CN103970297B - A kind of inducing method and device of space absolute displacement - Google Patents
A kind of inducing method and device of space absolute displacement Download PDFInfo
- Publication number
- CN103970297B CN103970297B CN201410235508.XA CN201410235508A CN103970297B CN 103970297 B CN103970297 B CN 103970297B CN 201410235508 A CN201410235508 A CN 201410235508A CN 103970297 B CN103970297 B CN 103970297B
- Authority
- CN
- China
- Prior art keywords
- absolute
- angle
- horizontal plane
- displacement
- acceleration
- 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.)
- Active
Links
Abstract
The embodiment of the invention discloses a kind of inducing method and device of space absolute displacement, realize the cursor of sky mouse remote control on a television set and accordingly absolute direction movement is carried out on the absolute angle direction according to the velocity of displacement with absolute angle maps mutually, so as to solve the scheme of the relative displacement due to only differentiating sky mouse by sensor, caused sky mouse response is compared with the slow and big technical problem of displacement error.Present invention method includes：Catch the horizontal plane angle of motion track；Vertical plane angle is calculated according to Predistribution Algorithm according to the acceleration of gravity got；Horizontal plane angular speed and vertical plane angle calculate according to Kalman filtering algorithm and obtain absolute angle；Absolute displacement speed is determined according to absolute angle, absolute angle is set up with absolute displacement speed there are mapping relations；According to the absolute angle absolute direction movement corresponding with the cursor progress on absolute displacement speed control screen.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of inducing method and device of space absolute displacement.
Background technology
Air mouse is a kind of input equipment, and screen cursor is operated as conventional mouse, but any without being placed on
In plane, rock just can directly use in the air, and current sky mouse telecontrol engineering is not only applicable to computer, and in TV remote neck
Domain receives much concern.
Existing sky mouse remote control differentiates the relative displacement of sky mouse by sensor, and mouse is calculated by substantial amounts of calculating
Relative movement, cause sky mouse response it is slower the problem of.Moreover, the operating habit of TV sky mouse remote control is different from mouse, it is empty
The operation of mouse remote control can not rely on stable plane, to weigh relative displacement, cause mobile error larger.
It is caused in order to solve the scheme of the above-mentioned relative displacement due to only differentiating sky mouse by sensor referred to
Sky mouse response is compared with the slow and big technical problem of displacement error, and those skilled in the art are studied for this night and day.
The content of the invention
The embodiments of the invention provide a kind of inducing method and device of space absolute displacement, sky mouse remote control is realized in electricity
Carried out depending on the cursor on machine according to the velocity of displacement with absolute angle maps mutually on the absolute angle direction accordingly absolute
Direction is moved, so as to solve the scheme of the relative displacement due to only differentiating sky mouse by sensor, caused sky mouse is rung
Should be compared with the slow and big technical problem of displacement error.
A kind of inducing method of space absolute displacement provided in an embodiment of the present invention, including：
Catch the horizontal plane angle of motion track；
Vertical plane angle is calculated according to Predistribution Algorithm according to the acceleration of gravity got；
The horizontal plane angle and the vertical plane angle calculate according to Kalman filtering algorithm and obtain absolute angle
Degree；
Absolute displacement speed is determined according to the absolute angle, the absolute angle is set up with the absolute displacement speed to be had
Mapping relations.
According to the absolute angle absolute side corresponding with the cursor progress on the absolute displacement speed control screen
To movement.
Preferably,
The horizontal plane angle for catching motion track is specifically included：
Obtain the magnitude of angular velocity of the horizontal plane of the motion track；
The integration that preset time period is carried out to the magnitude of angular velocity obtains the horizontal plane angle.
Preferably,
Vertical plane angle is calculated according to the acceleration of gravity got according to Predistribution Algorithm to specifically include：
Vertical plane angle is calculated according to triangle mutation function algorithm according to the acceleration of gravity got；
Preferably,
The absolute angle specifically includes absolute horizon angle or/and absolute upright face angle degree.
