thereby realize the function of location.
Yet; The control method of the mouse pointer of the space mouse of prior art; Because the gyroscope in the mouse of space is accurate inadequately to the perception of its athletic posture, thereby the sensitivity that the space mouse control mouse pointer of feasible employing prior art moves is lower, for user's practical operation is made troubles.
More details about the space mouse please refer to the Chinese patent of publication number for " CN102043475A ".
Summary of the invention
The problem that the present invention solves provides a kind of localization method of the attitude awareness apparatus that can be accurately the attitude awareness apparatus be positioned, a kind of control method of highly sensitive mouse pointer.
For addressing the above problem, embodiments of the invention provide a kind of method of obtaining gyrostatic output voltage, comprising:
Obtain said gyrostatic initial voltage signal, said initial voltage signal is amplified first multiple, the filtering high frequency interference is carried out the A/D sampling again, obtains first voltage;
Said initial voltage signal is amplified second multiple, and said second multiple is greater than first multiple, and the filtering high frequency interference is carried out the A/D sampling again, obtains second voltage;
Respectively said first voltage, second voltage and threshold voltage are compared,, select second voltage as gyrostatic output voltage when said first voltage and second voltage during all less than threshold voltage; When said first voltage less than threshold voltage, second voltage selects first voltage as gyrostatic output voltage during greater than threshold voltage.
Alternatively, said threshold voltage is 1380～1420mv.
Alternatively, also comprise: after said initial voltage signal is amplified first multiple, before the filtering high frequency interference, carry out calculus of differences and amplify; After said initial voltage signal amplified second multiple, before the filtering high frequency interference, carry out calculus of differences and amplify.
Embodiments of the invention also provide a kind of localization method of attitude awareness apparatus, and said attitude awareness apparatus comprises first gyroscope and second gyroscope at least, and the said first gyrostatic detection arm comprises perpendicular to the said second gyrostatic detection arm:
Obtain the primary importance of said attitude awareness apparatus;
After said attitude awareness apparatus moves to the second place by said primary importance, obtain first gyroscope and the second gyrostatic output voltage respectively;
Confirm said first gyroscope and the second gyrostatic angular velocity of rotation respectively, wherein, each gyrostatic output voltage and angular velocity of rotation are linear;
Based on said first gyroscope and the second gyrostatic angular velocity of rotation, confirm the component of the second place of said attitude awareness apparatus in first direction and second direction, to locate said attitude awareness apparatus, said first direction is perpendicular to said second direction.
Alternatively, the linear relationship of the said first gyrostatic output voltage and angular velocity of rotation is V
1=a
1ω
1+ b
1, V wherein
1Be the said first gyrostatic output voltage, ω
1Be the said first gyrostatic angular velocity of rotation, a
1, b
1Be constant; The linear relationship of the said second gyrostatic output voltage and angular velocity of rotation is V
2=a
2ω
2+ b
2, V wherein
2Be the said second gyrostatic output voltage, ω
2Be the said second gyrostatic angular velocity of rotation, a
2, b
2Be constant.
Alternatively, said a
1, a
2Be 0.67, said b
1, b
2Be 1350.
Alternatively, based on said first gyroscope and the second gyrostatic angular velocity of rotation, confirm that the second place of said attitude awareness apparatus comprises in the step of the component of first direction and second direction:
The said first gyrostatic angular velocity of rotation by the time integration, is obtained the said first gyrostatic anglec of rotation α 1;
The second place of calculating said attitude awareness apparatus is at the component A cos of first direction α 1, and wherein, A is the component of the primary importance of said attitude awareness apparatus at first direction;
The said second gyrostatic angular velocity of rotation by the time integration, is obtained the said second gyrostatic anglec of rotation α 2;
The second place of calculating said attitude awareness apparatus is at the component Bcos of second direction α 2, and wherein, B is the component of the primary importance of said attitude awareness apparatus in second direction.
Alternatively, also comprise:
Calculate change component the A '=A-Acos α 1 of the second place of said attitude awareness apparatus at first direction;
Calculate change component the B '=B-Bcos α 2 of the second place of said attitude awareness apparatus in second direction.
Alternatively, said first gyroscope and second gyroscope are single axis gyroscope, and said first gyroscope and the second gyrostatic material are quartzy.
Alternatively, also comprise:
The 3rd gyroscope is provided;
Obtain the said the 3rd gyrostatic output voltage; Said the 3rd gyroscope comprises that detection arm, two symmetries are positioned at the actuating arm of detection arm both sides, and connect the connecting portion at said detection arm center and actuating arm center, and the said the 3rd gyrostatic output voltage is the voltage that records on the 3rd gyrostatic detection arm;
Confirm the said the 3rd gyrostatic angular velocity of rotation;
Confirm the component of the second place of said attitude awareness apparatus at third direction based on the said the 3rd gyrostatic angular velocity of rotation, said third direction is perpendicular to first direction and perpendicular to second direction.
Alternatively, the linear relationship of the said the 3rd gyrostatic output voltage and angular velocity of rotation is V
3=a
3ω
3+ b
3, V wherein
3Be the said the 3rd gyrostatic output voltage, ω
3Be the said the 3rd gyrostatic angular velocity of rotation, a
3, b
3Be constant.
Alternatively, confirm that based on the said the 3rd gyrostatic angular velocity of rotation the second place of said attitude awareness apparatus comprises in the step of the component of third direction:
The said the 3rd gyrostatic angular velocity of rotation is obtained the said the 3rd gyrostatic anglec of rotation α 3 by the time integration;
The second place of calculating said attitude awareness apparatus is at the component Ccos of third direction α 3, and wherein C is the component of the primary importance of said attitude awareness apparatus at third direction.
Alternatively, also comprise: calculate change component the C '=C-Ccos α 3 of the second place of said attitude awareness apparatus at third direction.
Alternatively, said the 3rd gyroscope is a single axis gyroscope, and the said the 3rd gyrostatic material is quartzy.
A kind of control method of mouse pointer comprises:
Utilize above-mentioned localization method to confirm the change component of the second place of attitude awareness apparatus in first direction and second direction;
Calculate the anglec of rotation rate of change vx of first direction, wherein vx=A '/SF
1, SF
1It is the first gyrostatic sensitivity coefficient;
Confirm the displacement variable Δ X of said mouse pointer in X-direction, Δ X=vx/MF wherein, MF is the sensitivity coefficient of mouse pointer;
Calculate the anglec of rotation rate of change vy of second direction, wherein vy=B '/SF
2, SF
2It is the second gyrostatic sensitivity coefficient;
Confirm the displacement variable Δ Y of said mouse pointer in Y direction, Δ Y=vy/MF wherein, said Y direction is perpendicular to X-direction;
Control moving of said mouse pointer based on mouse pointer at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction.
Alternatively, said mouse pointer is through the space mouse control.
Alternatively, said space mouse also comprises digital data collecting unit, data processing unit, information transmitting unit that is positioned at said space mouse and the information receiving unit that links to each other with the display screen of computer or television.
Compared with prior art, embodiments of the invention have the following advantages:
In the embodiments of the invention, even the very little angle of gyroscope rotation, that part of voltage that gyroscope rotation itself produces is less; The voltage that produces with external interference mixes; Be difficult to distinguish, after amplifying second multiple (greater than first multiple), can effectively the voltage signal of gyroscope rotation generation itself and the high-frequency signal of external interference generation be filtered; The value of the output voltage that obtains is more accurate, is beneficial to gyrostatic athletic posture is carried out more accurate localization.
