CN106323340A - Method and system for automatically correcting attitude measurement device - Google Patents
Method and system for automatically correcting attitude measurement device Download PDFInfo
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- CN106323340A CN106323340A CN201610871504.XA CN201610871504A CN106323340A CN 106323340 A CN106323340 A CN 106323340A CN 201610871504 A CN201610871504 A CN 201610871504A CN 106323340 A CN106323340 A CN 106323340A
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- high frequency
- low frequency
- correction
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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 invention discloses a method for automatically correcting an attitude measurement device. A transmitting module, a receiving module and a processing module are involved, wherein the receiving module comprises the attitude measurement device, a gravity detection device and a receiving device; the transmitting module comprises a transmitting device, and the transmitting device can transmit a laser plane; the receiving module comprises at least two light induction devices. Compared with the prior art, according to the method disclosed by the invention, by utilizing a way of transmitting the laser plane by the transmitting device and receiving different characteristic light signals by the receiving device, the zero position of an angle between the x axis and the z axis can be regulated, the influence brought by error accumulation of the attitude measurement device is reduced, a maladjustment sense of a user is reduced, an immersion sense is increased, and great significance in somatosensory operation and virtual reality is obtained.
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 receiver module includes attitude measuring, weight force checking device
With reception device, described discharger includes that high frequency lasers source and low frequency lasers source, described high frequency lasers source and described low frequency swash
Light source can launch lasing area, and described receiver module includes high frequency light induction installation and low frequency Photoinduction device, and described attitude is surveyed
Amount device is carried out from dynamic(al) correction by following steps:
Lasing area launched by S1: described discharger, and described receiver module is in holding state；
The signal that S2: described receiver module transmits according to described high frequency light induction installation and described low frequency Photoinduction device is sentenced
Break and whether transmit control information to described processing module；
Described attitude measuring is corrected by the information that S3: described processing module is transmitted according to described receiver module.
Preferably, described receiver module includes that handle, described handle include front panel, described high frequency light induction installation and institute
State low frequency Photoinduction device and be fixed on described front panel.
Preferably, described discharger includes that light source module, described light source module include that substrate, described substrate include front end
Face, described high frequency lasers source and described low frequency lasers source are arranged on described front end face.
Preferably, described high frequency light induction installation can detect the laser that described high frequency lasers source is launched, described low frequency
Photoinduction device can detect the laser that described low frequency lasers source is launched.
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 with described substrate fiducials, and z-axis is perpendicular to the ground, and positive direction is upward；Front end described in x-axis
Face is vertical, is parallel to the laser beam direction of ground outgoing for x-axis positive direction in described light source module；Y-axis with described before
Plate is parallel, and positive direction meets coordinate system xyz and becomes right-handed system；
S2.2 arranges the x-axis of described attitude measuring, z-axis dead-center position, and the laser launched when described transmitter module shines
When penetrating on described front panel, described high frequency light induction installation and described low frequency Photoinduction device respond the most then x-axis, z simultaneously
Shaft angle degree is zero；
S2.3 when described high frequency light induction installation and described low frequency Photoinduction device respond successfully, described receiver module to
Described processing module transmission zeroing information.
Preferably, when the geometry axle center of described handle be perpendicular to the top of ground and described handle upward time, described handle
X-axis, y-axis angle be zero；When front panel and described front panel court described in the lasing area vertical incidence that described light source module is launched
When x-axis negative direction, the z-axis angle of described handle is zero.
Preferably, described heavy force checking device can detect the y-axis angle information of described transmitter module, and will record in real time
Y-axis information be delivered to described processing module.
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.
Preferably, described discharger includes high frequency lasers source and low frequency lasers source, and what described high frequency lasers source was launched swashs
The lasing area that bright finish and described low frequency lasers source are launched is parallel to each other.
Preferably, described receiver module includes high frequency light induction installation and low frequency Photoinduction device, described discharger bag
Including high frequency lasers source and low frequency lasers source, it is sharp that described high frequency light induction installation can detect that described high frequency lasers source is launched
Light, described low frequency Photoinduction device can detect the laser that described low frequency lasers source is launched.
Compared with prior art, the present invention utilizes discharger to launch lasing area and receives device and receive different characteristic light letter
Number mode, adjust x-axis, the position of z-axis angle zero point, reduce the impact that the error accumulation of attitude measuring brings, subtract
Lack the inadaptable sense of user and added feeling of immersion, having had bigger meaning for somatosensory operation and virtual reality.Relative to
Manually resetting the zero point of Attitute detecting device, attitude measuring of the present invention adjusts more natural from the method and system of dynamic(al) correction
Accurately, the error on the one hand preventing user to bring with " sensation " zeroing, on the other hand make user in use
Natural and return to zero unconsciously, add feeling of immersion, decrease deliberately adjust stiff, add game, improve body
Test effect.Utilize high frequency lasers source and the setting in low frequency lasers source, it is ensured that light must is fulfilled for certain incident condition and just may be used
So that high frequency light induction installation produces corresponding response with low frequency Photoinduction device, it is achieved that judge to receive mould by photoinduction
The method of block attitude, makes the adjustment of attitude can be realized by photoinduction, also makes the attitude zeroing of the present invention be achieved.Weight
Force checking device can detect the receiver module deflection angle for gravity direction, coordinates the method for photoinduction zeroing to achieve appearance
The x-axis of state measurement apparatus, y-axis, the angle adjustment of z-axis three axle, make attitude measuring x-axis, y-axis, z-axis the accumulation of error all
Can be corrected.By arranging the irradiating angle of the next corresponding lasing area of dead-center position of x-axis, z-axis, thus corresponding receiver module
The method of attitude, establishes relatively simple gesture recognition rule, more convenient use photoinduction correction attitude.By arranging high frequency
Photoinduction device and low frequency Photoinduction device prevent the situation of mirror image laser effect measurement result.
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 receiver module schematic diagram with handle as example；
Fig. 3 is the transmitter module schematic diagram with laser module as example；
Fig. 4 is system zeroing one of x-axis, z-axis schematic diagram from dynamic(al) correction of attitude measuring of the present invention；
Fig. 5 is system zeroing one of x-axis, z-axis laser beam schematic diagram from dynamic(al) correction of attitude measuring of the present invention；
Fig. 6 is that attitude measuring of the present invention does not send one of zeroing instruction schematic diagram from the system of dynamic(al) correction；
Fig. 7 be attitude measuring of the present invention from the system of dynamic(al) correction do not send zeroing instruction laser beam schematic diagram it
One；
Fig. 8 is that attitude measuring of the present invention does not send the two of zeroing instruction schematic diagram from the system of dynamic(al) correction；
Fig. 9 be attitude measuring of the present invention from the system of dynamic(al) correction do not send zeroing instruction laser beam schematic diagram it
Two；
Figure 10 is the attitude measuring of the present invention working-flow schematic diagram from dynamic(al) correction.
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 transmitter module 1, receiver module 2 and processes
Module 3.Transmitter module 1 includes discharger 11, transmitting terminal embedded type control module 13, and discharger 11 and transmitting terminal are embedded
Control module 13 is electrically connected with.Receiver module 2 includes receiving device 21, receiving terminal embedded type control module 22, attitude measurement dress
Putting 23, power module 24, weight force checking device 25, operation device 27 and receiving terminal wireless transport module 29, wherein, receiving terminal is embedding
Enter formula control module 22 to be electrically connected with power module 24, receiving terminal embedded type control module 22 and power module 24 respectively with connect
Receiving apparatus 21, attitude measuring 23, weight force checking device 25, operation device 27 and receiving terminal wireless transport module 29 electrically connect
Connect.Processing module 3 includes processing end wireless transport module 31 and arithmetic processor 33, processes end wireless transport module 31 and computing
Processor 33 is electrically connected with, and arithmetic processor 33 is electrically connected with transmitting terminal embedded type control module 13, processes end and is wirelessly transferred
Module 31 can transmit information with receiving terminal wireless transport module 29 by the way of wireless connections.Receive device 21 to be mainly used in
The light that receiving and transmitting unit 11 is launched, and the light information received is delivered to receiving terminal embedded type control module 22 carries out
Processing, the result that receiving terminal embedded type control module 22 can be processed to is sent everywhere by receiving terminal wireless transport module 29
Reason module 3 is further processed.Attitude measuring 23 can measure the receiver module 2 attitude in space and angle information,
Weight force checking device 25 can measure receiver module 2 and the angle information of gravity direction and angle direction, and operation device 27 is permissible
Operated and send related data and behaviour that command information, attitude measuring 23 and weight force checking device 25 record by user
Make the command information that device 27 sends and can be delivered to receiving terminal embedded type control module 22, receiving terminal by the way of the signal of telecommunication
Above-mentioned information can be delivered to process end by receiving terminal wireless transport module 29 and be wirelessly transferred mould by embedded type control module 22
Block 31, processes end wireless transport module 31 and the data received can be delivered to by the way of the signal of telecommunication arithmetic processor 33
Process.
Refer to Fig. 2 Fig. 3, Fig. 2 Fig. 3 and schematically illustrate the receiver module with handle 201 as first embodiment
2, in this embodiment, the top of handle 201 is circular flat 2011, the geometry axle center L of handle 2011Pass through circular flat
The center of circle of 2011 is also perpendicular to circular flat 2011, and handle 201 includes front panel 2115, high frequency light induction installation 2113, low frequency
Photoinduction device 2123, high frequency light induction installation 2113 and low frequency Photoinduction device 2123 are fixed on front panel 2115, high frequency
Photoinduction device 2113 and low frequency Photoinduction device 2123 are set up in parallel, when the geometry axle center of handle 201 is perpendicular to the ground, high
Frequently the line of Photoinduction device 2113 and low frequency Photoinduction device 2123 is parallel to the ground, high frequency light induction installation 2113 and low frequency
Distance between Photoinduction device 2123 is d.
Fig. 3 schematically illustrates the discharger 11 with light source module 101 as first embodiment, in this embodiment,
Light source module 101 includes substrate 1115, high frequency lasers source 1113 and low frequency lasers source 1123, and substrate 1115 includes front end face
1116, high frequency lasers source 1113 and low frequency lasers source 1123 are arranged on front end face 1116.High frequency lasers source 1113 and low frequency swash
Light source 1123 can launch fan laser face, and fan laser face is perpendicular with ground.High frequency light induction installation 2113 can detect
The laser signal launched to high frequency lasers source 1113, low frequency Photoinduction device 2123 can detect that low frequency lasers source 1123 is launched
Laser signal.Distance between high frequency lasers source 1113 and low frequency lasers source 1123 is d, with high frequency light induction installation 2113 and
Distance between low frequency Photoinduction device 2123 is equal.
Refer to Fig. 4 Fig. 5, Fig. 4 Fig. 5 schematically illustrate light source module 101 and return to zero attitude measuring 23
A kind of situation.We set up rectangular coordinate system on the basis of the substrate 1115 of light source module 101, and z-axis is perpendicular to the ground, positive direction
Upward；X-axis is vertical with the front end face 1116 of substrate 1115, being parallel to the laser beam direction of ground outgoing in light source module is
X-axis positive direction；Y-axis is parallel with front panel 2115, and positive direction meets coordinate system xyz and becomes right-handed system.It is provided with appearance in handle 201
State measurement apparatus 23, attitude measuring 23 is meeting cumulative errors during measuring, and make between measurement result and legitimate reading
Error increasing.Attitude measuring 23 can be according to the attitudes vibration of handle 201, it is provided that handle 201 is at x-axis, y-axis, and z
The angle change of axle.Handle 201 farther includes weight force checking device 25, and weight force checking device 25 can detect handle in real time
The change of the y-axis angle of 201, and the y-axis measurement result that real time correction attitude measuring 23 is measured.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
L1Be 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 light source module
When 101 lasing areas launched are perpendicular to front panel 2115 and front panel 2115 towards x-axis negative direction, we remember the z-axis of handle 201
Angle is 0.Handle 201 is gripped by user, in use, as the geometry axle center L of handle 2011It is perpendicular to ground and light
During the lasing area vertical incidence front panel 2115 that source module 101 is launched, 2116 dozens, high frequency lasers line and leads on front panel 2115
Crossing high frequency Photoinduction device 2113, meanwhile, 2126 dozens, low frequency lasers line is on front panel 2115 and by low frequency Photoinduction device
2123, high frequency light induction installation 2113 and low frequency Photoinduction device 2123 sense that laser beam produces response, and concurrent power transmission is believed
Number to receiving terminal embedded type control module 22, receiving terminal embedded type control module 22 is transmitted by receiving terminal wireless transport module 29
Signal is to processing module 3, and reset handle x-axis, the angle-data of z-axis is zero, weight force checking device 25 detects y-axis angle simultaneously
And calibrate the y-axis angle-data of handle.Owing to this calibration occurs unintentionally during user uses, so, exist
The calibration to handle x-axis, y-axis and z-axis just can be completed in the case of operating process the most deliberately has no to discover with user,
Prevent error persistent accumulation from causing measurement error excessive, significantly enhance the feeling of immersion of user simultaneously.This zeroing mode is same
Time avoid the defect of the None-identified mirror image laser that other optical zeroing modes usually occur, i.e. the geometry axle center of handle 201
L1It is perpendicular to the situation of laser pattern, the present embodiment as the top of ground and handle 201 is the most often formed down with top
By arranging high frequency light induction installation 2113 and low frequency Photoinduction device 2123 prevents the feelings of mirror image laser effect measurement result
Condition.
Refer to Fig. 6 Fig. 7, Fig. 6 schematically illustrate light source module 101 and do not send zeroing instruction one of schematic diagram,
Geometry axle center L when handle 2011It is not orthogonal to ground and the lasing area vertical incidence front panel 2115 of light source module 101 transmitting
Time, now due to geometrical relationship, beat level between the high frequency lasers line 2116 on front panel 2115 and low frequency lasers line 2126
The distance of two intersection points that direction line is formed is more than high frequency light induction installation 2113 and low frequency Photoinduction device 2123 level
The projector distance in direction, now high frequency light induction installation 2113 and low frequency Photoinduction device 2123 at most can only have one to produce sense
Should, now, light source module 101 does not transmit a signal to receiving terminal embedded type control module 13, and light source module 101 does not send zeroing and refers to
Order.
Refer to Fig. 8 Fig. 9, Fig. 8 schematically illustrate light source module 101 do not send zeroing instruction schematic diagram two,
Geometry axle center L when handle 2011It is perpendicular to ground and the lasing area out of plumb incidence front panel 2115 of light source module 101 transmitting
Time, now due to geometrical relationship, beat between the high frequency lasers line 2116 on front panel 2115 and low frequency lasers line 2126 away from
From more than d, now high frequency light induction installation 2113 and low frequency Photoinduction device 2123 at most can only have one to produce sensing, this
Time, light source module 101 does not transmit a signal to receiving terminal embedded type control module 13, and light source module 101 does not send zeroing instruction.
Referring to Figure 10, when attitude measuring automatic correction system of the present invention is started working, transmitter module 1 is launched sharp
Bright finish, receiver module 2 is in holding state simultaneously.Receive high frequency light induction installation 2113 and the low frequency Photoinduction device of device 21
2123 monitor laser reactive in real time, when receiving device 11 medium-high frequency Photoinduction device 2113 and low frequency Photoinduction device 2123 while
When producing response, illustrate that the geometry axle center L1 of now handle 201 is perpendicular to the lasing area that ground and light source module 101 launch vertical
In front panel 2115, now, zeroing x-axis, the information of z-axis are sent to processing module 3 by receiving terminal embedded type control module 22, place
Reason module 3 returns to zero x-axis, z-axis data immediately；When receiving device 21 medium-high frequency Photoinduction device 2113 and low frequency Photoinduction device
During 2123 generation response the most simultaneously, receiving terminal embedded type control module 22 does not send zeroing information to processing module 3.
Compared with prior art, the present invention utilizes discharger 11 to launch lasing area and receive device 21 and receive 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 high frequency lasers source 1113 and the setting in low frequency lasers source 1123, it is ensured that light must is fulfilled for one
Fixed incident condition just can make high frequency light induction installation 2113 and low frequency Photoinduction device 2123 produce the response of correspondence, it is achieved
The method judging receiver module 2 attitude by photoinduction, makes the adjustment of attitude can be realized by photoinduction, also makes this
The attitude zeroing of invention is achieved.Weight force checking device 25 can detect the receiver module 2 deflection angle for gravity direction,
The method coordinating photoinduction zeroing achieves the x-axis of attitude measuring 23, y-axis, the angle adjustment of z-axis three axle, makes attitude survey
Amount device 23 can be corrected at x-axis, y-axis, the accumulation of error of z-axis.By arranging x-axis, the dead-center position of z-axis come stress
The irradiating angle of bright finish, thus the method for the attitude of corresponding receiver module 2, establish relatively simple gesture recognition rule, more
Convenient use photoinduction correction attitude.Mirror is prevented by arranging high frequency light induction installation 2113 and low frequency Photoinduction device 2123
Situation as laser effect measurement result.
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 receiver module includes attitude measuring, weight force checking device and receives device, and described transmitter module includes launching dress
Putting, described discharger includes that high frequency lasers source and low frequency lasers source, described high frequency lasers source and described low frequency lasers source are permissible
Launching lasing area, described receiver module includes high frequency light induction installation and low frequency Photoinduction device, and described attitude measuring leads to
Cross following steps to 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 according to the signal that described high frequency light induction installation and described low frequency Photoinduction device transmit
No transmission control information is to described processing module；
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 receiver module bag
Include handle, described handle include front panel, described high frequency light induction installation and described low frequency Photoinduction device be fixed on described before
Panel.
Attitude measuring the most according to claim 2 is from the method for dynamic(al) correction, it is characterised in that described discharger bag
Including light source module, described light source module includes that substrate, described substrate include that front end face, described high frequency lasers source and described low frequency swash
Light source is arranged on described front end face.
Attitude measuring the most according to claim 3 is from the method for dynamic(al) correction, it is characterised in that described high frequency light senses
Device can detect that the laser that described high frequency lasers source is launched, described low frequency Photoinduction device can detect that described low frequency swashs
The laser that light source is launched.
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 with described substrate fiducials, and z-axis is perpendicular to the ground, and positive direction is upward；Front end face described in x-axis hangs down
Directly, in described light source module, it is parallel to the laser beam direction of ground outgoing for x-axis positive direction；Y-axis is put down with described front panel
OK, positive direction meets coordinate system xyz one-tenth right-handed system；
S2.2 arranges the x-axis of described attitude measuring, z-axis dead-center position, and the laser launched when described transmitter module is radiated at
Time on described front panel, described high frequency light induction installation and described low frequency Photoinduction device respond the most then x-axis, z-axis angle simultaneously
Degree is zero；
S2.3 is when described high frequency light induction installation and described low frequency Photoinduction device respond successfully, and described receiver module is to described
Processing module transmission zeroing information.
Attitude measuring the most according to claim 5 is from the method for dynamic(al) correction, it is characterised in that several when described handle
What axis perpendicular in the top of ground and described handle upward time, the x-axis of described handle, y-axis angle are zero；When described light source die
When described in the lasing area vertical incidence that group is launched, front panel and described front panel are towards x-axis negative direction, the z-axis angle of described handle
It is zero.
Attitude measuring the most according to claim 6 is from the method for dynamic(al) correction, it is characterised in that described gravity detection dress
Put the y-axis angle information that can detect described transmitter module, and in real time the y-axis information recorded is delivered to described processing module.
8. an attitude measuring according to claim 1 from the attitude measuring of the method for dynamic(al) correction from dynamic(al) correction
System, it is characterised in that it is wireless that described transmitter module includes that transmitting terminal wireless transport module, described processing module include processing end
Transport module, can be by being wirelessly transferred between described transmitting terminal wireless transport module and described process end wireless transport module
Mode transmits information.
Attitute detecting device automatic correction system the most according to claim 8, it is characterised in that described discharger includes
High frequency lasers source and low frequency lasers source, the lasing area that the lasing area of described high frequency lasers source transmitting and described low frequency lasers source are launched
It is parallel to each other.
Attitute detecting device automatic correction system the most according to claim 9, it is characterised in that described receiver module bag
Including high frequency light induction installation and low frequency Photoinduction device, described discharger includes high frequency lasers source and low frequency lasers source, described
High frequency light induction installation can detect that the laser that described high frequency lasers source is launched, described low frequency Photoinduction device can detect
The laser that described low frequency lasers source is launched.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610871504.XA CN106323340A (en) | 2016-09-30 | 2016-09-30 | Method and system for automatically correcting attitude measurement device |
| PCT/CN2017/073669 WO2018058881A1 (en) | 2016-09-30 | 2017-02-15 | Method and system for automatic correction of attitude measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610871504.XA CN106323340A (en) | 2016-09-30 | 2016-09-30 | Method and system for automatically correcting attitude measurement device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106323340A true CN106323340A (en) | 2017-01-11 |
Family
ID=57820660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610871504.XA Pending CN106323340A (en) | 2016-09-30 | 2016-09-30 | Method and system for automatically correcting attitude measurement device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018058881A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
| WO2018058882A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0942992A (en) * | 1995-07-26 | 1997-02-14 | Shimadzu Corp | Correction device for position detection device |
| JPH0981308A (en) * | 1994-07-08 | 1997-03-28 | Seiko Instr Inc | Position detector and tilt sensor |
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2016
- 2016-09-30 CN CN201610871504.XA patent/CN106323340A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0981308A (en) * | 1994-07-08 | 1997-03-28 | Seiko Instr Inc | Position detector and tilt sensor |
| JPH0942992A (en) * | 1995-07-26 | 1997-02-14 | Shimadzu Corp | Correction device for position detection device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018058881A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
| WO2018058882A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
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Application publication date: 20170111 |