CN106248110A - Attitude measuring is from the method and system of dynamic(al) correction - Google Patents
Attitude measuring is from the method and system of dynamic(al) correction Download PDFInfo
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- CN106248110A CN106248110A CN201610873196.4A CN201610873196A CN106248110A CN 106248110 A CN106248110 A CN 106248110A CN 201610873196 A CN201610873196 A CN 201610873196A CN 106248110 A CN106248110 A CN 106248110A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The present invention provides a kind of attitude measuring method from dynamic(al) correction, including transmitter module, receiver module, processing module, described transmitter module includes attitude measuring and discharger, described discharger can launch lasing area, described receiver module includes CCD camera, compared with prior art, the present invention utilizes discharger to launch lasing area and receiver module and receives the mode of different characteristic optical signal, adjust x-axis, y-axis, the position of z-axis angle zero point, reduce the impact that the error accumulation of attitude measuring brings, decrease the inadaptable sense of user and add feeling of immersion, bigger meaning is had for somatosensory operation and virtual reality.
Description
Technical field
The present invention relates to attitude measurement field, more particularly, it relates to a kind of attitude measuring is from the method for dynamic(al) correction
And system.
Background technology
Attitude measurement typically uses attitude measuring to measure angle information, and the type of attitude measuring is a lot, profit
With three decoupling of axle earth magnetism and three axis accelerometers, affected very big by external force acceleration, in the environment such as movement/vibration, output side
Relatively big to angle error, geomagnetic sensor has shortcoming in addition, and its absolute object of reference is the magnetic line of force in earth's magnetic field, and the feature of earth magnetism is
Range is big, but intensity is relatively low, and about a few Gauss of zero point, is highly susceptible to the interference of other magnet.Gyroscope output angle speed
Degree, is instantaneous flow, and angular velocity is directly to use on posture balancing, needs angular velocity to calculate angle with time integral,
The angle variable quantity arrived is added with initial angle, just obtains angle on target, and wherein the time of integration, Dt was the least, and output angle is the most smart
Really, but the measuring basis that the principle of gyroscope determines it is self, not the absolute object of reference outside system, adds that Dt is not
May be infinitely small, so the cumulative error of integration can increase sharply as time go on, ultimately result in output angle with reality not
Symbol.
Summary of the invention
Affect the defect of angular surveying to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the attitude measuring of cumulative errors from the method and system of dynamic(al) correction.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of attitude measuring from dynamic(al) correction
Method, including transmitter module, receiver module, processing module, described transmitter module includes attitude measuring and discharger, institute
Stating discharger and can launch lasing area, described receiver module includes that CCD camera, described attitude measuring pass through following steps
Carry out from dynamic(al) correction:
Lasing area launched by S1: described discharger, and described receiver module is in holding state；
S2: described receiver module judges whether to transmit control information to described place according to the signal that described CCD camera is transmitted
Reason module；
Described attitude measuring is corrected by the information that S3: described processing module is transmitted according to described receiver module.
Preferably, described CCD camera has pixel detection function, can identify that laser that described discharger launches is in institute
State the pixel of the image formed in CCD camera.
Preferably, the image that the laser that described discharger is launched is formed in described CCD camera is straight line line segment,
Described CCD camera can identify the angle that described straight-line segment and vertical direction are formed.
Preferably, described transmitter module includes transmitting terminal embedded type control module, described transmitting terminal embedded type control module
The data of described attitude measuring transmission can be received, and the data received are delivered to described processing module.
Preferably, the signal that described receiver module transmits according to described Photoinduction device judges correction letter by following steps
Breath:
S2.1 sets up rectangular coordinate system on the basis of described CCD camera, and z-axis is perpendicular to the ground, positive direction upward, with light
The radiation direction of CCD camera center of lens described in vertical incidence is x-axis negative direction, and y-axis positive direction meets coordinate system xyz and becomes the right hand
System；
S2.2 when the geometry axle center of described handle be perpendicular to the top of ground and described handle upward time, the x of described handle
Axle, y-axis angle are zero；The lasing area launched when described handle is perpendicular to the back side and the light direction of propagation court of described CCD camera
When x-axis negative direction, the z-axis angle of described handle is zero；
When described CCD camera, S2.3 detects that the unit picture element of laser image is higher than standard pixel, and laser detected
The direction of image is vertically, and described receiver module is to described processing module transmission zeroing x-axis, the information of z-axis, when described CCD phase
Machine examination measures the unit picture element of laser image higher than standard pixel, and detects that the direction of laser image is non-vertical, described
Receiver module is to the information of described processing module transmission zeroing z-axis.
