CN104898669A - Virtual reality walking control method and system based on inertia sensor - Google Patents
Virtual reality walking control method and system based on inertia sensor Download PDFInfo
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- CN104898669A CN104898669A CN201510218390.4A CN201510218390A CN104898669A CN 104898669 A CN104898669 A CN 104898669A CN 201510218390 A CN201510218390 A CN 201510218390A CN 104898669 A CN104898669 A CN 104898669A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
Abstract
The invention discloses a virtual reality walking control method and system based on an inertia sensor. The method comprises the following steps: S1, tracking the orientation and the attitude of a human trunk by use of the inertia sensor; and S2, controlling the movement direction of a virtual world figure by use of the obtained orientation of the human trunk, and at the same time, controlling the walking motion of the virtual world figure by use of an obtained attitude angle. According to the invention, a strong dizzy feeling brought to a user by the difference between visual perception and body perception is overcome; at the same time, a whole device is small in size (far smaller than an omnidirectional mobile platform, a treadmill and a space motion capture device) and is quite low in price, thereby being suitable for household consumption and entertainment; and besides, walking control is performed on the virtual world figure by use of the technology provided by the invention, special restrictions are eliminated, movement of any distances in random directions in a virtual reality world can be realized.
Description
Technical field
The present invention relates to a kind of method and system of carrying out virtual reality travelling control based on inertial sensor, belong to technical field of virtual reality.
Background technology
In reality environment, user needs to carry out moving and roaming in virtual world, and common control method for movement has following several:
1, direction controlling button: user, by the button, rocking bar etc. on the equipment such as joystick, keyboard, controls moving direction and speed.This mode is cheap, reliable, after but user brings head-mounted display apparatus, have the visual experience highly immersed, use to move by key control and turn to time, the vestibular organ of physical perception motion state does not perceive corresponding movement, difference between visually-perceptible and physical perception, can bring strong dizzy sense to user;
2, Omni-mobile platform: user stands on Omni-mobile platform, can realize the walking running action on any direction in original place.This mode greatly can reduce the difference between visually-perceptible and physical perception under reality environment, eliminates the dizzy sense of user, but a complete set of equipment volume is large, cost is higher, is not suitable for domestic consumer amusement;
3, the position capture (if application number is " skeleton of three-dimensional virtual world controls " disclosed in the patented claim of 201110430789.0) in fixed environment: user is in fixing environment, periphery installation site tracking means, the position of user is caught, the shift action of user in certain space can be mapped in virtual world, thus realizes the mobile control of certain limit.This mode is higher to environmental requirement, cannot realize the movement at virtual world on a large scale.According to retrieval, at present, a kind of technology that can simultaneously overcome the above problems also is not had to occur.
Summary of the invention
The object of the invention is to, a kind of method and system of carrying out virtual reality travelling control based on inertial sensor are provided, it effectively can solve problems of the prior art, and the difference especially between visually-perceptible and physical perception brings strong dizzy sense to user, Omni-mobile platform a complete set of equipment volume is large and cost is high and cannot realize the virtual world on a large scale carries out the problem of movement.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: a kind of method of carrying out virtual reality travelling control based on inertial sensor, comprises the following steps:
S1, utilizes inertial sensor following the tracks of towards with attitude trunk;
S2, utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.
Preferably, step S2 also comprises, by the magnitude of angular velocity of computing gyroscope integration in time obtain current human's trunk towards and attitude angle, specifically, first, the direction that described gyroscope can obtain perpendicular to ground by magnetometer measures magnetic field of the earth; Secondly, gyroscope can record angular acceleration values, by by this angular acceleration values in time integration can obtain magnitude of angular velocity; Again, by by magnitude of angular velocity in time integration can obtain angle value; Finally, this angle value and the direction perpendicular to ground previously to have obtained are compared, can record accurately trunk towards and attitude angle.
Preferred, step S2 also comprises: adopt gradient descent method to carry out iterative computation to the error function of attitude angle, constantly correct error, until when the error amount in time iterative process is in the scope of setting, thus it is more sensitive and accurate that attitude angle is calculated.
Preferred further, described employing gradient descent method carries out the error function of attitude angle in the process of iterative computation, when quadraturing in time, utilize the reference point periodically occurred that whole integral process is divided into multiple sections, prevent different intersegmental error propagation accumulation; By median filtering method, the error in each section is suppressed simultaneously.