A kind of induction installation of space absolute displacement provided in an embodiment of the present invention, including：
Capture module, the horizontal plane angle for catching motion track；
Acceleration module, for calculating vertical plane angle according to Predistribution Algorithm according to the acceleration of gravity got；
Absolute angle acquisition module, for according to Kalman filtering algorithm to the horizontal plane angle and the vertical face angle
Degree, which calculate, obtains absolute angle；
Mapping block, for determining absolute displacement speed according to the absolute angle, the absolute angle with it is described definitely
Velocity of displacement, which is set up, mapping relations；
Control module, for carrying out phase according to the cursor in the absolute angle and the absolute displacement speed control screen
Corresponding absolute direction movement.
Preferably,
Capture module is specifically included：
Angular speed acquisition submodule, the magnitude of angular velocity of the horizontal plane for obtaining the motion track；
Submodule is integrated, the integration for carrying out preset time period to the magnitude of angular velocity obtains the horizontal plane angle.
Preferably,
Acceleration module according to triangle mutation function algorithm according to the acceleration of gravity got specifically for calculating vertical
Face angle degree.
Preferably,
Absolute angle acquisition module is specifically included：
Absolute horizon angle acquisition submodule, for being carried out according to Kalman filtering algorithm to the horizontal plane angular speed
Calculate and obtain absolute horizon angle.
Or/and
Absolute upright face angle degree acquisition submodule, based on being carried out according to Kalman filtering algorithm to the vertical plane angle
Calculate and obtain absolute upright face angle degree.
Preferably,
Absolute angle acquisition module is Kalman filter.
Preferably,
The capture module is gyroscope；
The acceleration module is gravity accelerometer or gravity sensor.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
The embodiments of the invention provide a kind of inducing method and device of space absolute displacement, wherein, method includes：Catch
The horizontal plane angle of motion track；Vertical plane angle is calculated according to Predistribution Algorithm according to the acceleration of gravity got；According to card
Kalman Filtering algorithm, which to horizontal plane angle and vertical plane angle calculate, obtains absolute angle；Determined according to absolute angle absolute
Velocity of displacement, absolute angle is set up with absolute displacement speed mapping relations；According to absolute angle and absolute displacement speed control
Cursor on screen carries out corresponding absolute direction movement.In the present embodiment, by using Kalman filtering algorithm to respectively
The horizontal plane angle and vertical plane angle got is filtered processing, so as to obtain absolute angle, just can cause sky mouse remote control
Cursor on a television set is carried out accordingly according to the velocity of displacement with absolute angle maps mutually on the absolute angle direction
Absolute direction is moved, so as to solve the scheme of the relative displacement due to only differentiating sky mouse by sensor, caused sky
Mouse response is compared with the slow and big technical problem of displacement error.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is that a kind of flow of one embodiment of the inducing method of space absolute displacement provided in an embodiment of the present invention is shown
It is intended to；
Fig. 2 is a kind of flow of another embodiment of the inducing method of space absolute displacement provided in an embodiment of the present invention
Schematic diagram；
Fig. 3 is that a kind of structure of one embodiment of the induction installation of space absolute displacement provided in an embodiment of the present invention is shown
It is intended to；
Fig. 4 is a kind of structure of another embodiment of the induction installation of space absolute displacement provided in an embodiment of the present invention
Schematic diagram.
Embodiment
The embodiments of the invention provide a kind of inducing method and device of space absolute displacement, sky mouse remote control is realized in electricity
Carried out depending on the cursor on machine according to the velocity of displacement with absolute angle maps mutually on the absolute angle direction accordingly absolute
Direction is moved, so as to solve the scheme of the relative displacement due to only differentiating sky mouse by sensor, caused sky mouse is rung
Should be compared with the slow and big technical problem of displacement error.
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Referring to Fig. 1, a kind of one embodiment bag of the inducing method of space absolute displacement provided in an embodiment of the present invention
Include：
101st, the horizontal plane angle of motion track is caught；
In the present embodiment, when user needs to use the induction installation of the space absolute displacement of similar sky mouse remote control to similar electricity
When being operated depending on the screen of machine, sky mouse remote control first needs to catch the horizontal face angle of motion track according to user's wrist motion
Degree.
It should be noted that the horizontal plane angle capture-process of foregoing seizure motion track is by follow-up embodiment
It is described in detail, just repeats no more herein.