Further, the attitude awareness apparatus of the embodiment of the invention comprises first gyroscope and second gyroscope at least, and each gyrostatic output voltage that the method for the employing embodiment of the invention obtains makes that the location of attitude awareness apparatus is more accurate.And; Because each gyrostatic output voltage and angular velocity of rotation are linear; Can confirm each gyrostatic angular velocity faster based on said linear relationship; And confirm the component of the second place of said attitude awareness apparatus in first direction and second direction, faster the attitude awareness apparatus is carried out two-dimensional localization.
Further; The embodiment of the invention provides a kind of control method of mouse pointer; Adopt embodiments of the invention to obtain said first gyroscope and the second gyrostatic output voltage; Linear relationship through each gyrostatic output voltage and angular velocity of rotation is confirmed the change component of the second place of space mouse in first direction and second direction fast; Finally obtain mouse pointer at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction, accurate mouse beacon pointer moves the sensitivity that has improved the space mouse fast.
Further; Also comprise the 3rd gyroscope in the embodiments of the invention; The said the 3rd gyrostatic output voltage and the anglec of rotation are linear; Based on the linear relationship of the said the 3rd gyrostatic output voltage and the anglec of rotation, can confirm the component of the second place of said attitude awareness apparatus fast at third direction, accurately the attitude awareness apparatus is carried out three-dimensional localization fast.
Description of drawings
Fig. 1 is the schematic flow sheet that obtains gyrostatic output voltage of first embodiment of the invention;
Fig. 2 is the schematic flow sheet of localization method of the attitude awareness apparatus of first embodiment of the invention
Fig. 3 is first gyroscope and the second gyrostatic structural representation of the attitude awareness apparatus of first embodiment of the invention;
Fig. 4～Fig. 6 is the circuit diagram of each gyrostatic acquisition output voltage of the attitude awareness apparatus of first embodiment of the invention;
Fig. 7 is the synoptic diagram that concerns between gyrostatic output voltage and the angular velocity of rotation of the embodiment of the invention;
Fig. 8 is the first gyrostatic output voltage and the linear relationship synoptic diagram of angular velocity of rotation of the attitude awareness apparatus of first embodiment of the invention;
Fig. 9 is the second gyrostatic output voltage and the linear relationship synoptic diagram of angular velocity of rotation of the attitude awareness apparatus of first embodiment of the invention;
Figure 10 is the schematic flow sheet that space mouse control mouse pointer moves that passes through of second embodiment of the invention;
Figure 11 is the 3rd a gyrostatic structural representation of third embodiment of the invention;
Figure 12 is that first gyroscope, second gyroscope and the 3rd gyrostatic position of the attitude awareness apparatus of third embodiment of the invention concerns synoptic diagram.
Embodiment
Said as background technology, the sensitivity of the mouse beacon pen travel of the space mouse of prior art is not high.The inventor finds through the research back; The space mouse with the elbow joint be axle rotate can the mouse beacon pointer moving on display screen; Its cardinal principle is through detecting each the gyrostatic output voltage in the mouse of space; According to the relation between said output voltage and the angular velocity of rotation; Confirm each gyrostatic angular velocity of rotation,, confirm mouse pointer moving at the displacement variable Δ Y mouse beacon pointer of the displacement variable Δ X of X-direction and Y direction again based on said each gyrostatic angular velocity of rotation.
The inventor is through further research back discovery, and the sensitivity that space mouse control mouse pointer moves in the prior art is not high, is mainly caused by following reason:
The one,, the value of each the gyrostatic output voltage that moves as follow-up definite mouse pointer is accurate inadequately, especially when the very little angle of said gyroscope rotation, because the voltage of voltage that the rotation of gyroscope itself produces and external interference generation is difficult to distinguish.
The 2nd,, the gyroscope that the space mouse of prior art adopts, the displacement X (t) of said gyroscope on the X axle is: X (t)=Acos (ω
2T-Φ
c), wherein:
X
0Be the peak swing of vibration input, f
0Be the resonance frequency of detection arm, Q
0Be mechanical quality factor, ω
zBe the angular velocity of vibration input, A is the vibration amplitude of gyroscope on detection arm, Φ
cBe gyrostatic initial phase, f
cResonance frequency for driving shaft.Can know the displacement X (t) of gyroscope on the X axle and the angular velocity omega that vibrates input according to above-mentioned formula
zBe directly proportional, and be nonlinear relationship; Again because piezoelectric effect; Gyroscope is directly proportional with gyrostatic displacement X (t) at the output voltage of the direction of detection arm; Therefore can learn between gyrostatic output voltage and the angular velocity of rotation of prior art to be nonlinear relationship, the process of calculating angular velocity of rotation through output voltage is comparatively complicated, length consuming time; Make that the speed that moves through space mouse control mouse pointer is slower, the sensitivity of space mouse is low.
Further, please refer to Fig. 1, the inventor of the embodiment of the invention provides a kind of method of obtaining gyrostatic output voltage, comprising:
Step S10; Obtain said gyrostatic initial voltage signal; Said gyroscope comprises that detection arm, two symmetries are positioned at the actuating arm of detection arm both sides, and connect the connecting portion at said detection arm center and actuating arm center, measure on the detection arm of said gyrostatic initial voltage signal by correspondence;
Step S20 amplifies first multiple with said initial voltage signal, and the filtering high frequency interference is carried out the A/D sampling again, obtains first voltage;
Step S30 amplifies second multiple with said initial voltage signal, and said second multiple is greater than first multiple, and the filtering high frequency interference is carried out the A/D sampling again, obtains second voltage;
Step S40 compares said first voltage, second voltage and threshold voltage respectively, when said first voltage and second voltage during all less than threshold voltage, selects second voltage as gyrostatic output voltage; When said first voltage less than threshold voltage, second voltage selects first voltage as gyrostatic output voltage during greater than threshold voltage.
And, based on the above-mentioned method of obtaining gyrostatic output voltage, please refer to Fig. 2, the inventor of the embodiment of the invention provides a kind of localization method of attitude awareness apparatus, comprising:
Step S100 provides the attitude awareness apparatus, and said attitude awareness apparatus comprises first gyroscope and second gyroscope at least, and the said first gyrostatic detection arm is obtained the primary importance of said attitude awareness apparatus perpendicular to the said second gyrostatic detection arm;
Step S200 after said attitude awareness apparatus moves to the second place by said primary importance, obtains first gyroscope and the second gyrostatic output voltage respectively;
Step S300 confirms said first gyroscope and the second gyrostatic angular velocity of rotation, and wherein, each gyrostatic output voltage and angular velocity of rotation are linear;
Step S400; Based on said first gyroscope and the second gyrostatic angular velocity of rotation; Confirm the component of the second place of said attitude awareness apparatus in first direction and second direction, to locate said attitude awareness apparatus, said first direction is perpendicular to said second direction.
The localization method of above-mentioned attitude awareness apparatus; Because each gyrostatic output voltage and angular velocity of rotation are linear; According to said output voltage; Can confirm said angular velocity of rotation fast, further confirm the component of the second place of attitude awareness apparatus fast, thereby accurately the attitude awareness apparatus is carried out two dimension or three-dimensional location fast in first direction and second direction.