Preferably, described transmitter module is handle, and described handle includes emission port dough-making powder generating laser, described transmitting
Port is rectangular slot shape, and the laser of described laser transmitter projects injects space outerpace by emission port, is formed and does not sends out
The parallel laser face dissipated.
Preferably, the distance between two described Photoinduction devices is equal with the width of described lasing area.
Preferably, described transmitting terminal embedded type control module is receiving the data message that described attitude measuring is sent
After, it is sent to described processing module after data message is stamped timestamp and processes.
Preferably, after described processing module receives the correction signal that the transmission of described receiver module comes, described process mould
Block verification receives the moment t of correction signal2, and detect the data message of band timestamp received, when described process mould
Block detects that the time point that the timestamp of the data message of band timestamp shows is later than or equal to t2During the moment, described processing module
Being corrected the angle information of described attitude measuring according to control information, after having corrected, described arithmetic processor exists
Again receive the timestamp of no longer Monitoring Data information before the correction signal that the transmission of described receiver module comes.
Thering is provided a kind of attitude measuring automatic correction system, described transmitter module includes transmitting terminal wireless transport module,
Described processing module includes processing end wireless transport module, and described transmitting terminal wireless transport module and described process end are wirelessly transferred
Information can be transmitted by the way of being wirelessly transferred between module.
Compared with prior art, the present invention utilizes discharger to launch lasing area and receiver module and receives different characteristic light letter
Number mode, adjust x-axis, y-axis, the position of z-axis angle zero point, reduce the shadow that the error accumulation of attitude measuring brings
Ring, decrease the inadaptable sense of user and add feeling of immersion, having bigger meaning for somatosensory operation and virtual reality.Phase
For manually resetting the zero point of Attitute detecting device, attitude measuring of the present invention adjusts more from the method and system of dynamic(al) correction
Error that is natural and accurate, that on the one hand prevent user to bring with " sensation " zeroing, on the other hand makes user use
In journey natural and return to zero unconsciously, add feeling of immersion, decrease deliberately adjust stiff, add game, promote
Experience effect.Utilize the setting of reflective surface, it is ensured that light must is fulfilled for certain incident condition just can make photoinduction fill
The response of raw correspondence of buying property, it is achieved that the method judging transmitter module attitude by photoinduction, makes the adjustment of attitude to lead to
Cross photoinduction to realize, also make the attitude zeroing of the present invention be achieved.It is permissible that the critical angle of reflective surface is set to 85 ° of one side
Reaching to correct the effect of attitude measuring error accumulation, the chance that attitude measuring on the other hand can be made to obtain correcting is big
For increasing, prevent that critical angle is arranged the angle of incidence caused too much and be unsatisfactory for critical angle for a long time and cannot be carried out the feelings corrected
Condition occurs.By arranging the irradiating angle of the next corresponding lasing area of dead-center position of x-axis, z-axis, thus the attitude of corresponding transmitter module
Method, establish relatively simple gesture recognition rule, more convenient use photoinduction correction attitude.The emission port quilt of handle
It is set to narrow and long rectangular shape, it is ensured that the laser of outgoing is formed than relatively thin lasing area without dissipating, it is ensured that utilize CCD
Camera carries out the realization returned to zero.The setting in parallel laser face ensure that the uniqueness of testing result, it is ensured that the degree of accuracy of correction.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the attitude measuring of the present invention system module schematic diagram from dynamic(al) correction；
Fig. 2 is the transmitter module schematic diagram with handle as example；
Fig. 3 is the reception device schematic diagram with CCD camera as example；
Fig. 4 is CCD camera zeroing x-axis, z-axis schematic diagram；
Fig. 5 is CCD camera zeroing z-axis schematic diagram；
Fig. 6 is that CCD camera does not send zeroing instruction schematic diagram；
Fig. 7 is attitude measuring correcting process schematic diagram.