102nd, vertical plane angle is calculated according to Predistribution Algorithm according to the acceleration of gravity got；
, it is necessary to be calculated according to the acceleration of gravity got according to preset while the horizontal plane angle of motion track is caught
Method calculates vertical plane angle, it is to be understood that foregoing acceleration of gravity is also the sense in the absolute displacement of user operating space
Device is answered to carry out accessed during Wrist-sport.
It should be noted that the process that foregoing Predistribution Algorithm calculates vertical plane angle will be carried out in follow-up embodiment
Detailed description, is just repeated no more herein.
103rd, horizontal plane angle and vertical plane angle calculate according to Kalman filtering algorithm and obtain absolute angle；
, it is necessary to according to Kalman filtering algorithm after the horizontal plane angle and calculating vertical plane angle for catching motion track
Horizontal plane angle and vertical plane angle calculate and obtain absolute angle.
It should be noted that foregoing Kalman filtering algorithm is known technology, just no longer it is described in detail herein.
104th, absolute displacement speed is determined according to absolute angle；
, it is necessary to determine absolute displacement speed according to absolute angle after absolute angle is got by Kalman filtering algorithm
Degree, it is to be understood that foregoing absolute angle is set up with absolute displacement speed mapping relations, such as in 70 degree of absolute angle
Degree either 60 degree to -90 degree horizontal or vertical directions absolute angle scope, then velocity of displacement for 100 screen pixels/
100ms mapping relations, are not limited specifically herein.
105th, moved according to the absolute angle absolute direction corresponding with the cursor progress on absolute displacement speed control screen
It is dynamic.
In the present embodiment, determined according to absolute angle after absolute displacement speed, it is necessary to according to absolute angle and absolute position
The cursor moved on speed control screen carries out corresponding absolute direction movement, it is to be understood that foregoing absolute direction with
Absolute angle, which is set up, mapping relations, and such as absolute angle is the direction of absolute horizon angle or absolute upright face angle map
Respectively left and right or up and down, the left and right or above-below direction be based on setting up a virtual XY axle on screen to be defining, it is necessary to
Illustrate, the cursor on foregoing control screen can be the control being associated by infrared ray.
In the present embodiment, by using Kalman filtering algorithm to the horizontal plane angle and vertical plane angle that get respectively
Be filtered processing, so as to obtain absolute angle, just can cause the cursor of sky mouse remote control on a television set according to absolute angle
The velocity of displacement of maps mutually is accordingly definitely moved on the absolute angle direction, so as to solve due to only by passing
Sensor differentiates the scheme of the relative displacement of sky mouse, and caused sky mouse response is compared with the slow and big technical problem of displacement error.
The above is that the inducing method of space absolute displacement is described in detail, below will be to horizontal plane angle and vertical
The acquisition process of face angle degree is described in detail, referring to Fig. 2, a kind of space absolute displacement provided in an embodiment of the present invention
Another embodiment of inducing method includes：
201st, the magnitude of angular velocity of the horizontal plane of motion track is obtained, the integration that angular velocity value carries out preset time period is obtained
Horizontal plane angle；
In the present embodiment, when user needs to use the induction installation of the space absolute displacement of similar sky mouse remote control to similar electricity
When being operated depending on the screen of machine, sky mouse remote control first needs to catch the horizontal face angle of motion track according to user's wrist motion
Degree, can be the magnitude of angular velocity for the horizontal plane for first obtaining motion track, and the integration that angular velocity value carries out preset time period is obtained
Horizontal plane angle, such as in time t, the angular speed of acquisition is gyro, then horizontal plane angle=gyro*dt is, it is necessary to explanation
That foregoing horizontal plane angle can also be the difference of the angle value of angle value and (n-1) secondary sampling of n sampling, it is specific this
Place is not limited.
202nd, vertical plane angle is calculated according to triangle mutation function algorithm according to the acceleration of gravity got；
, it is necessary to be become according to the acceleration of gravity got according to triangle while the horizontal plane angle of motion track is caught
Plant function algorithm and calculate vertical plane angle, it is to be understood that foregoing acceleration of gravity is also absolute in user operating space
The induction installation of displacement carries out accessed during Wrist-sport.