Further; The inventor of the embodiment of the invention provides a kind of control method that adopts the mouse pointer of said method; Because the space mouse of mouse beacon pen travel comprises two gyroscopes; And it is linear between each gyrostatic output voltage and the angular velocity of rotation; When adopting the space mouse control mouse pointer of the embodiment of the invention to move, owing to confirm that through each gyrostatic output voltage the method for angular velocity of rotation is fast simple more, so the space mouse can obtain mouse pointer fast at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction; Thereby quick moving of accurate mouse beacon pointer, space mouse highly sensitive.
For above-mentioned purpose, the feature and advantage that make embodiments of the invention can be more obviously understandable, embodiments of the invention are done detailed explanation below in conjunction with accompanying drawing.
A lot of details have been set forth in the following description so that make much of embodiments of the invention; But embodiments of the invention can also adopt other to be different from alternate manner described here and implement, so embodiments of the invention do not receive the restriction of following disclosed specific embodiment.
First embodiment
Please refer to Fig. 3, in the first embodiment of the present invention, at first, provide to comprise first gyroscope and the second gyrostatic attitude awareness apparatus at least, wherein:
Said first gyroscope comprises: detection arm 110; Symmetry is positioned at the actuating arm 120 and actuating arm 130 of said detection arm 110 both sides; The connecting portion 140 that connects said detection arm 110 centers, said actuating arm 120 centers and actuating arm 130 centers;
Said second gyroscope comprises: detection arm 210; Symmetry is positioned at the actuating arm 220 and actuating arm 230 of said detection arm 210 both sides; The connecting portion 240 that connects said detection arm 210 centers, said actuating arm 220 centers and said actuating arm 230;
The said first gyrostatic detection arm 110 is perpendicular to the said second gyrostatic detection arm 210.
Said first gyroscope and second gyroscope also comprise driving circuit respectively; Said driving circuit is used to drive each gyrostatic two actuating arm and produces vibration; The vibration frequency of each gyrostatic two actuating arm is identical, and the vibration frequency of the vibration frequency of said first gyrostatic two actuating arms and second gyrostatic two actuating arms is 40KHz～60KHz.For fear of resonance, in an embodiment of the present invention, the vibration frequency of said first gyrostatic two actuating arms is 46.5KHz, and the vibration frequency of said second gyrostatic two actuating arms is 50.3KHz.
In an embodiment of the present invention; Said first gyroscope and second gyroscope are single axis gyroscope; And consider that quartzy characteristic is not obvious with the variation of environment temperature; The inaccurate problem in location of the attitude awareness apparatus that causes for fear of temperature variation, said first gyroscope and the second gyrostatic material are quartzy.
Need to prove that said attitude awareness apparatus also comprises: data acquisition unit and data processing unit.Wherein, said data acquisition unit is used to obtain the primary importance information of each gyrostatic output voltage and attitude awareness apparatus; Each gyrostatic output voltage that said data processing unit is used for providing according to data acquisition unit is confirmed the second place of attitude awareness apparatus.
Said primary importance is the position of definite attitude awareness apparatus last time, can be obtained by data storage cell.In an embodiment of the present invention; Said attitude awareness apparatus is static when primary importance, because two gyrostatic actuating arm symmetries are positioned at the both sides of detection arm, and connects the center of said detection arm and two actuating arms through connecting portion; Said two actuating arms that are symmetricly set on the detection arm both sides are through vibration relatively; Can eliminate noise, for example outside shock and vibration, said detection arm remains static.
Because said attitude awareness apparatus is static when primary importance, each the gyrostatic voltage when measuring said attitude awareness apparatus and being positioned at primary importance is as said reference voltage.Need to prove, in the actual mechanical process, can after each gyroscope assembling of said attitude awareness apparatus is accomplished, measure each gyrostatic reference voltage, and all remeasure each gyrostatic reference voltage when noting be used in each use.
Then, make said attitude awareness apparatus move to the second place by primary importance, said first gyroscope and second gyroscope rotate, and obtain each gyrostatic output voltage.
That obtains each gyrostatic output voltage can choose in the following several kinds of modes any at least:
Please refer to Fig. 4, measure the initial voltage signal V of each gyrostatic certain point through the data acquisition unit (not shown) that links to each other with each gyrostatic detection axle
0, said initial voltage signal V
0Through low-pass filter (LPF) 300 filtering part high frequency interference, carry out A/D sampling 310 through port P again and obtain each gyrostatic output voltage, be i.e. the first gyrostatic output voltage V
1, and the second gyrostatic output voltage V
2
The part high frequency interference that adopted output voltage filtering that method shown in Figure 4 obtains, the value of the gyrostatic output voltage of each that obtains is comparatively accurate.
Please refer to Fig. 5, measure the initial voltage signal V of each gyrostatic certain point through the data acquisition unit that links to each other with each gyrostatic detection axle
0, through first amplifying unit 405 with said initial voltage signal V
0Amplify first multiple, obtain signal V
01, again through first low-pass filter (LPF1), 400 filtered signal V
01In high frequency interference obtain signal V
01', carry out A/D sampling 410 through port P1 again, obtain the first voltage V
01"; Through second amplifying unit 420 with said initial voltage signal V
0Amplify second multiple, said second multiple obtains signal V greater than first multiple
02, again with said signal V
02Obtain V through second low-pass filter (LPF2), 430 filtering high frequency interference
02', carry out A/D sampling 410 through port P2 again and obtain the second voltage V
02"; At last through comparing the selected cell 440 more said first voltage V
01" and the second voltage V
02" whether less than threshold voltage, select the first voltage V
01" or the second voltage V
02" as each gyrostatic output voltage, i.e. the first gyrostatic output voltage V
1With the second gyrostatic output voltage V
2
Wherein, said first amplifying unit has first sensitivity coefficient, and said first multiple and first sensitivity coefficient are proportional; Said second amplifying unit has second sensitivity coefficient, and said second multiple and second sensitivity coefficient are proportional, and said first sensitivity coefficient is less than said second sensitivity coefficient.
In an embodiment of the present invention, said first sensitivity coefficient is 0.8mv/dps, the signal V behind said amplification first multiple
01Be V
00+ 0.8 α, wherein V
00Be the reference voltage of gyroscope when static, α is the gyrostatic anglec of rotation; Said second amplifying unit is a reverser, and second sensitivity coefficient of said reverser is 3.624mv/dps, the signal V behind said amplification second multiple
02Be V
00+ 3.624 α, wherein V
00Be the reference voltage of gyroscope when static, α is the gyrostatic anglec of rotation.
Select first voltage or second voltage to be:, to select second voltage as each gyrostatic output voltage when said first voltage and second voltage during all less than threshold voltage as the foundation of each gyrostatic output voltage; When said first voltage less than threshold voltage, second voltage selects first voltage as each gyrostatic output voltage during greater than threshold voltage.
In an embodiment of the present invention, said threshold voltage is 1380～1420mv.