Detailed description of the invention
Affect the defect of angular surveying to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the attitude measuring of cumulative errors from the method and system of dynamic(al) correction.
In order to be more clearly understood from the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing describes in detail
The detailed description of the invention of the present invention.
Referring to Fig. 1, attitude measuring automatic correction system of the present invention includes receiver module 1, transmitter module 2 and processes
Module 3.Receiver module 1 includes receiving device 11, receiving terminal embedded type control module 13, receives device 11 and receiving terminal is embedded
Control module 13 is electrically connected with.Transmitter module 2 includes that discharger 21, transmitting terminal embedded type control module 22, attitude measurement fill
Put 23, power module 24, operation device 27 and transmitting terminal wireless transport module 29, wherein, transmitting terminal embedded type control module 22
Be electrically connected with power module 24, transmitting terminal embedded type control module 22 and power module 24 respectively with discharger 21, attitude
Measurement apparatus 23, operation device 27 and transmitting terminal wireless transport module 29 are electrically connected with.Processing module 3 includes processing the wireless biography of end
Defeated module 31 and arithmetic processor 33, process end wireless transport module 31 and arithmetic processor 33 is electrically connected with, arithmetic processor
33 are electrically connected with receiving terminal embedded type control module 13, process end wireless transport module 31 and can be wirelessly transferred mould with transmitting terminal
Block 29 transmits information by the way of wireless connections.Receive device 11 and be mainly used in the light that receiving and transmitting unit 21 is launched, and
The light information received is delivered to receiving terminal embedded type control module 13 process, receiving terminal embedded type control module 13
The result that can be processed to is sent to arithmetic processor 33 and is further processed.Attitude measuring 23 can measure transmitting
The module 2 attitude in space and angle information, operation device 27 can be operated and send command information, attitude measurement by user
Related data that device 23 records and the command information that operation device 27 sends can be delivered to send out by the way of the signal of telecommunication
Penetrating end embedded type control module 22, above-mentioned information can be wirelessly transferred mould by transmitting terminal by transmitting terminal embedded type control module 22
Block 29 is delivered to process end wireless transport module 31, and processing end wireless transport module 31 can pass through telecommunications by the data received
Number mode be delivered to arithmetic processor 33 and process.
Refer to Fig. 2, Fig. 2 and schematically illustrate the transmitter module 2 with handle 201 as first embodiment, in this enforcement
In example, the top of handle 201 is circular flat 2011, the geometry axle center L of handle 2011By the center of circle of circular flat 2011 also
Being perpendicular to circular flat 2011, discharger 21 includes that face generating laser 211, face generating laser 211 include emission port
2113 and lasing light emitter 2115, the emission port 2113 of face generating laser 211 is rectangular slot shape, four rectangles of rectangular slot
The geometry axle center L of Bian Zhong, two the longer rectangular edges being parallel to each other and handle 2011Parallel, what lasing light emitter 2115 was launched swashs
Light can be transmitted in the space outerpace of handle 201 by the emission port 2113 of reflective shape, forms the rim ray not dissipated
L2And L3The parallel laser face being parallel to each other, the width of lasing area is d.Geometry axle center L when handle 2011When being perpendicular to ground,
Parallel laser face is perpendicular with ground.
Refer to Fig. 3, Fig. 3 and schematically illustrate the reception device 11 with CCD camera 101 as first embodiment, at this
In embodiment, CCD camera 101 has the function of pixel detection.For extraneous incident laser, according to the difference of its incident angle
CCD camera 101 is able to detect that different pixel values, and according to laser image and vertical direction in the image recognition image of shooting
Angle.When laser beam vertical incidence CCD camera 101, the pixel of the laser image that CCD camera 101 detects is higher than
The situation of laser beam non-normal incidence, according to the size of pixel value, we can judge that extraneous laser beam the most vertically enters
Penetrate.In order in use can on the one hand reach to correct the effect of attitude measuring 23 error accumulation, on the other hand make
The chance that transmitter module 2 obtains correction is more, prevents the laser beam of incidence to be unsatisfactory for vertical incidence for a long time and cannot be carried out
The situation of correction occurs, and we can set a critical angle 85 °, and laser beam enters CCD camera 101 with 85 ° for angle of incidence
The pixel value of unit length corresponding time internal is standard pixel.When the angle of incidence of light is less than 85 °, CCD camera 101 detects
The unit length pixel value arrived is less than standard pixel, and receiving terminal embedded type control module 13 does not send correction signal to processing module
3；When the angle of incidence of light is between 85 ° to 90 °, it is believed that light vertical incidence CCD camera 101, CCD camera 101 is examined
The pixel value of the unit length measured is higher than standard pixel, and receiving terminal embedded type control module 13 sends correction signal to processing mould
Block 3.