Aforesaidly carry out in the method for virtual reality travelling control based on inertial sensor, the trunk that utilization described in step S2 obtains specifically comprises towards the moving direction controlling virtual world character: trunk is towards after being obtained by inertial sensor, reach calculating parametric controller, calculate parametric controller to run application and go out reality environment for analogue simulation, the personage in the reality environment of analogue simulation controls towards the trunk obtained by inertial sensor towards data.
Aforesaidly carry out in the method for virtual reality travelling control based on inertial sensor, the walking motion that the attitude angle that utilization described in step S2 obtains controls virtual world character specifically comprises: utilize the leaning forward of trunk, advance that hypsokinesis, "Left"-deviationist, Right deviation one_to_one corresponding control virtual world character, retrogressing, to left, to the right translation motion, thus the action that in the present invention, in the action of user's upper body and virtual world, visual experience arrives can be made completely the same, thus Long-Time Service can't cause dizzy.
Preferably, the walking motion that the attitude angle that utilization described in step S2 obtains controls virtual world character also comprises: utilize the forward leaning angle of trunk, hypsokinesis angle, left-leaning angle, Right deviation angle one_to_one corresponding to control pace, the astern speed, left point-to-point speed, to the right point-to-point speed of virtual world character, thus the acceleration and deceleration action that in the present invention, in the action of user's upper body and virtual world, visual experience arrives can be made completely the same, thus Long-Time Service can't cause dizzy.
In said method, described pace, the astern speed, left point-to-point speed, to the right point-to-point speed utilizing the forward leaning angle of trunk, hypsokinesis angle, left-leaning angle, Right deviation angle one_to_one corresponding to control virtual world character specifically comprises: after the forward leaning angle of trunk, hypsokinesis angle, left-leaning angle, Right deviation angle are obtained by inertial sensor, reach calculating parametric controller, calculate parametric controller and run application and go out reality environment for analogue simulation; After current inclination degree, hypsokinesis angle, left-leaning angle, Right deviation angle are greater than predetermined angle, the personage triggered in the reality environment of analogue simulation advances, retreats, to left, to the right translation motion; Corresponding translational speed speed is directly proportional to inclination angle size.
In said method, also comprise: S3, when health is got back in the process of erectility, the translational speed of virtual world character linearly declines until static, specifically comprise: after the action that trunk gets back to erectility is obtained by inertial sensor, reach calculating parametric controller, calculate parametric controller and run application and go out reality environment for analogue simulation; After health inclination angle is less than predetermined angle, the personage in the reality environment of control imitation simulation is slowed down until static by the linear fall off rate preset.This mechanism imitates the deceleration behavior of mankind when walking, make visual experience in virtual world to deceleration consistent with the ways of deceleration that health vestibular organ is experienced, the dizzy sense of further reduction.
Realize the system of carrying out virtual reality travelling control based on inertial sensor of preceding method, comprise: inertial sensor and calculating parametric controller, described inertial sensor is connected with calculating parametric controller, inertial sensor is used for following the tracks of towards with attitude trunk, calculates parametric controller and utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.
Preferably, described inertial sensor comprises: acceleration transducer, gyroscope, magnetometer, data processing unit and wireless transport module, and described data processing unit is connected with acceleration transducer, gyroscope, magnetometer and wireless transport module respectively; Described gyroscope is for obtaining the magnitude of angular velocity of trunk; Described data processing unit is used for the magnitude of angular velocity integration in time of computing gyroscope, obtain current human's trunk towards and attitude angle; Described acceleration transducer and magnetometer are used for correcting the error of the attitude angle calculated; Described wireless transport module is used for trunk to be transferred to calculating parametric controller towards with attitude angle.