Adopt method shown in Figure 5 to obtain gyrostatic output voltage; Even the angle (for example 3 ° and following) that the gyroscope rotation is very little, that part of voltage that gyroscope rotation itself produces is less, and the voltage that produces with external interference mixes; Be difficult to distinguish; After amplifying second multiple (greater than first multiple), can effectively the voltage signal of gyroscope rotation generation itself and the high-frequency signal of external interference generation be filtered, the value of the output voltage that obtains is more accurate; Follow-uply also can calculate the gyrostatic anglec of rotation accurately, be beneficial to gyrostatic athletic posture is carried out more accurate localization through gyrostatic output voltage.
Please refer to Fig. 6, measure the initial voltage signal V of each gyrostatic certain point through the data acquisition unit (not shown) that links to each other with each gyrostatic detection axle
0, through first amplifying unit 405 with said initial voltage signal V
0Amplify first multiple, obtain signal V
01, with said signal V
01Carry out difference through first operational amplifier 415 and amplify, the high frequency interference in the signal after amplifying through first low-pass filter (LPF1), 400 filtering difference again obtains signal V
010', carry out A/D sampling 410 through port P1 again, obtain the first voltage V
010"; Through second amplifying unit 420 with said initial voltage signal V
0Amplify second multiple, said second multiple obtains signal V greater than first multiple
02, with said signal V
01Carry out difference through second operational amplifier 425 and amplify, the high frequency interference in the signal after amplifying through second low-pass filter (LPF2), 430 filtering difference again obtains signal V
020', carry out A/D sampling 410 through port P2 again and obtain the second voltage V
020"; The more said at last first voltage V
010" and the second voltage V
020" whether less than threshold voltage, select the first voltage V
010" or the second voltage V
020" as each gyrostatic output voltage, i.e. the first gyrostatic output voltage V
1With the second gyrostatic output voltage V
2
Wherein, said first operational amplifier 415 has two input ends and an output terminal, and the signal of one of them input end input is for amplifying initial voltage signal the signal V behind first multiple
01, the signal of another input end input is reference voltage signal V
Ref, the signal of said output terminal output is the signal V after difference is amplified
01-V
Ref, the signal of said output terminal output has been eliminated common mode interference, has especially eliminated the influence that temperature causes gyrostatic voltage signal.
Said second operational amplifier 425 has two input ends and an output terminal, and the input of one of them input end is amplified the signal V behind second multiple with initial voltage signal
02, another input end signal is reference voltage signal V
Ref, the signal of said output terminal output is the signal V after difference is amplified
02-V
Ref, the signal of said output terminal output has been eliminated common mode interference, has especially eliminated the influence that temperature causes gyrostatic voltage signal.
Need to prove, consider the characteristic that calculus of differences amplifies, said reference voltage V
RefGreater than zero, less than V
01
The method that Fig. 6 adopts is on the basis of method shown in Figure 5; Increased the step that difference is amplified; Can effectively suppress common mode interference, especially can eliminate the influence that variation of temperature causes for gyrostatic output voltage, make that gyrostatic output voltage is more accurate.
In an embodiment of the present invention, preferably adopt method shown in Figure 5 to obtain the first gyrostatic output voltage V
1With the second gyrostatic output voltage V
2
Receive the influence of earth deflection force (Coriolis force); Two actuating arms that are symmetricly set on the second detection arm both sides can produce lengthwise movement; Further drive said detection arm and produce the detection vibration; Can obtain the output voltage on the said gyrostatic detection arm through any method among above-mentioned Fig. 3～Fig. 5, be used for follow-up each gyrostatic angular velocity of rotation of confirming.
Again then, confirm the first gyrostatic angular velocity of rotation, confirm the second gyrostatic angular velocity of rotation according to the second gyrostatic output voltage that records according to the first gyrostatic output voltage that records.
Wherein, because the equal symmetry of each gyrostatic actuating arm is positioned at the both sides of said detection arm, and connecting portion connects the center of said detection arm and two actuating arms; Said gyrostatic structure makes resonance frequency and the gyrostatic mechanical quality factor of gyroscope actuating arm along with the variation of the different generations of other conditions is very little, referring among Fig. 7 shown in the solid line, is approximately linear relationship between gyrostatic output voltage and the angular velocity of rotation; Pass through Least Square in Processing again; Obtain like straight line shown in dotted lines in Figure 7, V=a ω+b, wherein V is gyrostatic output voltage; ω is gyrostatic angular velocity of rotation, and a, b are constant.
Linear between the said first gyrostatic output voltage and the angular velocity of rotation.Please refer to Fig. 8, the said first gyrostatic output voltage and angular velocity of rotation linear relationship are V
1=a
1ω
1+ b
1, V wherein
1Be the said first gyrostatic output voltage, ω
1Be the said first gyrostatic angular velocity of rotation, a
1, b
1Be constant, and b
1It is the first gyrostatic reference voltage value; Please refer to Fig. 9, linear between the said second gyrostatic output voltage and the angular velocity of rotation, the linear relationship of the said second gyrostatic output voltage and angular velocity of rotation is V
2=a
2ω
2+ b
2, V wherein
2Be the said second gyrostatic output voltage, ω
2Be the said second gyrostatic angular velocity of rotation, a
2, b
2Be constant and b
2It is the second gyrostatic reference voltage value.
In an embodiment of the present invention, said a
1, a
2Be 0.67, said b
1, b
2Be 1350.The linear relationship that is the said first gyrostatic output voltage and angular velocity of rotation is V
1=0.67 ω
1+ 1350, the said first gyrostatic reference voltage value is 1350mv; The linear relationship of the said second gyrostatic output voltage and angular velocity of rotation is V
2=0.67 ω
2+ 1350, the said second gyrostatic reference voltage value is 1350mv.
As stated; Gyrostatic output voltage of each of said attitude awareness apparatus and angular velocity of rotation are linear; When confirming each gyrostatic angular velocity of rotation through said each gyrostatic output voltage; Need the time of cost shorter, can be faster the second place of attitude awareness apparatus be positioned, reduced the time required on the whole the location of attitude awareness apparatus.
At last, based on the said first gyrostatic angular velocity of rotation, confirm the component of the second place of said attitude awareness apparatus at first direction; Based on the said second gyrostatic angular velocity of rotation, confirm the component of the second place of said attitude awareness apparatus in second direction, wherein said first direction is perpendicular to said second direction, particularly:
The said first gyrostatic angular velocity of rotation by the time integration, is obtained the said first gyrostatic anglec of rotation α 1;
The second place of calculating said attitude awareness apparatus is at the component A cos of first direction α 1, and wherein, A is the component of the primary importance of said attitude awareness apparatus at first direction;
The said second gyrostatic angular velocity of rotation by the time integration, is obtained the said second gyrostatic anglec of rotation α 2;
The second place of calculating said attitude awareness apparatus is at the component Bcos of second direction α 2, and wherein, B is the component of the primary importance of said attitude awareness apparatus in second direction.
Need to prove, in an embodiment of the present invention, can also be to the second place of calculating said attitude awareness apparatus change component A '=A-Acos α 1 at first direction; Calculate change component the B '=B-Bcos α 2 of the second place of said attitude awareness apparatus, to realize two-dimensional localization to the attitude awareness apparatus in second direction.
In the first embodiment of the present invention; Said attitude awareness apparatus is through two mutually perpendicular gyroscopes of detection arm; And each gyrostatic output voltage and angular velocity of rotation are linear; Determine corresponding angular velocity of rotation through each gyrostatic output voltage fast, finally realized accurately said attitude awareness apparatus being carried out fast the location of two dimension.