Refer to Fig. 4 Fig. 6, Fig. 4 schematically illustrate CCD camera 101 and return to zero a kind of feelings of attitude measuring 23
Condition.We set up rectangular coordinate system on the basis of CCD camera 101, and z-axis is perpendicular to the ground, and positive direction is upward；Vertically enter with light
The radiation direction penetrating CCD camera center of lens is x-axis negative direction, and y-axis positive direction meets coordinate system xyz and becomes right-handed system.CCD camera
The back side of 101 is a plane being perpendicular to x-axis.Being provided with attitude measuring 23 in handle 201, attitude measuring 23 exists
During measurement, meeting cumulative errors, make the error between measurement result and legitimate reading increasing.Attitude measuring 23
Can be according to the attitudes vibration of handle 201, it is provided that handle 201 changes in the angle of x-axis, y-axis and z-axis.We can be arranged in advance
The x-axis of handle 201, y-axis, the position of z-axis angle zero point, as a kind of set-up mode therein, when the geometry axle center of handle 201
L1 be perpendicular to the top of ground and handle 201 upward time, we remember that the x-axis of handle 201, y-axis angle are zero；When 201, handle
When the lasing area penetrated is perpendicular to the back side of CCD camera 101 and the light direction of propagation towards x-axis negative direction, we remember handle 201
Z-axis angle is zero.Handle 201 is gripped by user, in use, when the geometry axle center L1 of handle 201 is perpendicular to ground
And handle 201 launch lasing area vertical incidence CCD camera 101 time, CCD camera 101 photographs a vertical straight line image,
Direction and the pixel of the CCD camera 101 straight line image to photographing are identified, and the picture of the unit length of straight line image detected
Element is higher than standard pixel, and detects that the direction of straight line image is vertical, and it is embedding that CCD camera 101 transmits the electrical signal to receiving terminal
Entering formula control module 13, receiving terminal embedded type control module 13 transmits signal to arithmetic processor 33, and resets handle x-axis, y
Axle, the angle-data of z-axis are zero.Owing to this calibration occurs unintentionally during user uses, so, do not carving
Just can complete the calibration to handle x-axis, y-axis and z-axis in the case of the operating process of meaning has no to discover with user, prevent
Error persistent accumulation causes measurement error excessive, significantly enhances the feeling of immersion of user simultaneously.Due to the characteristic of human body wrist,
Handle 201 is in use perpendicular to ground and the top of handle 201 essentially without geometry axle center L1 handle 201 occur
Situation down, so this situation is not considered by we.
The CCD camera 101 that schematically illustrates Fig. 5 returns to zero the another kind of situation of attitude measuring 23, when handle 201
When geometry axle center L1 is not orthogonal to the lasing area vertical incidence CCD camera 101 of ground and handle 201 transmitting, CCD camera 101 is clapped
Taking the photograph the straight line image of a non-vertical, direction and the pixel of the CCD camera 101 straight line image to photographing are identified, inspection
Measure the pixel of unit length of straight line higher than standard pixel, and detect that the direction of straight line is non-vertical, illustrates now hands
The x-axis of handle 201 is not zero, and z-axis is zero.CCD camera 101 transmits a signal to receiving terminal embedded type control module 13, and return to zero attitude
The z-axis of measurement apparatus.During attitude orientation, it is easiest to make that people produces untrue experience is exactly the angular error of z-axis, this
Embodiment, by the adjustment of z-axis is added significantly to the feeling of immersion of user, adds the suitability of equipment.