Compared with prior art, the present invention by following the tracks of towards with attitude trunk, and utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character, thus the difference overcome between visually-perceptible and physical perception bring strong dizzy sense to user simultaneously; In the present invention simultaneously, user only needs inertial sensor the following the tracks of towards with attitude trunk of wearing small volume, pass to calculating parametric controller by what gather towards with attitude angle data, calculate parametric controller and utilize the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character, equipment set is volume little (being significantly less than Omni-mobile platform, treadmill and spatial displacements capture device) not only, and price is very low, is applicable to domestic consumer amusement simultaneously; In addition, adopt technology of the present invention to carry out travelling control to virtual world character, not by space constraint, any distance can be moved by any direction in virtual reality world.In addition, system of the present invention is simple and easy to use, inertial sensor only need be clipped in jacket neckline by user, parametric controller is calculated by wireless connections, and to be sitting on swivel chair that (being sitting on swivel chair uses omnidirectional that can be pleasant to rotate, standing, it is more tired to use, and may fall down), do not need complicated wearing and set-up procedure.Finally, the moving direction arrived due to visual experience in user's upper body action in the present invention and virtual world and acceleration and deceleration action completely the same, thus Long-Time Service can't cause dizzy.
In addition, in the present invention, by the magnitude of angular velocity of computing gyroscope integration in time obtain current human's trunk towards and attitude angle, specifically, first, the direction that described gyroscope can obtain perpendicular to ground by magnetometer measures magnetic field of the earth; Secondly, gyroscope can record angular acceleration values, by by this angular acceleration values in time integration can obtain magnitude of angular velocity; Again, by by magnitude of angular velocity in time integration can obtain angle value; Finally, this angle value and the direction perpendicular to ground previously to have obtained are compared, can record accurately trunk towards and attitude angle.Because the present invention has twice integration in time, therefore calculating attitude angle is not in single frames, but completes in multiframe, and the result obtained can produce drift due to deviation accumulation.Gradient descent method can be adopted to carry out iterative computation to the error function of attitude angle, constantly correct error, until when the error amount in time iterative process is in the scope of setting, thus it is more sensitive and accurate that attitude angle is calculated.But, adopt gradient descent method also can there is the problem of convergency factor in practice, that is, if iterations is too much, is then difficult to sometimes ensure real-time demand, very easily converges on local minimum point, instead of global minimum point.
For this problem, inventor observes the carrying out of application background and a large amount of analysis and research, result shows: when quadraturing in time, utilize the reference point periodically occurred (namely when inertial sensor turns to suddenly time, if inertial sensor is up and down or when moving left and right, corresponding, can find from the measured value of the acceleration transducer of IMU speed close to zero location point, analyze discovery after deliberation, theory calculate angle value corresponding on these time points is consistent with actual observed value.Because these points usually occur in user's practical application scene, thus can be used as the reference point of time division section) whole integral process is divided into multiple sections, prevent different intersegmental error propagation accumulation, specifically, whole integral process is divided into multiple sections, instead of a time period, so original iterative process is forced to reset repeatedly, improve convergence, error simultaneously in certain section also can not be delivered to hypomere (if when adopting a section, then error amount because of integration can constantly accumulation); Moreover, as long as every section initial time attitude angle value enough accurately reliable, the average error so in segmentation and variance all can not be greater than average error when only having a section and variance.The selection needs of waypoint are merged to the measured value on the displacement acceleration sensor come from IMU.In addition, find through lot of experiments: the error in each section is effectively suppressed by median filtering method, that is, in the moving window of five elements, get intermediate value and carry out filtering, can effective error in the section of suppression.Due to the simple operations that this operation is local in window, be thus applicable to realize on the data processing unit 6 of control IMU, and without the need to taking other host computer resource.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of a kind of embodiment of the present invention;
Fig. 2 is the structure block diagram of a kind of embodiment of the present invention.
Reference numeral: 1-inertial sensor, 2-calculates parametric controller, 3-acceleration transducer, 4-gyroscope, 5-magnetometer, 6-data processing unit, 7-wireless transport module, 8-power supply.