Need to prove; In other embodiments of the invention; Said attitude awareness apparatus can also comprise a data storage unit, comprises a plurality of each the gyrostatic output voltage that obtain through repetition test, the position that reaches corresponding attitude awareness apparatus in the said data storage cell.When the attitude awareness apparatus is positioned, after getting access to each gyrostatic output voltage, can obtain the position with the corresponding attitude awareness apparatus of said each gyrostatic output voltage through inquiry and data storage cell.Adopt this kind mode to position the attitude awareness apparatus accurately more fast.
Second embodiment
A kind of control method of mouse pointer is provided in an embodiment of the present invention.
In second embodiment of the invention, the space mouse that moves through of said mouse pointer is controlled.Through moving said space mouse, the mouse pointer place of the location map of said space mouse to the display screen moves on display screen with the mouse beacon pointer.Said space mouse comprises first gyroscope as shown in Figure 3 and second gyroscope.
Wherein, said first gyroscope comprises that actuating arm 120 that detection arm 110, symmetry are positioned at said detection arm 110 both sides is connected the connecting portion 140 at said detection arm 110 centers, said actuating arm 120 centers and actuating arm 130 centers with actuating arm 130; Said second gyroscope comprises detection arm 210; Symmetry is positioned at the actuating arm 220 and actuating arm 230 of said detection arm 210 both sides; The connecting portion 240 that connects said detection arm 210 centers, said actuating arm 220 centers and said actuating arm 230.
In an embodiment of the present invention, said first gyroscope and second gyroscope are single axis gyroscope, and said first gyroscope and the second gyrostatic material are quartzy, can avoid temperature to float phenomenon.
The method that obtains each gyrostatic output voltage also comprises any in three kinds shown in Fig. 4～6 at least, and details please refer to the first embodiment of the present invention.
Above-mentioned each gyrostatic output voltage and angular velocity of rotation are linear, and the promptly said first gyrostatic output voltage and angular velocity of rotation are linear, and the linear relationship of the said first gyrostatic output voltage and angular velocity of rotation is V
1=a
1ω
1+ b
1, V wherein
1Be the said first gyrostatic output voltage, ω
1Be the said first gyrostatic angular velocity of rotation, a
1, b
1Be constant, and b
1It is the first gyrostatic reference voltage value (as shown in Figure 8); The said second gyrostatic output voltage and angular velocity of rotation are linear, and the linear relationship of the said second gyrostatic output voltage and angular velocity of rotation is V
2=a
2ω
2+ b
2, V wherein
2Be the said second gyrostatic output voltage, ω
2Be the said second gyrostatic angular velocity of rotation, a
2, b
2Be constant, and b
2It is the second gyrostatic reference voltage value (as shown in Figure 9).
Please refer to Figure 10, the space mouse 800 of second embodiment of the invention comprises data acquisition unit 810, data processing unit 820, information transmitting unit 830 and information receiving unit 840.Wherein, said collecting unit 810, data processing unit 820, information transmitting unit 830 are positioned at space mouse 800, and said information receiving unit 840 links to each other with the display screen of computer or TV.
Said data acquisition unit 810 is used for gathering the space mouse first gyrostatic output voltage and the second gyrostatic output voltage.
Said data processing unit 820 is used to obtain the first gyrostatic output voltage and the second gyrostatic output voltage that data acquisition unit 810 collects; And confirm the displacement variable Δ X of mouse pointer in X-direction based on the said first gyrostatic output voltage, confirm the displacement variable Δ Y of mouse pointer based on the said second gyrostatic output voltage in Y direction.Wherein, the coordinate system of said X axle and Y axle formation is positioned on the display screen.
Said information transmitting unit 830 is used for the mouse pointer that obtains from data processing unit 820 is sent to information receiving unit 840 at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction.
Said information receiving unit 840 is used to receive mouse pointer that said information transmitting unit 830 sends at the displacement variable Δ X of X-direction with in the information of the displacement variable Δ Y of Y direction, and mouse beacon pointer 850 with display screen that information receiving unit 840 links to each other on mobile.
The course of work of the space mouse 800 of the embodiment of the invention is specially: be the axle rotation with the elbow joint; The motion of said space mouse 800 can be decomposed into along first direction and move with the second direction vertical with said first direction; The first gyrostatic output voltage V 1 and the second gyrostatic output voltage V 2 that the data acquisition unit 810 of said space mouse 800 will collect pass to data processing unit 820; Said data processing unit 820 is through confirming the component of the second place of space mouse 800 in said first direction and second direction after the computing; Then according to the mapping relations between space mouse 800 and the mouse pointer 850; The data message that obtaining mouse pointer 850 needs to move is a mouse pointer 850 at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction; And by the information transmitting unit 830 of space mouse 800 data message that said mouse pointer 850 needs to move is sent to information receiving unit 840, with mouse beacon pointer 850 fast accurately with display screen that said information receiving unit 840 links to each other on mobile.
In an embodiment of the present invention, easy to operate for the ease of the user, the first direction of said space mouse is identical with the X-direction of mouse pointer 850, and the second direction of said space mouse is identical with the Y direction of mouse pointer 850.
Need to prove that in other embodiments of the invention, the first direction of said space mouse also can be different with the X-direction of mouse pointer, the second direction of said space mouse also can be different with the Y direction of mouse pointer.As long as the first direction of space mouse is corresponding with the X-direction of mouse pointer after shining upon, the second direction of space mouse is corresponding with the Y direction of mouse pointer after shining upon.
The control method of the mouse pointer in the second embodiment of the present invention, main completion in the data processing unit 820 of space mouse comprises:
Utilize the localization method of first embodiment to confirm the change component of the second place of attitude awareness apparatus in first direction and second direction;
Calculate the anglec of rotation rate of change vx of first direction, wherein vx=A '/SF
1, SF
1It is the first gyrostatic sensitivity coefficient;
Confirm the displacement variable Δ X of said mouse pointer in X-direction, Δ X=vx/MF wherein, MF is the sensitivity coefficient of mouse pointer;
Calculate the anglec of rotation rate of change vy of second direction, wherein vy=B '/SF
2, SF
2It is the second gyrostatic sensitivity coefficient;
Confirm the displacement variable Δ Y of said mouse pointer in Y direction, Δ Y=vy/MF wherein, said Y direction is perpendicular to X-direction;
Control moving of said mouse pointer based on mouse pointer at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction.
Wherein, said gyrostatic sensitivity coefficient and first sensitivity coefficient, second sensitivity coefficient, relevant.Particularly, if select first voltage as output voltage, then said gyrostatic sensitivity coefficient is first sensitivity coefficient; If select second voltage as output voltage, then said gyrostatic sensitivity coefficient is second sensitivity coefficient.
Because each gyrostatic output voltage and angular velocity of rotation linear (like Fig. 8, shown in 9); The data processing unit of said space mouse is confirmed speeding up of angular velocity of rotation through each gyrostatic output voltage; Can confirm quickly that based on said first gyroscope and the second gyrostatic angular velocity of rotation mouse pointer is at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction; Fast accurate the moving of mouse beacon pointer arrives the second place, space mouse highly sensitive.