Fig. 6 schematically illustrates CCD camera 101 and responds unsuccessful a kind of situation, when the lasing area that handle 201 is launched
During out of plumb incidence CCD camera 101, CCD camera 101 photographs straight line image, the CCD camera 101 straight line to photographing
Direction and the pixel of image are identified, and detect that the unit length pixel of straight line is less than standard pixel, now, CCD camera 101
Not transmitting a signal to receiving terminal embedded type control module 13, CCD camera 101 responds unsuccessful.
Referring to Fig. 7, when attitude measuring automatic correction system of the present invention is started working, transmitter module 2 is launched sharp
Bright finish, receiver module 1 is in holding state simultaneously.The CCD camera 101 receiving device 11 monitors laser reactive, in real time when CCD phase
When machine 101 photographs laser image, the laser image photographed is identified by CCD camera 101.When CCD camera 101 detects
The pixel of straight line image is higher than standard pixel, and detects when the direction of straight line image is vertical, and now handle 201 is described
Geometry axle center L1 is perpendicular to ground and the lasing area vertical incidence CCD camera 101 of handle 201 transmitting, and now, receiving terminal is embedded
Zeroing x-axis, y-axis, the information of z-axis are sent to processing module 3 by control module 13, and processing module 3 returns to zero x-axis, y-axis, z-axis immediately
Data；When CCD camera 101 detects that the pixel of the unit length of straight line is higher than standard pixel, and the direction of straight line detected
During for non-vertical, illustrate that the geometry axle center L1 of now handle 201 is not orthogonal to the lasing area that ground and handle 201 launch and vertically enters
Penetrating CCD camera 101, now, the information of zeroing z-axis is sent to processing module 3 by receiving terminal embedded type control module 13, processes mould
Block 3 returns to zero z-axis data immediately；When CCD camera 101 detects that the pixel of the unit length of straight line image, less than standard pixel, connects
Receiving end embedded type control module 13 does not send zeroing information to processing module 3.
Due to transmitter module 2 to processing module 3 transmit attitude detection data need expend the regular hour, this time we
Being referred to as t time delay, processing module 3 is at t0Reception to the attitude data of transmitter module 2 transmission actually corresponding be
(t0-t) attitude information of moment transmitter module 2.If processing module 3 is at t1The correction letter that reception sends to receiver module 1
Correcting the angle information of attitude measuring 23 after breath at once, that can cause the actual adjustment of processing module 3 is (t1-t) moment
The angle information of attitude measuring 23, makes (t1-t) arrive t1The error of the attitude measuring 23 between the moment is cumulative,
Affect the accuracy of attitude measuring 23 and the experience that equipment is overall.As an alternative embodiment of the invention, transmitting terminal is embedding
Enter formula control module 22 after receiving the data message that attitude measuring 23 is sent, send out after data message is stamped timestamp
Delivering to transmitting terminal wireless transport module 29, transmitting terminal wireless transport module 29 will stamp the data information transfer of timestamp to processing
End wireless transport module 31, and be transferred to arithmetic processor 33 process by processing end wireless transport module 31.At computing
After reason device 33 receives the correction signal that receiver module 1 transmission comes, arithmetic processor 33 verification receives the moment of correction signal
t2, and detect the data message of the band timestamp received.When arithmetic processor 33 detects that the timestamp of data message shows
The time point shown is later than or equal to t2During the moment, arithmetic processor 33 is at once according to the control information angle to attitude measuring 23
Degree information is corrected, corrected rear arithmetic processor 33 again receive receiver module 1 transmission come correction signal it
Before the timestamp of no longer Monitoring Data information.The present embodiment prevents the data owing to causing time delay by mistake by delay correction
The accumulation of difference, is greatly improved degree of accuracy and the availability of equipment.