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
Embodiment
Embodiments of the invention 1: a kind of method of carrying out virtual reality travelling control based on inertial sensor, as shown in Figure 1, comprises the following steps:
S1, utilizes inertial sensor following the tracks of towards with attitude trunk;
S2, by the magnitude of angular velocity of computing gyroscope integration in time obtain current human's trunk towards with the attitude angle (direction that specifically, first, described gyroscope can obtain perpendicular to ground by magnetometer measures magnetic field of the earth, secondly, gyroscope can record angular acceleration values, by by this angular acceleration values in time integration can obtain magnitude of angular velocity, again, by by magnitude of angular velocity in time integration can obtain angle value, finally, this angle value and the direction perpendicular to ground previously obtained are compared, can record accurately trunk towards and attitude angle), adopt gradient descent method to carry out iterative computation to the error function of attitude angle simultaneously, continuous rectification error, until when the error amount in time iterative process is in the scope of setting, and adopt gradient descent method to carry out in the process of iterative computation to the error function of attitude angle, when quadraturing in time, utilize the reference point periodically occurred that whole integral process is divided into multiple sections, by median filtering method, the error in each section is suppressed simultaneously, utilize the trunk obtained towards the moving direction controlling virtual world character, specifically comprise: trunk is towards after being obtained by inertial sensor, reach calculating parametric controller, calculate parametric controller to run application and go out reality environment for analogue simulation, the personage in the reality environment of analogue simulation controls towards the trunk obtained by inertial sensor towards data, the attitude angle obtained is utilized to control the walking motion of virtual world character---utilize leaning forward of trunk, hypsokinesis, left-leaning, Right deviation one_to_one corresponding controls the advance of virtual world character, retreat, to left, translation motion to the right, and utilize the forward leaning angle of trunk, hypsokinesis angle, left-leaning angle, Right deviation angle one_to_one corresponding controls the pace of virtual world character, astern speed, point-to-point speed left, point-to-point speed to the right, specifically comprise: when the forward leaning angle of trunk, hypsokinesis angle, left-leaning angle, after Right deviation angle is obtained by inertial sensor, reach calculating parametric controller, calculate parametric controller to run application and go out reality environment for analogue simulation, after current inclination degree, hypsokinesis angle, left-leaning angle, Right deviation angle are greater than predetermined angle, the personage triggered in the reality environment of analogue simulation advances, retreat, to left, to the right translation motion, corresponding translational speed speed is directly proportional to inclination angle size,
S3, when health is got back in the process of erectility, the translational speed of virtual world character linearly declines until static, specifically comprise: after the action that trunk gets back to erectility is obtained by inertial sensor, reach calculating parametric controller, calculate parametric controller and run application and go out reality environment for analogue simulation; After health inclination angle is less than predetermined angle, the personage in the reality environment of control imitation simulation is slowed down until static by the linear fall off rate preset.
Realize the system of carrying out virtual reality travelling control based on inertial sensor of said method, as shown in Figure 2, comprise: inertial sensor 1 and calculating parametric controller 2, described inertial sensor 1 is connected with calculating parametric controller 2, inertial sensor 1, for following the tracks of towards with attitude trunk, calculates parametric controller 2 and utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.Described inertial sensor 1 comprises: acceleration transducer 3, gyroscope 4, magnetometer 5, data processing unit 6 and wireless transport module 7, and described data processing unit 6 is connected with acceleration transducer 3, gyroscope 4, magnetometer 5 and wireless transport module 7 respectively; Described gyroscope 4 is for obtaining the magnitude of angular velocity of trunk; Described data processing unit 6 for the magnitude of angular velocity integration in time of computing gyroscope, obtain current human trunk towards and attitude angle; Described acceleration transducer 3 and magnetometer 5 are for correcting the error of the attitude angle calculated; Described wireless transport module 7 for by trunk towards with attitude angle be transferred to calculate parametric controller 2.Described data processing unit 6 can adopt single-chip microcomputer or ARM chip.Described inertial sensor 1 is also provided with power supply 8 (can adopt battery), described power supply 8 is connected with acceleration transducer 3, gyroscope 4, magnetometer 5, data processing unit 6 and wireless transport module 7 respectively.
Embodiment 2: a kind of method of carrying out virtual reality travelling control based on inertial sensor, comprises the following steps:
S1, utilizes inertial sensor following the tracks of towards with attitude trunk;
S2, utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously---utilize the leaning forward of trunk, advance that hypsokinesis, "Left"-deviationist, Right deviation one_to_one corresponding control virtual world character, retrogressing, to left, to right translation; And utilize the forward leaning angle of trunk, hypsokinesis angle, left-leaning angle, Right deviation angle one_to_one corresponding to control pace, the astern speed, left point-to-point speed, to the right point-to-point speed of virtual world character.
Realize the system of carrying out virtual reality travelling control based on inertial sensor of said method, as shown in Figure 2, comprise: inertial sensor 1 and calculating parametric controller 2, described inertial sensor 1 is connected with calculating parametric controller 2, inertial sensor 1, for following the tracks of towards with attitude trunk, calculates parametric controller 2 and utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.
Embodiment 3: a kind of method of carrying out virtual reality travelling control based on inertial sensor, as Fig. 1 so, comprise the following steps:
S1, utilizes inertial sensor following the tracks of towards with attitude trunk;
S2, by the magnitude of angular velocity of computing gyroscope integration in time obtain current human's trunk towards and attitude angle; Utilize the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.
Realize the system of carrying out virtual reality travelling control based on inertial sensor of said method, as shown in Figure 2, comprise: inertial sensor 1 and calculating parametric controller 2, described inertial sensor 1 is connected with calculating parametric controller 2, inertial sensor 1, for following the tracks of towards with attitude trunk, calculates parametric controller 2 and utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.Described inertial sensor 1 comprises: acceleration transducer 3, gyroscope 4, magnetometer 5, data processing unit 6 and wireless transport module 7, and described data processing unit 6 is connected with acceleration transducer 3, gyroscope 4, magnetometer 5 and wireless transport module 7 respectively; Described gyroscope 4 is for obtaining the magnitude of angular velocity of trunk; Described data processing unit 6 for the magnitude of angular velocity integration in time of computing gyroscope, obtain current human trunk towards and attitude angle; Described acceleration transducer 3 and magnetometer 5 are for correcting the error of the attitude angle calculated; Described wireless transport module 7 for by trunk towards with attitude angle be transferred to calculate parametric controller 2.
Embodiment 4: a kind of method of carrying out virtual reality travelling control based on inertial sensor, as shown in Figure 1, comprises the following steps:
S1, utilizes inertial sensor following the tracks of towards with attitude trunk;
S2, utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.
Realize the system of carrying out virtual reality travelling control based on inertial sensor of said method, as shown in Figure 2, comprise: inertial sensor 1 and calculating parametric controller 2, described inertial sensor 1 is connected with calculating parametric controller 2, inertial sensor 1, for following the tracks of towards with attitude trunk, calculates parametric controller 2 and utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.
The principle of work of a kind of embodiment of the present invention:
User by one group independently inertial sensor module be attached on human body upper body trunk or upper body clothes, following the tracks of towards with attitude trunk, therefore human body upper body towards with attitude determine inertial sensor module attitude and towards.User brings head-mounted display apparatus and is sitting in after on swivel chair, and when the forward lean of user exceedes certain angle, the leading role in virtual world moves to current direction, and the larger translational speed of angle is faster; When the hypsokinesis of user's health exceedes certain angle, in virtual world, leading role moves to the opposite direction in current direction, and the larger translational speed of angle is faster.In like manner, when the health "Left"-deviationist of user exceedes certain angle, the leading role in virtual world is moved to the left, and the larger translational speed of angle is faster; When the health Right deviation of user exceedes certain angle, the leading role in virtual world moves right, and the larger translational speed of angle is faster.
User by leaning forward, hypsokinesis, "Left"-deviationist, Right deviation control leading role in virtual world and advance, retreat, be moved to the left, move right, when its health gets back to erectility realization deceleration, in virtual world, the translational speed not rapid drawdown of leading role is 0, but within shorter time interval, linearly decline until static.Because people is from walking to static, be not suddenly stop, this mechanism imitates the deceleration behavior of mankind when walking, allow visual experience in virtual world to deceleration consistent with the ways of deceleration that health vestibular organ is experienced, reduce further dizzy sense.
Claims (10)
1. carry out a method for virtual reality travelling control based on inertial sensor, it is characterized in that, comprise the following steps:
S1, utilizes inertial sensor following the tracks of towards with attitude trunk;
S2, utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.
2. method of carrying out virtual reality travelling control based on inertial sensor according to claim 1, it is characterized in that, step S2 also comprises, by the magnitude of angular velocity of computing gyroscope integration in time obtain current human's trunk towards and attitude angle.
3. method of carrying out virtual reality travelling control based on inertial sensor according to claim 2, it is characterized in that, step S2 also comprises: adopt gradient descent method to carry out iterative computation to the error function of attitude angle, continuous rectification error, until when the error amount in time iterative process is in the scope of setting.
4. method of carrying out virtual reality travelling control based on inertial sensor according to claim 3, it is characterized in that, described employing gradient descent method carries out the error function of attitude angle in the process of iterative computation, when quadraturing in time, utilize the reference point periodically occurred that whole integral process is divided into multiple sections; By median filtering method, the error in each section is suppressed simultaneously.
5. method of carrying out virtual reality travelling control based on inertial sensor according to claim 1, it is characterized in that, the walking motion that the attitude angle that utilization described in step S2 obtains controls virtual world character specifically comprises: utilize the leaning forward of trunk, advance that hypsokinesis, "Left"-deviationist, Right deviation one_to_one corresponding control virtual world character, retrogressing, to left, to the right translation motion.
6. method of carrying out virtual reality travelling control based on inertial sensor according to claim 5, it is characterized in that, the walking motion that the attitude angle that the utilization described in step S2 obtains controls virtual world character also comprises: utilize the forward leaning angle of trunk, hypsokinesis angle, left-leaning angle, Right deviation angle one_to_one corresponding to control pace, the astern speed, left point-to-point speed, to the right point-to-point speed of virtual world character.
7. method of carrying out virtual reality travelling control based on inertial sensor according to claim 6, it is characterized in that, the described forward leaning angle utilizing trunk, hypsokinesis angle, left-leaning angle, Right deviation angle one_to_one corresponding controls the pace of virtual world character, astern speed, point-to-point speed left, point-to-point speed specifically comprises to the right: when the forward leaning angle of trunk, hypsokinesis angle, left-leaning angle, after Right deviation angle is obtained by inertial sensor, reach calculating parametric controller, calculate parametric controller to run application and go out reality environment for analogue simulation, after current inclination degree, hypsokinesis angle, left-leaning angle, Right deviation angle are greater than predetermined angle, the personage triggered in the reality environment of analogue simulation advances, retreats, to left, to the right translation motion, corresponding translational speed speed is directly proportional to inclination angle size.
8., according to the arbitrary described method of carrying out virtual reality travelling control based on inertial sensor of claim 1 ~ 7, it is characterized in that, also comprise:
S3, when health is got back in the process of erectility, the translational speed of virtual world character linearly declines until static.
9. realize the system of carrying out virtual reality travelling control based on inertial sensor of method described in claim 1, it is characterized in that, comprise: inertial sensor (1) and calculating parametric controller (2), described inertial sensor (1) is connected with calculating parametric controller (2), inertial sensor (1), for following the tracks of towards with attitude trunk, calculates parametric controller (2) and utilizes the trunk obtained towards the moving direction controlling virtual world character; Utilize the attitude angle of acquisition to control the walking motion of virtual world character simultaneously.
10. system of carrying out virtual reality travelling control based on inertial sensor according to claim 9, it is characterized in that, described inertial sensor (1) comprising: acceleration transducer (3), gyroscope (4), magnetometer (5), data processing unit (6) and wireless transport module (7), and described data processing unit (6) is connected with acceleration transducer (3), gyroscope (4), magnetometer (5) and wireless transport module (7) respectively; Described gyroscope (4) is for obtaining the magnitude of angular velocity of trunk; Described data processing unit (6) for the magnitude of angular velocity integration in time of computing gyroscope, obtain current human trunk towards and attitude angle; Described acceleration transducer (3) and magnetometer (5) are for correcting the error of the attitude angle calculated; Described wireless transport module (7) for by trunk towards with attitude angle be transferred to calculate parametric controller (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811410264.9A CN109388142B (en) | 2015-04-30 | 2015-04-30 | Method and system for virtual reality walking control based on inertial sensor |
| CN201510218390.4A CN104898669B (en) | 2015-04-30 | 2015-04-30 | A kind of method and system carrying out virtual reality travelling control based on inertial sensor |
| PCT/CN2015/081744 WO2016173099A1 (en) | 2015-04-30 | 2015-06-18 | Method and system for controlling walking in virtual reality based on inertial sensor |
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| CN201510218390.4A CN104898669B (en) | 2015-04-30 | 2015-04-30 | A kind of method and system carrying out virtual reality travelling control based on inertial sensor |
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| CN104898669B (en) | 2019-01-11 |
| WO2016173099A1 (en) | 2016-11-03 |
| CN109388142B (en) | 2021-12-21 |
| CN109388142A (en) | 2019-02-26 |
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