Need to prove that in other embodiments of the invention, the space mouse that is used for the mouse beacon pointer also can comprise data storage cell, said data storage cell comprises each the gyrostatic output voltage of space mouse and the position of mouse pointer at least.Therefore, knowing under the situation of each gyrostatic output voltage, can directly obtain the position of mouse pointer fast, moving thereby the mouse beacon pointer is accurate more fast through the data query storage unit.
The 3rd embodiment
Different with first embodiment, for realizing the three-dimensional localization of attitude awareness apparatus, please refer to Figure 11, the attitude awareness apparatus of third embodiment of the invention also comprises the 3rd gyroscope.Said the 3rd gyroscope comprises detection arm 910; Symmetry is positioned at the actuating arm 920 and actuating arm 930 of said detection arm 910 both sides; The connecting portion 940 that connects said detection arm 910 centers, said actuating arm 920 centers and said actuating arm 930 centers.
In an embodiment of the present invention, said the 3rd gyroscope is a single axis gyroscope, and the said the 3rd gyrostatic material is quartzy.
Please refer to Figure 12; Figure 12 shows in the attitude awareness apparatus; Said first gyroscope, second gyroscope and the 3rd gyrostatic position relation, said first gyrostatic detection arm 110, the said second gyrostatic detection arm 210 and the said the 3rd gyrostatic detection arm 910 lay respectively at x, y; On the z axle, said each gyrostatic detection arm is vertical in twos.
Need to prove, said x, y, the z axle is represented first direction, second direction and third direction respectively, above-mentioned 3 directions are vertical in twos.
The 3-D positioning method of said attitude awareness apparatus also comprises:
After said attitude awareness apparatus moves to the second place by said primary importance, obtain the 3rd gyrostatic output voltage V
3, said output voltage V
3Be the voltage that records on the 3rd gyrostatic detection arm 910;
Confirm the said the 3rd gyrostatic angular velocity of rotation ω
3, wherein the linear relationship of the 3rd gyrostatic output voltage and angular velocity of rotation is V
3=a
3ω
3+ b
3, a wherein
3, b
3Be constant;
Based on the said the 3rd gyrostatic angular velocity of rotation ω
3Confirm the component of the second place of said attitude awareness apparatus at third direction, said third direction is perpendicular to first direction and perpendicular to second direction.
The said the 3rd gyrostatic output voltage V
3Preparation method also comprise in three kinds shown in Fig. 4～6 any at least, details please refer to the first embodiment of the present invention.
In the third embodiment of the present invention, the said the 3rd gyrostatic output voltage V
3Preferred adopt method shown in Figure 6 to obtain, owing to adopt passed through low pass filter filters out again behind reverser, operational method device high frequency interference, the 3rd gyrostatic output voltage V that obtains
3More accurate, be beneficial to follow-up accurate said attitude awareness apparatus location.
In the third embodiment of the present invention, the linear relationship of the said the 3rd gyrostatic output voltage and angular velocity of rotation and first gyroscope, second gyroscope are identical, i.e. a
3=0.67, b
3=1350.Can find out that from the linear relationship of the said the 3rd gyrostatic output voltage and angular velocity of rotation the said the 3rd gyrostatic reference voltage is 1350mv.
Wherein, based on the said the 3rd gyrostatic angular velocity of rotation ω
3The second place of confirming said attitude awareness apparatus comprises in the step of the component of third direction:
The said the 3rd gyrostatic angular velocity of rotation is obtained the said the 3rd gyrostatic anglec of rotation α 3 by the time integration;
The second place of calculating said attitude awareness apparatus is at the component Ccos of third direction α 3, and wherein C is the component of the primary importance of said attitude awareness apparatus at third direction.
Need to prove, can also calculate change component the C '=C-Ccos α 3 of the second place of said attitude awareness apparatus at third direction.
Based on the second place of said attitude awareness apparatus component, accomplished the three-dimensional localization of attitude awareness apparatus at first direction, second direction and third direction.
Need to prove; Said attitude awareness apparatus also comprises data storage cell; Said data storage cell comprises each the gyrostatic output voltage that obtains through repetition test, the position that reaches the attitude awareness apparatus corresponding with said output voltage, thereby realizes accurately the attitude awareness apparatus being carried out three-dimensional localization fast through each gyrostatic output voltage.
To sum up, in the embodiments of the invention, even the very little angle of gyroscope rotation; That part of voltage that gyroscope rotation itself produces is less, and the voltage that produces with external interference mixes, and is difficult to distinguish; After amplifying second multiple (greater than first multiple); Can effectively the voltage signal of gyroscope rotation generation itself and the high-frequency signal of external interference generation be filtered, the value of the output voltage that obtains is more accurate, is beneficial to gyrostatic athletic posture is carried out more accurate localization.
Further, the attitude awareness apparatus of the embodiment of the invention comprises first gyroscope and second gyroscope at least, and each gyrostatic output voltage that the method for the employing embodiment of the invention obtains makes that the location of attitude awareness apparatus is more accurate.And; Because each gyrostatic output voltage and angular velocity of rotation are linear; Can confirm each gyrostatic angular velocity faster based on said linear relationship; And confirm the component of the second place of said attitude awareness apparatus in first direction and second direction, faster the attitude awareness apparatus is carried out two-dimensional localization.
Further; The embodiment of the invention provides a kind of control method of mouse pointer; Adopt embodiments of the invention to obtain said first gyroscope and the second gyrostatic output voltage; Linear relationship through each gyrostatic output voltage and angular velocity of rotation is confirmed the change component of the second place of space mouse in first direction and second direction fast; Finally obtain mouse pointer at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction, accurate mouse beacon pointer moves the sensitivity that has improved the space mouse fast.
Further; Also comprise the 3rd gyroscope in the embodiments of the invention; The said the 3rd gyrostatic output voltage and the anglec of rotation are linear; Based on the linear relationship of the said the 3rd gyrostatic output voltage and the anglec of rotation, can confirm the component of the second place of said attitude awareness apparatus fast at third direction, accurately the attitude awareness apparatus is carried out three-dimensional localization fast.
Though the present invention with preferred embodiment openly as above; But it is not to be used for limiting the present invention; Any those skilled in the art are not breaking away from the spirit and scope of the present invention; Can utilize the method and the technology contents of above-mentioned announcement that technical scheme of the present invention is made possible change and modification, therefore, every content that does not break away from technical scheme of the present invention; To any simple modification, equivalent variations and modification that above embodiment did, all belong to the protection domain of technical scheme of the present invention according to technical spirit of the present invention.
Claims (17)
1. a method of obtaining gyrostatic output voltage is characterized in that, comprising:
Obtain said gyrostatic initial voltage signal; Said gyroscope comprises that detection arm, two symmetries are positioned at the actuating arm of detection arm both sides, and connect the connecting portion at said detection arm center and actuating arm center, measure on the detection arm of said gyrostatic initial voltage signal by correspondence;
Said initial voltage signal is amplified first multiple, and the filtering high frequency interference is carried out the A/D sampling again, obtains first voltage;
Said initial voltage signal is amplified second multiple, and said second multiple is greater than first multiple, and the filtering high frequency interference is carried out the A/D sampling again, obtains second voltage;
Respectively said first voltage, second voltage and threshold voltage are compared,, select second voltage as gyrostatic output voltage when said first voltage and second voltage during all less than threshold voltage; When said first voltage less than threshold voltage, second voltage selects first voltage as gyrostatic output voltage during greater than threshold voltage.