Compared with prior art, the present invention utilizes that lasing area launched by discharger 21 and receiver module 1 receives different characteristic
The mode of optical signal, adjusts x-axis, the position of z-axis angle zero point, reduces the shadow that the error accumulation of attitude measuring 23 brings
Ring, decrease the inadaptable sense of user and add feeling of immersion, having bigger meaning for somatosensory operation and virtual reality.Phase
For manually resetting the zero point of Attitute detecting device 23, attitude measuring 23 of the present invention adjusts from the method and system of dynamic(al) correction
Error that is more natural and accurate, that on the one hand prevent user to bring with " sensation " zeroing, on the other hand makes user make
During with natural and return to zero unconsciously, add feeling of immersion, decrease deliberately adjust stiff, add game,
Improve experience effect.Utilize the setting of CCD camera 101, it is ensured that light must is fulfilled for certain incident condition just can be made
CCD camera 101 produces the response of correspondence, it is achieved that judged the side of transmitter module 2 attitude by pixel identification and angle recognition
Method, makes the attitude zeroing of the present invention be achieved.The critical angle of CCD camera 101 is set to 85 ° of one side and can reach to correct appearance
The effect of state measurement apparatus 23 error accumulation, the chance that transmitter module 2 on the other hand can be made to obtain correction greatly increases, and prevents
Critical angle arranges the angle of incidence caused too much be unsatisfactory for critical angle for a long time and cannot be carried out the situation generation corrected.Pass through
Arrange x-axis, y-axis, the dead-center position of z-axis carry out the irradiating angle of corresponding lasing area, thus the side of the attitude of corresponding transmitter module 2
Method, establishes relatively simple gesture recognition rule, more convenient use photoinduction correction attitude.The emission port of handle 201
2113 are arranged to narrow and long rectangular shape, it is ensured that the laser of outgoing is formed than relatively thin lasing area without dissipating, it is ensured that
CCD camera 101 is utilized to carry out the realization returned to zero.The setting in parallel laser face ensure that the uniqueness of testing result, it is ensured that school
Positive degree of accuracy.
Above in conjunction with accompanying drawing, embodiments of the invention are described, but the invention is not limited in above-mentioned concrete
Embodiment, above-mentioned detailed description of the invention is only schematic rather than restrictive, those of ordinary skill in the art
Under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, it may also be made that a lot
Form, within these belong to the protection of the present invention.
Claims (10)
1. an attitude measuring is from the method for dynamic(al) correction, it is characterised in that include transmitter module, receiver module, process mould
Block, described transmitter module includes that attitude measuring and discharger, described discharger can launch lasing area, described reception
Module includes that CCD camera, described attitude measuring are carried out from dynamic(al) correction by following steps:
Lasing area launched by S1: described discharger, and described receiver module is in holding state；
S2: described receiver module judges whether to transmit control information to described process mould according to the signal that described CCD camera is transmitted
Block；
Described attitude measuring is corrected by the information that S3: described processing module is transmitted according to described receiver module.
Attitude measuring the most according to claim 1 is from the method for dynamic(al) correction, it is characterised in that described CCD camera has
There is pixel detection function, the pixel of the image that the laser that described discharger is launched formed in described CCD camera can be identified.
Attitude measuring the most according to claim 2 is from the method for dynamic(al) correction, it is characterised in that described discharger is sent out
The image that the laser penetrated is formed in described CCD camera is straight line line segment, and described CCD camera can identify described straight line line
The angle that section is formed with vertical direction.
Attitude measuring the most according to claim 3 is from the method for dynamic(al) correction, it is characterised in that described transmitter module bag
Including transmitting terminal embedded type control module, described transmitting terminal embedded type control module can receive the transmission of described attitude measuring
Data, and the data received are delivered to described processing module.
Attitude measuring the most according to claim 4 is from the method for dynamic(al) correction, it is characterised in that described receiver module root
The signal transmitted according to described Photoinduction device judges control information by following steps:
S2.1 sets up rectangular coordinate system on the basis of described CCD camera, and z-axis is perpendicular to the ground, and positive direction is upward, vertical with light
The radiation direction of incident described CCD camera center of lens is x-axis negative direction, and y-axis positive direction meets coordinate system xyz and becomes right-handed system；
S2.2 when the geometry axle center of described handle be perpendicular to the top of ground and described handle upward time, the x-axis of described handle, y
Shaft angle degree is zero；The lasing area launched when described handle is perpendicular to the back side of described CCD camera and the light direction of propagation towards x-axis
During negative direction, the z-axis angle of described handle is zero；
When described CCD camera, S2.3 detects that the unit picture element of laser image is higher than standard pixel, and laser image detected
Direction be vertically, described receiver module is to described processing module transmission zeroing x-axis, the information of z-axis, when described CCD camera is examined
Measure the unit picture element of laser image higher than standard pixel, and detect that the direction of laser image is non-vertical, described reception
Module is to the information of described processing module transmission zeroing z-axis.
Attitute detecting device the most according to claim 4 is from the method for dynamic(al) correction, it is characterised in that described transmitter module is
Handle, described handle includes emission port dough-making powder generating laser, and described emission port is rectangular slot shape, and described laser is sent out
The laser that emitter is launched injects space outerpace by emission port, forms the parallel laser face not dissipated.
Attitude measuring the most according to claim 6 is from the method for dynamic(al) correction, it is characterised in that two described photoinduction
Distance between device is equal with the width of described lasing area.
Attitude measuring the most according to claim 7 is from the method for dynamic(al) correction, it is characterised in that described transmitting terminal embeds
Formula control module, after receiving the data message that described attitude measuring is sent, sends after data message is stamped timestamp
Process to described processing module.
Attitude measuring the most according to claim 8 is from the method for dynamic(al) correction, it is characterised in that when described processing module
After receiving the correction signal that the transmission of described receiver module comes, the verification of described processing module receives the moment t of correction signal2,
And detect the data message of band timestamp received, when described processing module detect the data message of band timestamp time
Between stab the time point of display and be later than or equal to t2During the moment, described processing module according to control information to described attitude measuring
Angle information be corrected, after having corrected, described arithmetic processor again receiving described receiver module transmission come
The timestamp of no longer Monitoring Data information before correction signal.
10. an attitude measuring according to claim 1 is from the automatic school of attitude measuring of the method for dynamic(al) correction
Positive system, it is characterised in that described transmitter module include transmitting terminal wireless transport module, described processing module include process end without
Line transport module, can be by being wirelessly transferred between described transmitting terminal wireless transport module and described process end wireless transport module
Mode transmit information.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107941238A (en) * | 2017-10-10 | 2018-04-20 | 深圳市虚拟现实科技有限公司 | The method and system of attitude measuring correction |
| CN107941239A (en) * | 2017-10-10 | 2018-04-20 | 深圳市虚拟现实科技有限公司 | The method and system of attitude measuring automatic infrared correction |
| CN107976205A (en) * | 2017-10-10 | 2018-05-01 | 深圳市虚拟现实科技有限公司 | The method and system of attitude measuring automatic pattern correction |
| CN108829627A (en) * | 2018-05-30 | 2018-11-16 | 青岛小鸟看看科技有限公司 | Synchronisation control means and system between virtual reality device |
| CN109612690A (en) * | 2018-11-02 | 2019-04-12 | 中国科学院上海光学精密机械研究所 | Sensitive chip different incidence angles responsiveness measuring device and measuring method |
| CN110081904A (en) * | 2019-05-15 | 2019-08-02 | 合肥工业大学 | Biplane photosensor arrays push-bench attitude measuring and measurement method |
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| CN107941238A (en) * | 2017-10-10 | 2018-04-20 | 深圳市虚拟现实科技有限公司 | The method and system of attitude measuring correction |
| CN107941239A (en) * | 2017-10-10 | 2018-04-20 | 深圳市虚拟现实科技有限公司 | The method and system of attitude measuring automatic infrared correction |
| CN107976205A (en) * | 2017-10-10 | 2018-05-01 | 深圳市虚拟现实科技有限公司 | The method and system of attitude measuring automatic pattern correction |
| CN108829627A (en) * | 2018-05-30 | 2018-11-16 | 青岛小鸟看看科技有限公司 | Synchronisation control means and system between virtual reality device |
| CN108829627B (en) * | 2018-05-30 | 2020-11-20 | 青岛小鸟看看科技有限公司 | Synchronous control method and system between virtual reality devices |
| CN109612690A (en) * | 2018-11-02 | 2019-04-12 | 中国科学院上海光学精密机械研究所 | Sensitive chip different incidence angles responsiveness measuring device and measuring method |
| CN110081904A (en) * | 2019-05-15 | 2019-08-02 | 合肥工业大学 | Biplane photosensor arrays push-bench attitude measuring and measurement method |
| CN110081904B (en) * | 2019-05-15 | 2021-01-29 | 合肥工业大学 | Attitude measuring device and method for double-plane photoelectric sensor array tube push bench |
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