It should be noted that foregoing triangle mutation function algorithm, which calculates vertical plane angle, can be set at calculating public affairs
X-axis direction is direction downwards in formula, and y-axis direction is direction of the level towards the right side, is not limited herein specifically, that vertical side
It is to radian calculation formula：Angle=atan2 (y, x), its result angle are represented with radian and (not wrapped between-π to π
Include-π).Similarly, the formula for being converted into specific angle is：Angle=atan2 (y, x) * (180/3.14), wherein, it is foregoing
Atan2 is a mutation of tan, then the real parameter x and y, atan2 (y, x) when for any difference equal to 0 are expressed
It is starting point to mean the origin of coordinates, points to the angle at angle of the ray of (x, y) on coordinate plane between x-axis positive direction,
It should be noted that foregoing atan2 functions can be found in the math.h files in the mathematical standard storehouse of C language, specifically not
Limit.
203rd, horizontal plane angle and vertical plane angle calculate according to Kalman filtering algorithm and obtain absolute horizon
Angle or/and absolute upright face angle degree；
, it is necessary to according to Kalman filtering algorithm after the horizontal plane angle and calculating vertical plane angle for catching motion track
Horizontal plane angle and vertical plane angle calculate and obtain absolute horizon angle or/and absolute upright face angle degree, Ke Yili
Solution, in the case of assuming that the plane of screen is the plane coordinate system of xy axles, the absolute horizon angle is the folder with x-axis
Angle is defined, and absolute upright face angle degree is to be defined with the angle of y-axis, it is necessary to illustrate, in the present embodiment, this step
Suddenly horizontal plane angle and vertical plane angle calculate using Kalman filtering algorithm and obtain absolute horizon angle or/and exhausted
What the plane to the hypothesis screen referred in the calculating process of vertical plane angle referred to for the plane coordinate system of xy axles with step 202
Assuming that x-axis and y-axis in calculation formula is configured without directly contact, they are that independent setting exists and assumed.
It should be noted that foregoing Kalman filtering algorithm is known technology, just no longer it is described in detail herein.
204th, absolute displacement speed is determined according to absolute angle；
, it is necessary to determine absolute displacement speed according to absolute angle after absolute angle is got by Kalman filtering algorithm
Degree, it is to be understood that foregoing absolute angle is set up with absolute displacement speed mapping relations, such as in 70 degree of absolute angle
Degree either 60 degree to -90 degree horizontal or vertical directions absolute angle scope, then velocity of displacement for 100 screen pixels/
100ms mapping relations, are not limited specifically herein.
205th, moved according to the absolute angle absolute direction corresponding with the cursor progress on absolute displacement speed control screen
It is dynamic.
In the present embodiment, determined according to absolute angle after absolute displacement speed, it is necessary to according to absolute angle and absolute position
The cursor moved on speed control screen carries out corresponding absolute direction movement, it is to be understood that foregoing absolute direction with
Absolute angle, which is set up, mapping relations, and such as absolute angle is the direction of absolute horizon angle or absolute upright face angle map
Respectively left and right or up and down, the left and right or above-below direction be based on setting up a virtual XY axle on screen to be defining, it is necessary to
Illustrate, the cursor on foregoing control screen can be the control being associated by infrared ray.
In the present embodiment, by using Kalman filtering algorithm to the horizontal plane angle and vertical plane angle that get respectively
Be filtered processing, so as to obtain absolute angle, just can cause the cursor of sky mouse remote control on a television set according to absolute angle
The velocity of displacement of maps mutually is accordingly definitely moved on the absolute angle direction, so as to solve due to only by passing
Sensor differentiates the scheme of the relative displacement of sky mouse, and caused sky mouse response is compared with the slow and big technical problem of displacement error.