2. the method for obtaining gyrostatic output voltage as claimed in claim 1 is characterized in that, said threshold voltage is 1380～1420mv.
3. the method for obtaining gyrostatic output voltage as claimed in claim 1 is characterized in that, also comprises: after said initial voltage signal is amplified first multiple, before the filtering high frequency interference, carry out calculus of differences and amplify; After said initial voltage signal amplified second multiple, before the filtering high frequency interference, carry out calculus of differences and amplify.
4. the localization method of an attitude awareness apparatus, said attitude awareness apparatus comprises first gyroscope and second gyroscope at least, the said first gyrostatic detection arm is characterized in that perpendicular to the said second gyrostatic detection arm, comprising:
Obtain the primary importance of said attitude awareness apparatus;
After said attitude awareness apparatus moves to the second place by said primary importance, utilize any method in the claim 1～3 to obtain first gyroscope and the second gyrostatic output voltage respectively;
Confirm said first gyroscope and the second gyrostatic angular velocity of rotation, wherein, each gyrostatic output voltage and angular velocity of rotation are linear;
Based on said first gyroscope and the second gyrostatic angular velocity of rotation, confirm the component of the second place of said attitude awareness apparatus in first direction and second direction, to locate said attitude awareness apparatus, said first direction is perpendicular to said second direction.
5. the localization method of attitude awareness apparatus as claimed in claim 4 is characterized in that, the linear relationship of the said first gyrostatic output voltage and angular velocity of rotation is V
1=a
1ω
1+ b
1, V wherein
1Be the said first gyrostatic output voltage, ω
1Be the said first gyrostatic angular velocity of rotation, a
1, b
1Be constant; The linear relationship of the said second gyrostatic output voltage and angular velocity of rotation is V
2=a
2ω
2+ b
2, V wherein
2Be the said second gyrostatic output voltage, ω
2Be the said second gyrostatic angular velocity of rotation, a
2, b
2Be constant.
6. the localization method of attitude awareness apparatus as claimed in claim 5 is characterized in that, said a
1, a
2Be 0.67, said b
1, b
2Be 1350.
7. the localization method of attitude awareness apparatus as claimed in claim 4; It is characterized in that; Based on said first gyroscope and the second gyrostatic angular velocity of rotation, confirm that the second place of said attitude awareness apparatus comprises in the step of the component of first direction and second direction:
The said first gyrostatic angular velocity of rotation by the time integration, is obtained the said first gyrostatic anglec of rotation α 1;
The second place of calculating said attitude awareness apparatus is at the component A cos of first direction α 1, and wherein, A is the component of the primary importance of said attitude awareness apparatus at first direction;
The said second gyrostatic angular velocity of rotation by the time integration, is obtained the said second gyrostatic anglec of rotation α 2;
The second place of calculating said attitude awareness apparatus is at the component Bcos of second direction α 2, and wherein, B is the component of the primary importance of said attitude awareness apparatus in second direction.
8. the localization method of attitude awareness apparatus as claimed in claim 7 is characterized in that, also comprises:
Calculate change component the A '=A-Acos α 1 of the second place of said attitude awareness apparatus at first direction;
Calculate change component the B '=B-Bcos α 2 of the second place of said attitude awareness apparatus in second direction.
9. the localization method of attitude awareness apparatus as claimed in claim 4 is characterized in that, said first gyroscope and second gyroscope are single axis gyroscope, and said first gyroscope and the second gyrostatic material are quartzy.
10. the localization method of attitude awareness apparatus as claimed in claim 4 is characterized in that, also comprises:
The 3rd gyroscope is provided;
Obtain the said the 3rd gyrostatic output voltage; Said the 3rd gyroscope comprises that detection arm, two symmetries are positioned at the actuating arm of detection arm both sides, and connect the connecting portion at said detection arm center and actuating arm center, and the said the 3rd gyrostatic output voltage is the voltage that records on the 3rd gyrostatic detection arm;
Confirm the said the 3rd gyrostatic angular velocity of rotation;
Confirm the component of the second place of said attitude awareness apparatus at third direction based on the said the 3rd gyrostatic angular velocity of rotation, said third direction is perpendicular to first direction and perpendicular to second direction.
11. the localization method of attitude awareness apparatus as claimed in claim 10 is characterized in that, the linear relationship of the said the 3rd gyrostatic output voltage and angular velocity of rotation is V
3=a
3ω
3+ b
3, V wherein
3Be the said the 3rd gyrostatic output voltage, ω
3Be the said the 3rd gyrostatic angular velocity of rotation, a
3, b
3Be constant.
12. the localization method of attitude awareness apparatus as claimed in claim 10 is characterized in that, confirms that based on the said the 3rd gyrostatic angular velocity of rotation the second place of said attitude awareness apparatus comprises in the step of the component of third direction:
The said the 3rd gyrostatic angular velocity of rotation is obtained the said the 3rd gyrostatic anglec of rotation α 3 by the time integration;
The second place of calculating said attitude awareness apparatus is at the component Ccos of third direction α 3, and wherein C is the component of the primary importance of said attitude awareness apparatus at third direction.
13. the localization method of attitude awareness apparatus as claimed in claim 12 is characterized in that, also comprises: calculate change component the C '=C-Ccos α 3 of the second place of said attitude awareness apparatus at third direction.
14. the localization method of attitude awareness apparatus as claimed in claim 12 is characterized in that, said the 3rd gyroscope is a single axis gyroscope, and the said the 3rd gyrostatic material is quartzy.
15. the control method of a mouse pointer is characterized in that, comprising:
Utilize the described localization method of claim 8 to confirm the change component of the second place of attitude awareness apparatus in first direction and second direction;
Calculate the anglec of rotation rate of change vx of first direction, wherein vx=A '/SF
1, SF
1It is the first gyrostatic sensitivity coefficient;
Confirm the displacement variable Δ X of said mouse pointer in X-direction, Δ X=vx/MF wherein, MF is the sensitivity coefficient of mouse pointer;
Calculate the anglec of rotation rate of change vy of second direction, wherein vy=B '/SF
2, SF
2It is the second gyrostatic sensitivity coefficient;
Confirm the displacement variable Δ Y of said mouse pointer in Y direction, Δ Y=vy/MF wherein, said Y direction is perpendicular to X-direction;
Control moving of said mouse pointer based on mouse pointer at the displacement variable Δ X of X-direction with at the displacement variable Δ Y of Y direction.
16. the control method of mouse pointer as claimed in claim 15 is characterized in that, said mouse pointer is through the space mouse control.
17. the control method of mouse pointer as claimed in claim 16; It is characterized in that said space mouse also comprises digital data collecting unit, data processing unit, information transmitting unit that is positioned at said space mouse and the information receiving unit that links to each other with the display screen of computer or television.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102352054A CN102419173B (en) | 2011-08-16 | 2011-08-16 | Method for locating posture sensing device and method for controlling mouse pointer |
| PCT/CN2011/081619 WO2013023411A1 (en) | 2011-08-16 | 2011-11-01 | Method for locating attitude-sensing device, and method for controlling mouse pointer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102352054A CN102419173B (en) | 2011-08-16 | 2011-08-16 | Method for locating posture sensing device and method for controlling mouse pointer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102419173A true CN102419173A (en) | 2012-04-18 |
| CN102419173B CN102419173B (en) | 2013-09-04 |
Family
ID=45943700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102352054A Active CN102419173B (en) | 2011-08-16 | 2011-08-16 | Method for locating posture sensing device and method for controlling mouse pointer |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102419173B (en) |
| WO (1) | WO2013023411A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI609357B (en) * | 2014-04-28 | 2017-12-21 | 鴻海精密工業股份有限公司 | Method and system for standardized operation training |
| CN109916428A (en) * | 2017-12-12 | 2019-06-21 | 珠海全志科技股份有限公司 | Gyro sensors system performance testing method and device in equipment |
| CN112325869A (en) * | 2019-08-02 | 2021-02-05 | 北京小米移动软件有限公司 | Gyroscope circuit, working method of gyroscope circuit and mobile terminal |
| CN113048960A (en) * | 2021-04-13 | 2021-06-29 | 广州得尔塔影像技术有限公司 | Spatial position detection device and position adjustment method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1841019A (en) * | 2005-03-30 | 2006-10-04 | 精工爱普生株式会社 | Gyro vibration piece, gyro sensor, and method of manufacturing gyro vibration piece |
| CN101110001A (en) * | 2007-08-24 | 2008-01-23 | 华南理工大学 | Mouse wireless control device based on three-dimensional motion detecting and method thereof |
| CN201138516Y (en) * | 2008-01-03 | 2008-10-22 | 广州市弘元互动数字技术开发有限公司 | Space remote controller based on gyroscopes |
| CN101634907A (en) * | 2008-07-21 | 2010-01-27 | 鼎亿数码科技(上海)有限公司 | Air mouse and control method thereof |
| US20100079376A1 (en) * | 2008-10-01 | 2010-04-01 | Imu Solutions, Inc. | Inertial mouse device and acceleration-calibrating method thereof |
| CN101751162A (en) * | 2008-12-18 | 2010-06-23 | 精工爱普生株式会社 | Input device and data processing system |
| CN102043475A (en) * | 2009-10-16 | 2011-05-04 | 深圳市腾阳机电设备有限公司 | Air mouse |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09282085A (en) * | 1996-04-15 | 1997-10-31 | Mitsumi Electric Co Ltd | Position information input device |
| KR100462353B1 (en) * | 2003-01-21 | 2004-12-18 | (주)시코정보기술 | Wireless mouse with multi function |
| CN101320297A (en) * | 2007-06-07 | 2008-12-10 | 孙学林 | Wireless midair mouse |
| JP5423413B2 (en) * | 2009-05-29 | 2014-02-19 | ソニー株式会社 | Angular velocity sensor, angular velocity signal amplification circuit, electronic device, camera shake correction device, angular velocity signal amplification method, and camera shake correction method |
-
2011
- 2011-08-16 CN CN2011102352054A patent/CN102419173B/en active Active
- 2011-11-01 WO PCT/CN2011/081619 patent/WO2013023411A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1841019A (en) * | 2005-03-30 | 2006-10-04 | 精工爱普生株式会社 | Gyro vibration piece, gyro sensor, and method of manufacturing gyro vibration piece |
| CN101110001A (en) * | 2007-08-24 | 2008-01-23 | 华南理工大学 | Mouse wireless control device based on three-dimensional motion detecting and method thereof |
| CN201138516Y (en) * | 2008-01-03 | 2008-10-22 | 广州市弘元互动数字技术开发有限公司 | Space remote controller based on gyroscopes |
| CN101634907A (en) * | 2008-07-21 | 2010-01-27 | 鼎亿数码科技(上海)有限公司 | Air mouse and control method thereof |
| US20100079376A1 (en) * | 2008-10-01 | 2010-04-01 | Imu Solutions, Inc. | Inertial mouse device and acceleration-calibrating method thereof |
| CN101751162A (en) * | 2008-12-18 | 2010-06-23 | 精工爱普生株式会社 | Input device and data processing system |
| CN102043475A (en) * | 2009-10-16 | 2011-05-04 | 深圳市腾阳机电设备有限公司 | Air mouse |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI609357B (en) * | 2014-04-28 | 2017-12-21 | 鴻海精密工業股份有限公司 | Method and system for standardized operation training |
| CN109916428A (en) * | 2017-12-12 | 2019-06-21 | 珠海全志科技股份有限公司 | Gyro sensors system performance testing method and device in equipment |
| CN109916428B (en) * | 2017-12-12 | 2020-10-09 | 珠海全志科技股份有限公司 | Performance test method and device for gyroscope sensing system in equipment |
| CN112325869A (en) * | 2019-08-02 | 2021-02-05 | 北京小米移动软件有限公司 | Gyroscope circuit, working method of gyroscope circuit and mobile terminal |
| CN113048960A (en) * | 2021-04-13 | 2021-06-29 | 广州得尔塔影像技术有限公司 | Spatial position detection device and position adjustment method |
| CN113048960B (en) * | 2021-04-13 | 2024-04-12 | 广州得尔塔影像技术有限公司 | Spatial position detection device and position adjustment method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102419173B (en) | 2013-09-04 |
| WO2013023411A1 (en) | 2013-02-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102270054B (en) | Positioning method for posture sensing equipment and control method for mouse pointer | |
| CN103941223B (en) | Sonic location system and its method | |
| CN100504295C (en) | Mobile electronic three-dimensional compass | |
| US7784344B2 (en) | Integrated MEMS 3D multi-sensor | |
| JP4439896B2 (en) | Mobile device and navigation method | |
| CN102289306B (en) | Attitude sensing equipment and positioning method thereof as well as method and device for controlling mouse pointer | |
| CN107192983B (en) | Device, method and system for observing relative position of underwater vehicle | |
| EP3064963A1 (en) | System and method for mapping an indoor environment | |
| JP4787359B2 (en) | Physical quantity measuring apparatus and physical quantity measuring method | |
| CN105102928A (en) | Inertial device, method, and program | |
| CN101865693A (en) | Multi-sensor combined navigation system for aviation | |
| CN202904027U (en) | Autonomous indoor positioning system | |
| CN102419173B (en) | Method for locating posture sensing device and method for controlling mouse pointer | |
| CN107003778B (en) | Information processing apparatus, control method for information processing apparatus, and storage medium | |
| CN106291567A (en) | A kind of laser radar, laser radar system and data processing method | |
| CN101581221B (en) | Measurement-while-drilling system | |
| CN103292827A (en) | Data correction method and electronic equipment | |
| CN102410845B (en) | Method and device for correcting error, detecting angular speed and controlling mouse, and space mouse | |
| Brokešová et al. | Note: Rotaphone, a new self-calibrated six-degree-of-freedom seismic sensor | |
| CN105303201A (en) | Method and system for performing handwriting identification based on action sensing | |
| CN102306054A (en) | Attitude sensing equipment and positioning method and device thereof and method and device for controlling mouse pointer | |
| CN102419174B (en) | Two-dimensional/three-dimensional angular velocity detection devices as well as angular velocity detection methods and attitude sensing devices of detection devices | |
| CN108491119B (en) | Cursor control method and position detection method and system | |
| CN102331512B (en) | Two-dimensional/three-dimensional angular speed detecting device and method and attitude sensing equipment | |
| JP2006300602A (en) | Acquiring method, acquiring device, and acquiring system for positioning data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |