CN103207687B - The method and system of the controlled figure coordinate of a kind of correction-compensation - Google Patents
The method and system of the controlled figure coordinate of a kind of correction-compensation Download PDFInfo
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- CN103207687B CN103207687B CN201310127893.1A CN201310127893A CN103207687B CN 103207687 B CN103207687 B CN 103207687B CN 201310127893 A CN201310127893 A CN 201310127893A CN 103207687 B CN103207687 B CN 103207687B
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Abstract
The invention discloses the method and system of the controlled figure coordinate of a kind of correction-compensation, the method comprises: inertial positioning device calculates the attitude of inertial positioning device and the variable quantity of displacement, and variable quantity is converted into cursor offset data, and cursor offset data is sent to graphic control device; Also calculate the summation of all changes amount from reference point to obtain total variation, and preserve total variation; Graphic control device calculates the summation of all cursor offset datas from reference point to obtain total drift amount according to received cursor offset data, and carries out the control of cursor display according to total drift amount, also total drift amount is returned to inertial positioning device; Inertial positioning device is according to total drift amount and total variation calculation compensation amount, and the cursor offset data after calculation compensation, and the cursor offset data after compensating is sent to graphic control device.Implement technical scheme of the present invention, the correction of cursor can be realized, ensure that cursor and device move synchronous.
Description
Technical Field
The invention relates to the field of coordinate control, in particular to a method and a system for correcting and compensating coordinates of a controlled graph.
Background
Currently, a technology utilizing inertial positioning has been widely applied to cursor control, but in the practical application process, the pointing directions of the cursor and the inertial positioning device often do not correspond to each other, which is caused by data loss during rounding and transmission of sensing data of the inertial positioning device and errors caused by a control mode designed according to experience of a player.
Disclosure of Invention
The present invention is directed to a method and system for compensating coordinates of a controlled pattern by correcting the coordinates of the controlled pattern, which can reduce errors.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for correcting and compensating the coordinates of a controlled graph is constructed, and comprises the following steps:
A. the inertial positioning device calculates the variable quantity of the attitude and the displacement of the inertial positioning device according to the real-time sensed data, converts the variable quantity into cursor offset data and sends the cursor offset data to the graphic control device; meanwhile, the inertial positioning device calculates the sum of all the variable quantities from the reference point to obtain the total variable quantity and stores the total variable quantity;
B. the graphic control device calculates the sum of all cursor offset data from a reference point according to the received cursor offset data to obtain a total offset, controls cursor display according to the total offset, and simultaneously returns the total offset to the inertial positioning device;
C. the inertial positioning device calculates compensation amount according to the received total offset and the stored total variation, calculates compensated cursor offset data according to the converted cursor offset data and the compensation amount, and sends the compensated cursor offset data to the graphic control device.
In the method for correcting and compensating the coordinates of the controlled graph, the step C includes:
C1. calculating a correction quantity by the inertial positioning device according to the total variation and the total offset;
C2. rounding the correction amount, and judging whether the absolute value of the rounded correction amount is greater than a preset value, if so, executing a step C4; if not, go to step C3;
C3. the compensation amount is zero, and then step C5 is performed;
C4. the compensation quantity is a correction quantity after the integration;
C5. adding the translated cursor offset data to the compensation amount to obtain compensated cursor offset data;
C6. and sending the compensated cursor offset data to a graphic control device.
In the method for correcting and compensating the coordinates of the controlled pattern, step C1 is:
and the inertial positioning device uses a digital filter to carry out digital filtering on the total variation and the total offset so as to obtain a correction quantity.
In the method for correcting and compensating the controlled graph coordinate, the digital filtering is at least one of the following: kalman filtering, extended kalman filtering, least squares, weighted averages.
In the method for correcting and compensating the coordinates of the controlled pattern, step C1 is:
the inertial positioning device subtracts the total variation from the total offset to obtain a correction.
In the method for correcting and compensating the coordinates of the controlled graph, in the step a, the variation is rounded to obtain the cursor offset data.
The invention also constructs a system for correcting and compensating the coordinates of a controlled graph, which comprises an inertial positioning device and a graph control device, wherein the inertial positioning device comprises: the device comprises a positioning sensing unit, an arithmetic unit, a first wireless transceiving unit and a storage unit; the graphic control device includes: the second wireless transceiving unit, the processing unit and the display control unit; wherein,
the positioning sensing unit is used for sensing the motion data of the inertial positioning device in real time;
the operation unit is used for calculating the variable quantity of the attitude and the displacement of the inertial positioning device according to the real-time sensed data and converting the variable quantity into cursor offset data; meanwhile, the method is also used for calculating the sum of all the variable quantities from the reference point to obtain the total variable quantity;
the storage unit is used for storing the total variation;
the first wireless transceiving unit is used for sending the cursor offset data to a graphic control device;
the second wireless transceiver unit is used for receiving the cursor offset data;
the processing unit is used for calculating the sum of all cursor offset data from a reference point according to the received cursor offset data to obtain a total offset;
the display control unit is used for controlling cursor display according to the total offset;
the second wireless transceiving unit is also used for transmitting the total offset back to the inertial positioning device;
the arithmetic unit is also used for calculating compensation amount according to the received total offset and the stored total variation, and calculating compensated cursor offset data according to the converted cursor offset data and the compensation amount;
the first wireless transceiving unit is further configured to send the compensated cursor shift data to a graphics control device.
In the system for correcting and compensating coordinates of a controlled pattern according to the present invention, the arithmetic unit includes:
the first calculation module is used for calculating the variable quantity of the attitude and the displacement of the inertial positioning device according to the real-time sensed data and converting the variable quantity into cursor offset data; meanwhile, the method is also used for calculating the sum of all the variable quantities from the reference point to obtain the total variable quantity;
the correction amount calculating module is used for calculating a correction amount according to the total variation and the total offset;
the judging module is used for rounding the correction amount and judging whether the absolute value of the rounded correction amount is larger than a preset value or not;
the compensation quantity determining module is used for determining the compensation quantity as the corrected correction quantity when the absolute value of the corrected correction quantity is larger than a preset value; when the absolute value of the rounded correction quantity is not greater than a preset value, determining that the compensation quantity is zero;
and the second calculation module is used for adding the converted cursor offset data and the compensation amount to obtain compensated cursor offset data.
In the system for correcting and compensating the coordinates of the controlled graph, the correction amount calculation module uses a digital filter to perform digital filtering on the total variation and the total offset to obtain the correction amount.
In the system for correcting and compensating the coordinates of the controlled graph, the correction amount calculation module subtracts the total variation from the total offset to obtain the correction amount.
In the system for correcting and compensating the coordinates of the controlled graph, the first calculation module calculates the variation of the attitude and the displacement of the inertial positioning device and then rounds the variation to obtain the cursor offset data.
By implementing the technical scheme of the invention, errors caused by data loss in the rounding and transmission processes of the sensing data of the inertial positioning device and a control mode designed according to the experience of a player can be compensated, so that a lagging cursor is larger than actual moving data, and a leading cursor is smaller than the actual moving data, thereby realizing the correction of the cursor and ensuring the synchronization of the cursor and the movement of the device.
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The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flowchart illustrating a first embodiment of a method for correcting and compensating coordinates of a controlled graph according to the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of step C of the method for correcting and compensating coordinates of a controlled graph according to the present invention;
FIG. 3 is a logic diagram of a first embodiment of a system for correction compensation of coordinates of a controlled pattern according to the present invention;
FIG. 4 is a logic diagram of a first embodiment of an arithmetic unit of the inertial positioning device in the system for correction compensation of coordinates of a controlled pattern according to the present invention.
Detailed Description
Fig. 1 is a flowchart of a first embodiment of a method for compensating coordinates of a controlled pattern according to the present invention, where the method for compensating coordinates of a controlled pattern includes:
A. the inertial positioning device calculates the variation of the attitude and the displacement of the inertial positioning device according to real-time sensed data, wherein the sensed data is a for example, and the variation of the attitude and the displacement is b for example, and converts the variation into cursor offset data, the converted cursor offset data is c for example, and sends the cursor offset data c to the graphic control device; meanwhile, the inertial positioning device calculates the sum of all the variations B from the reference point to obtain a total variation, and saves the total variation, for example, B. In addition, in this step, the variation b of the posture and the displacement can be rounded to obtain cursor shift data c;
B. the graphic control device calculates the sum of all cursor offset data from a reference point according to the received cursor offset data C to obtain a total offset, wherein the total offset is C, controls cursor display according to the total offset C, and simultaneously returns the total offset C to the inertial positioning device;
C. the inertial positioning device calculates a compensation amount, for example D, from the received total offset amount C and the stored total variation amount B, and calculates compensated cursor offset data, for example C ', from the translated cursor offset data C and the compensation amount D, and sends the compensated cursor offset data C' to the graphics control device.
By controlling the graphic coordinates by the method, errors caused by data loss in the rounding and transmission processes of the sensing data of the inertial positioning device and a control mode designed according to the experience of a player can be compensated, so that a lagging cursor is larger than actual moving data, and a leading cursor is smaller than the actual moving data, thereby realizing the correction of the cursor and ensuring the synchronization of the cursor and the movement of the device.
Fig. 2 is a flowchart of a first embodiment of step C in the method for correcting and compensating coordinates of a controlled graph according to the present invention, in this embodiment, step C specifically includes:
C1. the inertial positioning device calculates a correction amount according to the total variation and the total offset, for example, the total variation and the total offset may be directly subtracted to obtain the correction amount, or a digital filter may be used to digitally filter the total variation and the total offset to obtain the correction amount, for example, at least one of the following: kalman filtering, extended kalman filtering, least squares, weighted averages;
C2. rounding the correction amount, and judging whether the absolute value of the rounded correction amount is greater than a preset value, if so, executing a step C4; if not, go to step C3;
C3. the compensation amount D is zero, and then step C5 is performed;
C4. the compensation quantity D is the correction quantity after the integer is taken;
C5. adding the converted cursor offset data c to the compensation amount to obtain compensated cursor offset data;
C6. and sending the compensated cursor offset data to a graphic control device.
FIG. 3 is a logic diagram of a first embodiment of a system for compensation of coordinates of a controlled graphic according to the present invention, the system for compensation of coordinates of a controlled graphic comprises an inertial positioning device 10 and a graphic control device 20, the graphic control device 20 is, for example, a game console and a display screen, a computer console and a display screen. The inertial positioning device 10 includes: a positioning sensing unit 11, an arithmetic unit 12, a first wireless transmitting and receiving unit 13 and a storage unit 14; the graphic control device 20 includes: a second radio transceiver unit 21, a processing unit 22 and a display control unit 23. The positioning sensing unit 11 is configured to sense the motion data of the inertial positioning device 10 in real time. The arithmetic unit 12 is configured to calculate a variation of the attitude and the displacement of the inertial positioning device 10 according to the real-time sensed data, and convert the variation into cursor shift data; and meanwhile, the method is also used for calculating the sum of all the variable quantities from the reference point to obtain the total variable quantity. The storage unit 14 is used for saving the total variation. The first radio transmitting/receiving unit 13 is configured to transmit cursor shift data to the graphic control device 20. The second radio transceiver unit 21 is configured to receive cursor shift data. The processing unit 22 is configured to calculate a sum of all cursor offset data from the reference point based on the received cursor offset data to obtain a total offset amount. The display control unit 23 is configured to control the cursor display according to the total offset amount. The second wtru 21 is also used to transmit the total offset back to the inertial positioning device 10. The arithmetic unit 12 is further configured to calculate a compensation amount according to the received total offset amount and the stored total variation amount, and calculate compensated cursor offset data according to the converted cursor offset data and the compensation amount. The first radio transceiver unit 13 is also configured to transmit the compensated cursor shift data to the graphic control device 20.
Fig. 4 is a logic diagram of a first embodiment of an operation unit of the inertial positioning device in a system for correction compensation of coordinates of a controlled pattern according to the present invention, in this embodiment, the operation unit 12 includes a first calculation module 125, and a correction amount calculation module 121, a judgment module 122, a compensation amount determination module 123 and a second calculation module 124 connected in sequence. The first calculating module 125 calculates the variation of the attitude and the displacement of the inertial positioning device according to the real-time sensed data, and converts the variation into cursor shift data; and also for calculating the sum of all the variations from the reference point to obtain the total variation, the first calculating module 125, for example, rounds the variation to obtain the cursor offset data. The correction amount calculating module 121 is configured to calculate a correction amount according to the total variation and the total offset, and the correction amount calculating module 121, for example, subtracts the total variation from the total offset to obtain a correction amount, or digitally filters the total variation and the total offset by using a digital filter to obtain a correction amount; the judging module 122 is configured to round the correction amount and judge whether an absolute value of the rounded correction amount is greater than a preset value; the compensation quantity determining module 123 is configured to determine the compensation quantity as the rounded correction quantity when the absolute value of the rounded correction quantity is greater than the preset value; when the absolute value of the corrected correction amount is not greater than the preset value, determining that the compensation amount is zero; the second calculating module 124 is used for adding the translated cursor offset data and the compensation amount to obtain compensated cursor offset data.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (11)
1. A method for correcting and compensating the coordinates of a controlled graph is characterized by comprising the following steps:
A. the inertial positioning device calculates the variable quantity of the attitude and the displacement of the inertial positioning device according to the real-time sensed data, converts the variable quantity of the attitude and the displacement into cursor shift data and sends the cursor shift data to the graphic control device; meanwhile, the inertial positioning device calculates the sum of all the variable quantities from the reference point to obtain the total variable quantity and stores the total variable quantity;
B. the graphic control device calculates the sum of all cursor offset data from a reference point according to the received cursor offset data to obtain a total offset, controls cursor display according to the total offset, and simultaneously returns the total offset to the inertial positioning device;
C. the inertial positioning device calculates compensation amount according to the received total offset and the stored total variation, calculates compensated cursor offset data according to the converted cursor offset data and the compensation amount, and sends the compensated cursor offset data to the graphic control device.
2. The method for correcting and compensating the coordinates of the controlled graph according to claim 1, wherein the step C comprises the following steps:
C1. calculating a correction quantity by the inertial positioning device according to the total variation and the total offset;
C2. rounding the correction amount, and judging whether the absolute value of the rounded correction amount is greater than a preset value, if so, executing a step C4; if not, go to step C3;
C3. the compensation amount is zero, and then step C5 is performed;
C4. the compensation quantity is a correction quantity after the integration;
C5. adding the translated cursor offset data to the compensation amount to obtain compensated cursor offset data;
C6. and sending the compensated cursor offset data to a graphic control device.
3. The method according to claim 2, wherein the step C1 is:
and the inertial positioning device uses a digital filter to carry out digital filtering on the total variation and the total offset so as to obtain a correction quantity.
4. The method according to claim 3, wherein the digital filtering is at least one of: kalman filtering, extended kalman filtering, least squares, weighted averages.
5. The method according to claim 2, wherein the step C1 is:
the inertial positioning device subtracts the total variation from the total offset to obtain a correction.
6. The method for correcting and compensating the coordinates of the controlled graphic according to claim 1, wherein in the step a, the cursor shift data is obtained by rounding the variation of the attitude and the displacement and then converting the rounded variation.
7. A system for correction compensation of coordinates of a controlled pattern, comprising inertial positioning means and pattern control means, wherein said inertial positioning means comprises: the device comprises a positioning sensing unit, an arithmetic unit, a first wireless transceiving unit and a storage unit; the graphic control device includes: the second wireless transceiving unit, the processing unit and the display control unit; wherein,
the positioning sensing unit is used for sensing the motion data of the inertial positioning device in real time;
the operation unit is used for calculating the variation of the attitude and the displacement of the inertial positioning device according to the real-time sensed data and converting the variation of the attitude and the displacement into cursor offset data; meanwhile, the method is also used for calculating the sum of all the variable quantities from the reference point to obtain the total variable quantity;
the storage unit is used for storing the total variation;
the first wireless transceiving unit is used for sending the cursor offset data to a graphic control device;
the second wireless transceiver unit is used for receiving the cursor offset data;
the processing unit is used for calculating the sum of all cursor offset data from a reference point according to the received cursor offset data to obtain a total offset;
the display control unit is used for controlling cursor display according to the total offset;
the second wireless transceiving unit is also used for transmitting the total offset back to the inertial positioning device;
the arithmetic unit is also used for calculating compensation amount according to the received total offset and the stored total variation, and calculating compensated cursor offset data according to the converted cursor offset data and the compensation amount;
the first wireless transceiving unit is further configured to send the compensated cursor shift data to a graphics control device.
8. The system for correcting and compensating the coordinates of the controlled graph according to claim 7, wherein the arithmetic unit comprises:
the first calculation module is used for calculating the variable quantity of the attitude and the displacement of the inertial positioning device according to the real-time sensed data and converting the variable quantity of the attitude and the displacement into cursor offset data; meanwhile, the method is also used for calculating the sum of all the variable quantities from the reference point to obtain the total variable quantity;
the correction amount calculating module is used for calculating a correction amount according to the total variation and the total offset;
the judging module is used for rounding the correction amount and judging whether the absolute value of the rounded correction amount is larger than a preset value or not;
the compensation quantity determining module is used for determining the compensation quantity as the corrected correction quantity when the absolute value of the corrected correction quantity is larger than a preset value; when the absolute value of the rounded correction quantity is not greater than a preset value, determining that the compensation quantity is zero;
and the second calculation module is used for adding the converted cursor offset data and the compensation amount to obtain compensated cursor offset data.
9. The system of claim 8, wherein the correction amount calculation module digitally filters the total variation and the total offset using a digital filter to obtain a correction amount.
10. The system of claim 8, wherein the correction amount calculation module subtracts the total amount of change from the total amount of offset to obtain a correction amount.
11. The system of claim 8, wherein the first computing module calculates the variation of the attitude and the displacement of the inertial positioning device, and then rounds the variation of the attitude and the displacement to obtain the cursor shift data.
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