The above is that the acquisition process of horizontal plane angle and vertical plane angle is described in detail, following for ease of understanding
The embodiment shown in Fig. 2 will be described in detail with a concrete application scene, a kind of space provided in an embodiment of the present invention
Another embodiment of the inducing method of absolute displacement includes：
In the present embodiment, when user needs to use the induction installation of the space absolute displacement of similar sky mouse remote control to similar electricity
When being operated depending on the screen of machine, sky mouse remote control first needs to catch the horizontal face angle of motion track according to user's wrist motion
Degree, can be the magnitude of angular velocity for the horizontal plane for first obtaining motion track, and the integration that angular velocity value carries out preset time period is obtained
Horizontal plane angle, such as in time t, the angular speed of acquisition is gyro, then horizontal plane angle=gyro*dt, can be by C
Language is calculated, it is necessary to illustrate, foregoing horizontal plane angle can also be the angle value of n sampling and (n-1) is secondary adopts
The difference of the angle value of sample, is not limited specifically herein.When catch motion track horizontal plane angle after, it is necessary to by using
C language is programmed calculating to horizontal plane angle according to Kalman filtering algorithm and obtains absolute horizon angle, it is possible to understand that
It is that, in the case where being assumed to be the plane coordinate system of xy axles, the absolute horizon angle is defined for the angle with x-axis.
The programming language for example calculated according to foregoing formula horizontal plane angle by using C language is as follows：
Realize that the programming language of absolute horizon angle is as follows according to Kalman filtering algorithm by using C language：
, it is necessary to be become according to the acceleration of gravity got according to triangle while the horizontal plane angle of motion track is caught
Plant function algorithm and calculate vertical plane angle, it is to be understood that foregoing acceleration of gravity is also absolute in user operating space
The induction installation of displacement carries out accessed during Wrist-sport.
It should be noted that foregoing triangle mutation function algorithm, which calculates vertical plane angle, can be set at calculating public affairs
X-axis direction is direction downwards in formula, and y-axis direction is direction of the level towards the right side, is not limited herein specifically, that vertical side
It is to radian calculation formula：Angle=atan2 (y, x), its result angle are represented with radian and (not wrapped between-π to π
Include-π).Similarly, the formula for being converted into specific angle is：Angle=atan2 (y, x) * (180/3.14), wherein, it is foregoing
Atan2 is a mutation of tan, then the real parameter x and y, atan2 (y, x) when for any difference equal to 0 are expressed
It is starting point to mean the origin of coordinates, points to the angle at angle of the ray of (x, y) on coordinate plane between x-axis positive direction,
It should be noted that foregoing atan2 functions can be found in the math.h files in the mathematical standard storehouse of C language, specifically not
Limit.Now, it is necessary to according to Kalman filtering algorithm to vertical plane angle after vertical plane angle is calculated by C language
Calculate and obtain absolute upright face angle degree, it is to be understood that in the case where being assumed to be the plane coordinate system of xy axles, this is exhausted
Vertical plane angle is defined for the angle with y-axis.
The programming language for example calculated according to foregoing formula vertical plane angle by using C language is as follows：
Realize that the programming language of absolute upright face angle degree is as follows according to Kalman filtering algorithm by using C language：
, it is necessary to determine absolute displacement speed according to absolute angle after absolute angle is got by Kalman filtering algorithm
Degree, it is to be understood that foregoing absolute angle is set up with absolute displacement speed mapping relations, and it is exhausted for example to refer to table one
To the mapping table of horizontal plane angle and absolute displacement speed, and absolute direction, table two is absolute upright face angle degree and absolute displacement
Speed, and absolute direction mapping table：
Table one：
| Absolute horizon angle | Absolute displacement speed | Absolute direction |
| 75~90 | 100pixel/100ms | To the left |
| 50~75 | 50pixel/100ms | To the left |
| 30~50 | 30pixel/100ms | To the left |
| 15~30 | 20pixel/100ms | To the left |
| - 15~15 | 0dip/100ms | Nothing |
| - 15~-30 | 10pixel/100ms | To the right |
| - 30~-50 | 20pixel/100ms | To the right |
| - 50~-75 | 30pixel/100ms | To the right |
| - 75~-90 | 50pixel/100ms | To the right |
Table two：
| Absolute upright angle | Absolute displacement speed | Absolute direction |
| 60~-90 | 100pixel/100ms | Upwards |
| 45~60 | 50pixel/100ms | Upwards |
| 30~45 | 30pixel/100ms | Upwards |
| 20~30 | 20pixel/100ms | Upwards |
| 10~20 | 10pixel/100ms | Upwards |
| - 10~10 | 0dip/100ms | Nothing |
| - 10~-20 | 10pixel/100ms | Downwards |
| - 20~-30 | 20pixel/100ms | Downwards |
| - 30~-45 | 30pixel/100ms | Downwards |
| - 45~-60 | 50pixel/100ms | Downwards |
| - 60~-90 | 100pixel/100ms | Downwards |
As shown in table one and table two, determined according to absolute angle after absolute displacement speed, it is necessary to according to absolute angle and
Cursor on absolute displacement speed control screen carries out corresponding absolute direction movement, it is to be understood that foregoing is absolute
Direction is set up with absolute angle mapping relations, and such as absolute angle is absolute horizon angle or absolute upright face angle map
Direction be respectively left and right or up and down, the left and right or above-below direction are to define based on a virtual XY axle is set up on screen
, it is necessary to the cursor on explanation, foregoing control screen can be the control being associated by infrared ray, such as table one
With shown in table two, when it is determined that can be not limited only to horizontal plane direction after absolute angle, absolute displacement speed and absolute direction
The movement of mobile or vertical plane direction, can be moved based on a virtual XY axle is set up on screen to carry out left and right or above-below direction
It is dynamic, it is only necessary to which that correspondence absolute angle, absolute displacement speed and absolute direction just can realize cursor on screen accordingly
It is mobile.
It should be noted that in the present embodiment, using Kalman filtering algorithm to horizontal plane angle and vertical face angle
Degree, which calculate on the screen referred in the calculating process for obtaining absolute horizon angle or/and absolute upright face angle degree, sets up one
It is vertical court to x-axis direction that the hypothesis of individual virtual XY axles calculates vertical plane angle with the foregoing triangle mutation function algorithm referred to
Under direction, y-axis direction is level is configured without directly contact towards the x-axis in right direction and y-axis, and they are that independent setting is deposited
And assume.
Referring to Fig. 3, a kind of one embodiment bag of the induction installation of space absolute displacement provided in an embodiment of the present invention
Include：
Capture module 301, the horizontal plane angle for catching motion track；
Acceleration module 302, for calculating vertical plane angle according to Predistribution Algorithm according to the acceleration of gravity got；
Absolute angle acquisition module 303, for according to Kalman filtering algorithm to horizontal plane angular speed and vertical plane angle
Calculate and obtain absolute angle；
Mapping block 304, for determining absolute displacement speed according to absolute angle, absolute angle is built with absolute displacement speed
It is vertical to have mapping relations；
Control module 305, for corresponding with the cursor progress on absolute displacement speed control screen according to absolute angle
Absolute direction movement.
In the present embodiment, absolute angle acquisition module 303 is by using Kalman filtering algorithm to the water that gets respectively
Plane Angle and vertical plane angle are filtered processing, so as to obtain absolute angle, just can cause sky mouse remote control on a television set
Cursor accordingly definitely moved on the absolute angle direction according to the velocity of displacement with absolute angle maps mutually, from
And the scheme of the relative displacement due to only differentiating sky mouse by sensor is solved, caused sky mouse response is relatively slow and mobile
The big technical problem of error.
The above is that the induction installation of space absolute displacement is described in detail, below will be to capture module and acceleration
The submodule of module is described in detail, referring to Fig. 4, a kind of sensing of space absolute displacement provided in an embodiment of the present invention
One embodiment of device includes：
Capture module 401, the horizontal plane angle for catching motion track, it is to be understood that capture module 401 is top
Spiral shell instrument；
Wherein, capture module 401 can further include：
Angular speed acquisition submodule 4011, the magnitude of angular velocity of the horizontal plane for obtaining motion track；
Submodule 4012 is integrated, the integration for carrying out preset time period for angular velocity value obtains horizontal plane angle.
Acceleration module 402, for calculating vertical plane angle according to Predistribution Algorithm according to the acceleration of gravity got；
Wherein, the acceleration of gravity that acceleration module 402 can also be got specifically for basis is according to triangle mutation letter
Figure method and calculate vertical plane angle, it is to be understood that the acceleration module 402 is gravity accelerometer or gravity sensor.
Absolute angle acquisition module 403, for according to Kalman filtering algorithm to horizontal plane angular speed and vertical plane angle
Calculate and obtain absolute angle, it is to be understood that absolute angle acquisition module 403 is Kalman filter；
Wherein, absolute angle acquisition module 403 can further include：
Absolute horizon angle acquisition submodule 4031, for being carried out according to Kalman filtering algorithm to horizontal plane angular speed
Calculate and obtain absolute horizon angle.
Or/and
Absolute upright face angle degree acquisition submodule 4032, based on being carried out according to Kalman filtering algorithm to vertical plane angle
Calculate and obtain absolute upright face angle degree.
Mapping block 404, for determining absolute displacement speed according to absolute angle, absolute angle is built with absolute displacement speed
It is vertical to have mapping relations；
Control module 405, for corresponding with the cursor progress on absolute displacement speed control screen according to absolute angle
Absolute direction movement.
In the present embodiment, absolute angle acquisition module 403 is by using Kalman filtering algorithm to the water that gets respectively
Plane Angle and vertical plane angle are filtered processing, so as to obtain absolute angle, just can cause sky mouse remote control on a television set
Cursor accordingly definitely moved on the absolute angle direction according to the velocity of displacement with absolute angle maps mutually, from
And the scheme of the relative displacement due to only differentiating sky mouse by sensor is solved, caused sky mouse response is relatively slow and mobile
The big technical problem of error.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, such as multiple units or component
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communicate to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially
The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are to cause a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (4)
1. a kind of inducing method of space absolute displacement, it is characterised in that including：
Catch the horizontal plane angle of motion track；
Vertical plane angle is calculated according to Predistribution Algorithm according to the acceleration of gravity got；
The horizontal plane angle and the vertical plane angle calculate according to Kalman filtering algorithm and obtain absolute angle；
Absolute displacement speed is determined according to the absolute angle, the absolute angle is set up with the absolute displacement speed mapping
Relation；
Moved according to the absolute angle absolute direction corresponding with the cursor progress on the absolute displacement speed control screen
It is dynamic；
Vertical plane angle is calculated according to the acceleration of gravity got according to Predistribution Algorithm to specifically include：
Vertical plane angle is calculated according to triangle mutation function algorithm according to the acceleration of gravity got；
The horizontal plane angle for catching motion track is specifically included：
Obtain the magnitude of angular velocity of the horizontal plane of the motion track；
The integration that preset time period is carried out to the magnitude of angular velocity obtains the horizontal plane angle；
The absolute angle specifically includes absolute horizon angle or/and absolute upright face angle degree；
Absolute angle is that the direction of absolute horizon angle or absolute upright face angle map is respectively left and right or up and down, left and right or
Above-below direction be based on set up on screen a virtual XY axle for definition.
2. a kind of induction installation of space absolute displacement, it is characterised in that including：
Capture module, the horizontal plane angle for catching motion track；
Acceleration module, for calculating vertical plane angle according to Predistribution Algorithm according to the acceleration of gravity got；
Absolute angle acquisition module, for being entered according to Kalman filtering algorithm to the horizontal plane angle and the vertical plane angle
Row, which is calculated, obtains absolute angle；
Mapping block, for determining absolute displacement speed, the absolute angle and the absolute displacement according to the absolute angle
Speed, which is set up, mapping relations；
Control module, for corresponding with the cursor progress on the absolute displacement speed control screen according to the absolute angle
Absolute direction movement；
Acceleration module according to triangle mutation function algorithm according to the acceleration of gravity got specifically for calculating vertical face angle
Degree；
Capture module is specifically included：
Angular speed acquisition submodule, the magnitude of angular velocity of the horizontal plane for obtaining the motion track；
Submodule is integrated, the integration for carrying out preset time period to the magnitude of angular velocity obtains the horizontal plane angle；
Absolute angle acquisition module is specifically included：
Absolute horizon angle acquisition submodule, for being carried out according to Kalman filtering algorithm to the magnitude of angular velocity of the horizontal plane
Calculate and obtain absolute horizon angle；
Or/and
Absolute upright face angle degree acquisition submodule, is obtained for carrying out calculating to the vertical plane angle according to Kalman filtering algorithm
Take absolute upright face angle degree；
Absolute angle is that the direction of absolute horizon angle or absolute upright face angle map is respectively left and right or up and down, left and right or
Above-below direction be based on set up on screen a virtual XY axle for definition.
3. the induction installation of space absolute displacement according to claim 2, it is characterised in that absolute angle acquisition module is
Kalman filter.
4. the induction installation of space absolute displacement according to claim 3, it is characterised in that the capture module is gyro
Instrument；
The acceleration module is gravity accelerometer or gravity sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410235508.XA CN103970297B (en) | 2014-05-29 | 2014-05-29 | A kind of inducing method and device of space absolute displacement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410235508.XA CN103970297B (en) | 2014-05-29 | 2014-05-29 | A kind of inducing method and device of space absolute displacement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103970297A CN103970297A (en) | 2014-08-06 |
| CN103970297B true CN103970297B (en) | 2017-08-08 |
Family
ID=51239897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410235508.XA Active CN103970297B (en) | 2014-05-29 | 2014-05-29 | A kind of inducing method and device of space absolute displacement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103970297B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106403894B (en) * | 2016-08-22 | 2018-09-21 | 广东升威电子制品有限公司 | A kind of rocking bar with orientation acquisition |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102289306A (en) * | 2011-08-30 | 2011-12-21 | 江苏惠通集团有限责任公司 | Attitude sensing equipment and positioning method thereof as well as method and device for controlling mouse pointer |
| CN103389808A (en) * | 2013-07-18 | 2013-11-13 | 华南师范大学 | Space mouse and method for obtaining displacement of space mouse |
| CN103576901A (en) * | 2012-08-02 | 2014-02-12 | 腾讯科技（深圳）有限公司 | Implement method for performing cursor control on screen through handheld electronic device and handheld electronic device |
-
2014
- 2014-05-29 CN CN201410235508.XA patent/CN103970297B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102289306A (en) * | 2011-08-30 | 2011-12-21 | 江苏惠通集团有限责任公司 | Attitude sensing equipment and positioning method thereof as well as method and device for controlling mouse pointer |
| CN103576901A (en) * | 2012-08-02 | 2014-02-12 | 腾讯科技（深圳）有限公司 | Implement method for performing cursor control on screen through handheld electronic device and handheld electronic device |
| CN103389808A (en) * | 2013-07-18 | 2013-11-13 | 华南师范大学 | Space mouse and method for obtaining displacement of space mouse |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103970297A (en) | 2014-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108489482B (en) | The realization method and system of vision inertia odometer | |
| US20200300637A1 (en) | Collaborative navigation and mapping | |
| CN108241369B (en) | Method and device for avoiding static obstacle for robot | |
| CN104965511A (en) | Intelligent dolly real-time video return system based on arbitrary path planning | |
| CN102693362B (en) | A kind of game role skip philosophy and device adapting with landform | |
| CN105953801A (en) | Indoor navigation method and device | |
| CN108225370A (en) | A kind of data fusion and calculation method of athletic posture sensor | |
| CN102607532B (en) | Quick low-level image matching method by utilizing flight control data | |
| Cheng et al. | Mobile robot indoor dual Kalman filter localisation based on inertial measurement and stereo vision | |
| CN103970297B (en) | A kind of inducing method and device of space absolute displacement | |
| Simon | Concepts of the Internet of Things from the Aspect of the Autonomous Mobile Robots | |
| CN103049102A (en) | Mouse data processing device and mouse data processing method | |
| CN103345507A (en) | Three-dimensional map dynamic loading method based on collision box principle | |
| CN102833110A (en) | Topologic data relation management method in network management software on a large volume of data | |
| CN104344835B (en) | A kind of inertial navigation moving alignment method based on suitching type Self Adaptive Control compass | |
| CN105786166B (en) | Augmented reality method and system | |
| CN110930506B (en) | Three-dimensional map generation method, mobile device, and computer-readable storage medium | |
| CN106017464A (en) | Space activity trajectory generation method and device | |
| CN115272494B (en) | Calibration method and device for camera and inertial measurement unit and computer equipment | |
| CN108268029A (en) | A kind of control method and electronic equipment | |
| CN106249902A (en) | Multimedium virtual display platform | |
| CN114088103B (en) | Method and device for determining vehicle positioning information | |
| CN103324530A (en) | Calling method and device for orientation sensors of handheld mobile equipment | |
| CN207027520U (en) | A kind of mechanical arm mobile route planning system | |
| Xue et al. | Research on information fusion technology of MEMS gyro array |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |