CN106383596A - VR (virtual reality) dizzy prevention system and method based on space positioning - Google Patents
VR (virtual reality) dizzy prevention system and method based on space positioning Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
- G06F3/0325—Detection arrangements using opto-electronic means using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image
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Abstract
The invention discloses a VR (virtual reality) dizzy prevention system and method based on space positioning. The system comprises an absolute positioning device, at least one carrying device and one system server, wherein the carrying device comprises an angle positioning module, a data processing module and a VR experience module; the data processing module further comprises a positioning data processing unit and an image analysis processing unit. In the use process, the positioning data processing unit obtains second posture data and first posture data of a user, and obtains accurate posture data through a correction algorithm; the positioning data processing unit sends the accurate posture data to the system server; the image analysis processing unit obtains the self accurate posture data, obtains the posture data of other users from the system server, and generates the VR experience data; the VR experience data is converted into VR experience information by the VR experience module; the VR experience information is further shown to the user. The VR dizzy prevention system and the VR dizzy prevention method provided by the invention have the advantage that the precise positioning requirements of the VR system aiming at a plurality of users in large-area long-time scenes can be met.
Description
Technical field
The present invention relates to a kind of virtual reality system, particularly to one kind, dizzy system is prevented based on sterically defined virtual reality
System and method.
Background technology
Virtual reality (Virtual Reality, hereinafter referred VR) technology is with intellectual computing device as core, in conjunction with biography
Sense technology generates virtual environment true to nature, by the interactively Three-Dimensional Dynamic what comes into a driver's of Multi-source Information Fusion and entity behavior is
System emulation makes user be immersed in this environment.
The immersion experience of VR is divided into two kinds, and a kind of is the Flow experience that angle positions formula, and it only includes 360 ° of the visual field
Rotation, can be observed by rotating freely body or head, the mobile phone box of such as GearVR；Another is that space is fixed
Position formula Flow experience not only can realize 360 ° the visual field rotation can also move freely in place, such as HTC Vive,
PSVR (PlayStation VR) etc..By contrast, only space orientation formula Flow experience could produce impression on the spot in person.
Nowadays the storm that virtual reality sweeps has growed in intensity, from the panoramic helmet and glasses, to various strange think ofs
The wonderful interactive device thought, then to content production and set up the trial experiencing shop.VR experience shop the most important ring of structure it is simply that
Cheap and flexible accurate targeting scheme.Positioning mentioned here, in order to want real-time update space orientation formula Flow experience to be wanted
The virtual environment information of display, needs to follow the tracks of the information such as athletic posture and the position of human body using position tracking device, determines body
Test participant in the shop absolute spatial position in the venue space of larger area, and feed back on game server, simultaneously
It is also performed to interaction between all data of player participating in playing, and then various game necessary to colony's game could be executed
Logic.
For the virtual reality system location equipment of VR venue, some requirement following, first, void to be solved should be met
Intend the technological deficiency time delay of reality system most serious, because time delay can cause visual Landscape to there is discontinuous or distortion, enter
And visual Landscape and itself actual motion can be led to mismatch, participation may be made using the equipment that there is this defect for a long time
Person produces motion sickness；Secondly, can realize accurately positioning in large-area VR venue；Furthermore, when longer use
Between be still able to maintain accurate positioning；In addition, disclosure satisfy that multiple participants position in the same space simultaneously, and can will determine
Position data interacts shared；Additionally, the overall cost of system should be reduced as far as possible.
Several classes as follows are substantially had for realizing the technology that the equipment of position tracking is adopted in prior art：Inertial positioning,
Optical alignment, Lighthouse, vision inertia range finding (Visual-inertial Odometry, abbreviation VIO), flight time survey
Away from (Time of Flight, abbreviation TOF).These technology are applied to VR venue scene, and there are the following problems：
Inertial positioning carries out position tracking by accelerometer, gyroscope, magnetometer.Because position and attitude is by angle speed
Degree meter, gyroscope cooperation magnetometer complete measure, and magnetometer be highly prone to ambient magnetic material (such as building materials, especially
The venue addressing of part VR is in basement) impact, and the interference of the electromagnetic wave of the equipment such as mobile phone transmitting, thus lead to magnetic
Power meter measures primary data and produces error and drift, therefore, in more large area or more for a long time using scene under, inertial positioning
More easily cause the bigger deviation of location information.And deviation will lead to visual Landscape distortion, bring the senses of discomfort such as dizziness.
Optical positioning device calculates object with respect to the rotation of collecting device and displacement by pivoting results, can be accurate
Measurement object location information.But, there is limitation by labelling point come the position of measure object in optical alignment, because multiple
Labelling point can not possibly endless combinations go down, and two group echos point lean on must excessively near if (two players for example fighting back-to-back),
Also it is easy to the situation of survey or None- identified by mistake.In addition, excessively complicated Venues Environment also can allow labelling point be easier
Blocked by barrier, thus there is test leakage problem.Additionally, the refreshing frequency of optical measuring apparatus is relatively low, easily cause position letter
Breath time delay, leads to visual Landscape distortion, brings the senses of discomfort such as dizziness.
Lighthouse technology, due to the restriction of itself scan period exclusiveness, leads to not realize large area covering, and
And excessive shelter can not be had to lead to not receive signal it is difficult to compatible venue multi-player the same space be used in conjunction with will
Ask.
VIO technology needs the arithmetic facility of additional complexity confirming its original position when starting, meanwhile, distance and long when
Between use, cumulative errors can be produced and lead to data wander and then image positional accuracy, consequent data deviation will be led
Cause visual Landscape distortion, bring the senses of discomfort such as dizziness.Additionally, the vision sensor that VIO technology is adopted is single expensive, adopt
Sample data message amount is larger, causes larger computing load, higher to the performance requirement of image processing equipment.
The pulse that TOF technology is launched from emitter is sector region, thus multiple Moving Objects mutually crowded together
When, have mutually masking, rear object be in front object " shadow region " in, lead to detect less than, thus produce data
Deviation.And impulsive measurement can not identify different objects, it is unsatisfactory for the requirement that venue multi-player the same space is used in conjunction with.This
Outward, if being measured by light pulse, components and parts are had high demands, working condition limits and relatively harsher, and scans frequency
Rate is higher, and the more remote price of detection range is also more expensive；If being measured by sound arteries and veins, electromagnetic pulse punching, then easily it is subject to
The interference of surrounding, thus the data deviation producing will lead to visual Landscape distortion.
Content of the invention
There is aforementioned deficiency in view of prior art, the present invention is intended to provide a kind of low cost, high-performance, practical
Solution, the tracking that can dip postpones, and it is dizzy that minimizing user causes when using under large area, long scene
Dizzy, disclosure satisfy that multiple participants position in the same space simultaneously simultaneously, and location data can be carried out among the participants
The shared virtual reality device of interaction.
The present invention provides one kind to prevent dizzy system based on sterically defined virtual reality, comprises：
One absolute positioning apparatus, include a controller, at least one localizer, this controller is connected with described localizer；
At least one carrying device, this carrying device comprises an angle locating module, a data processing module, a VR experience mould
Block, this data processing module comprises a location data processing unit and an image analysis processing unit further；
This location data processing unit is connected with the controller of this absolute positioning apparatus and obtains the one first of this carrying device
Position and attitude data, this location data processing unit is connected with the angle locating module of this carrying device and obtains this carrying device
Second position attitude data；
This location data processing unit uses this primary importance attitude data to second position attitude by a correcting algorithm
Data deviation in data is corrected, thus obtaining an accurate position and attitude data of this carrying device；
This location data processing unit is connected with this image analysis processing unit, and this accurate location by this carrying device
Attitude data is sent to this image analysis processing unit, generates a VR experience data, this image analysis processing unit and this VR body
Test module to be connected, this VR experience data is sent to this VR experience module by this image analysis processing unit, and experiences mould through this VR
Block is converted to a VR experience information and is presented.
Preferably, described dizzy system is prevented based on sterically defined virtual reality, it has multiple carrying devices, and enters one
Step comprises a system server, and the location data processing unit of each carrying device is connected with system server respectively, for inciting somebody to action
The accurate location attitude data of each carrying device is sent respectively to system server, and this system server is carried with each respectively
The image analysis processing unit of device is connected, and the image analysis processing unit of each carrying device can obtain from this system server
Take the accurate location attitude data of other carrying devices, for adding the position letter of other carrying devices in this VR experience data
Breath.
Described dizzy system is prevented based on sterically defined virtual reality, wherein, described localizer be multiple, described localizer
It is arranged on the headroom in a VR scene area, described localizer includes multiple wide-angle lens localizers and multiple narrow angle mirror head is fixed
Position device, narrow-angle camera lens localizer is placed on the edge in this VR scene area, corner, the position near limited view such as barriers
Put, wide-angle lens localizer is arranged on the more open position in the visuals field such as the central authorities of this VR scene.
Described prevents dizzy system based on sterically defined virtual reality, and wherein, correcting algorithm includes following content：
The location data processing unit of one carrying device obtains this primary importance of this carrying device by described localizer
Attitude data, obtains this second position attitude data of this carrying device simultaneously by this angle locating module；
This location data processing unit is carried out to this initial second position attitude data according to this primary importance attitude data
Zero-in, that is, pass through the initial rotation angle in this second position attitude data obtaining and this primary importance attitude data
In another initial rotation angle deviation, calculate an initial compensation value, using this initial compensation value update existing compensation
Value；
This location data processing unit transfers this existing offset, carries out school to this second position attitude data obtaining
Just, and then obtain an accurate position and attitude data of this carrying device, and this calibrated accurate location attitude data is carried out
Output；
Hereafter, when getting new second position attitude data, judge now whether described localizer has new first
Position and attitude data produces：
If it did not, transfer existing offset being corrected to new this second position attitude data obtaining, and will be through
The accurate location attitude data of correction is exported；
Produce if there are new primary importance attitude data, then pass through in the new described second position attitude data obtaining
The deviation of another initial rotation angle in initial rotation angle and new this primary importance attitude data obtaining, calculates new
Offset, the offset using this new calculating updates existing offset, transfers updated offset, to the second obtaining
Put attitude data to be corrected, and calibrated accurate location attitude data is exported.
The present invention also provides one kind to prevent dizzy method based on sterically defined virtual reality, and it has and carries dress by least one
Put and connect absolute positioning apparatus and a system server respectively, each carrying device includes an angle locating module, a positioning
Data processing unit, an image analysis processing unit and VR experience module, the method comprises the steps：
Step one：Obtain a second position of each carrying device by the location data processing unit of each carrying device
Attitude data and a primary importance attitude data；
Step 2：This primary importance attitude data is used to this by a correcting algorithm by this location data processing unit
Second position attitude data is corrected, and obtains an accurate position and attitude data；
Step 3：It is sent to after this location data processing unit reduces the refreshing frequency of this accurate location attitude data
This system server；
Step 4：By this image analysis processing unit of each carrying device obtain this carrying device oneself this is accurate
Position and attitude data, obtains the position and attitude data of the other carrying devices reducing refreshing frequency simultaneously from this system server,
And generate VR experience data；
Step 5：This VR experience data is sent to by this VR by this image analysis processing unit and experiences module, this VR body
Test module this VR experience data is converted to a VR experience information and presented.
By adopting technique scheme, the present invention by adopting correcting algorithm, but relatively low initial using refreshing frequency
The primary importance attitude data that the optical tracking (positioning) of anglec of rotation accurate positioning obtains is easy to correct initial rotation angle
Produce offset error, but the higher second position attitude data of refreshing frequency so that location data can have higher
Refreshing frequency, overcomes and visual Landscape can be caused to there is discontinuous or distortion because of time delay；Make location data long in large area simultaneously
Time still has higher accuracy it is ensured that the actual motion situation phase of the VR experience information and user of VR equipment itself when using
Coupling.Overcome by way of correcting positioning with multiple angle locating modules positioning with special localizer array structure simultaneously
There is positional information test leakage problem in excessively complicated Venues Environment.Due to additionally, being provided not by arranging system server
Hold the interaction of positional information between Portable device, and the positional information of local Portable device is carried out reduce the data of refreshing frequency
Compression is processed, uploading system server, and then sends other non-local Portable devices to, thus in the situation ensureing Consumer's Experience
Under, alleviate system burden as far as possible.Localizer of the present invention, angle locating module are easily fabricated simultaneously, compare existing
Other precise positioning equipment having technology have lower-cost a little, especially when large area is laid, there is relatively low making
Valency, can meet the requirement of VR system experience simultaneously again.
Brief description
Fig. 1 prevents the schematic diagram of dizzy system first embodiment for the present invention based on sterically defined virtual reality.
Fig. 2 prevents the schematic diagram of dizzy system second embodiment for the present invention based on sterically defined virtual reality.
The flow chart that Fig. 3 prevents dizzy system compensation algorithm for the present invention based on sterically defined virtual reality.
The flow chart that Fig. 4 prevents dizzy method for the present invention based on sterically defined virtual reality.
Fig. 5 a is based on sterically defined virtual reality, the present invention prevents that the VR scene area of dizzy system and its subinterval divide
Schematic diagram.
Fig. 5 b prevents the VR scene area one subinterval localizer of dizzy system for the present invention based on sterically defined virtual reality
The arrangement schematic diagram of one embodiment of array.
Fig. 5 c prevents the VR scene area one subinterval localizer of dizzy system for the present invention based on sterically defined virtual reality
The arrangement schematic diagram of another embodiment of array.
Specific embodiment
Hereinafter cooperation schema and the preferred embodiments of the present invention, are expanded on further the present invention for reaching predetermined goal of the invention institute
The technological means taken.
As shown in figure 1, showing of dizzy system first preferred embodiment is prevented based on sterically defined virtual reality for the present invention
It is intended to, this virtual reality prevents that dizzy system includes absolute positioning apparatus 1, a carrying device 2.This absolute positioning apparatus 1 with should
Carrying device 2 is connected, and its connected mode includes but is not limited to wired connection, the mode such as wireless connection.This carrying device 2 can be by one
VR user carries.
This absolute positioning apparatus 1 includes a controller 11, at least one localizer 12.This controller 11 and each localizer
12 be connected, each localizer 12 can be an optical tracker, this optical tracker can to one VR place transmitting such as visible ray,
The optical signallings such as infrared ray, this optical tracker comprises optical detection apparatus further, when this optical detection apparatus receives
During the optical signal that this VR user is reflected back, primary importance attitude data can be converted into by optics motion capture algorithm, and should
Position and attitude data is activation returns this controller 11.
This carrying device 2 comprises an angle locating module 21, a data processing module 22, a VR experience module 23.Preferably
, this angle locating module 21 can be one or nine axle positioners, by accelerometer, gyroscope, magnetometer, this VR user is entered
Line position puts Attitude Tracking, and the position and attitude of this VR user is converted into second position attitude data, it is further preferred that this
Two position and attitude data can carry out linear filtering by a Kalman filter further, with preliminary filtering interfering.At this data
Reason module 22 further includes a location data processing unit 221 and an image processor 222, this location data processing unit
221 are connected with this angle locating module 21 and this controller 11 respectively, and this location data processing unit 221 can be from this angle
The second position attitude data of this VR user (that is, this carrying device 2) is obtained additionally it is possible to from this controller at locating module 21
Obtain this VR user (that is, this carrying device 2) primary importance attitude data at 11, and use first by a correcting algorithm
Put attitude data the data deviation in second position attitude data is corrected, thus obtaining this this VR user, (that is, this takes
Belting 2) accurate location attitude data.This location data processing unit 221 is connected with this image analysis processing unit 222,
This location data processing unit 221 sends the position and attitude data of this VR user to image analysis processing unit 222, through this figure
As analysis and processing unit 222 Treatment Analysis are view data.This image analysis processing unit 222 experiences module 23 phase with this VR
Even, this image analysis processing unit 222 sends the VR experience data of Treatment Analysis to this VR experience module 23, and through this VR body
Test module 23 and be converted to VR experience information, the including but not limited to content such as audio-frequency information, video information, body-sensing information, and by institute
State VR experience information and present to VR experience user.
As shown in Fig. 2 showing of dizzy system second preferred embodiment is prevented based on sterically defined virtual reality for the present invention
It is intended to, this virtual reality prevents that dizzy system includes absolute positioning apparatus 1 ', multiple carrying devices 2 ', a system server 3.Should
Absolute positioning apparatus 1 ' are connected with described each carrying device 2 ', and described carrying device 2 ' is connected with this system server 3 respectively.
Its connected mode includes but is not limited to wired connection, the mode such as wireless connection.Described carrying device 2 ' can be respectively by multiple differences
VR user carry.The present embodiment is carried 3 carrying device 2 ' A respectively, is carried out as a example 2 ' B, 2 ' C by three VR users A, B, C
Explaination, but the quantity of carrying device 2 ' is not limited thereto in actual use.
This absolute positioning apparatus 1 ' includes a controller 1 ' 1, at least one localizer 1 ' 2.This controller 1 ' 1 with often certain
Position device 1 ' 2 is connected, and each localizer 1 ' 2 can be an optical tracker, and this optical tracker can be launched such as to a VR place
The optical signallings such as visible ray, infrared ray, this optical tracker comprises optical detection apparatus further, when this optical detection apparatus
When receiving the optical signal that a certain VR user is reflected back, primary importance attitude number can be converted into by optics motion capture algorithm
According to, and this position and attitude data is activation is returned this controller 1 ' 1.
Each carrying device 2 ' A, 2 ' B, 2 ' C internal structure essentially identical, hereafter illustrate, this is taken taking 2 ' A as a example
Belting 2 ' A comprises an angle locating module 2 ' A1, a data processing module 2 ' A2, one VR experience module 2 ' A3.At this data
Reason module 2 ' A2 comprises an a location data processing unit 2 ' A21 and image analysis processing unit 2 ' A22 further.
This location data processing unit 2 ' A21 is connected with this controller 1 ' 1 and this angle locating module 2 ' A1, this positioning
Data processing unit 2 ' A21 can obtain the primary importance attitude data of VR user A at this controller 1 ' 1, and (that is, it carries
Carrying device 2 ' A primary importance attitude data), meanwhile, this location data processing unit 2 ' A21 can also be fixed from this angle
Second position attitude data (that is, its second position appearance of carrying device 2 ' A of carrying of position module 2 ' A1 place acquisition VR user A
State data) it is preferred that this angle locating module 2 ' A1 can be one or nine axle sensors, it is further preferred that this second position appearance
State data can carry out linear filtering by a Kalman filter further, with preliminary filtering interfering.This location data processes single
First 2 ' A21 use the primary importance attitude data of VR user A to the data in second position attitude data by a correcting algorithm
Deviation is corrected, thus obtaining the accurate location attitude data of VR user A, (that is, its carrying device 2 ' A's of carrying is accurate
Position and attitude data).This location data processing unit 2 ' A21 is also connected with system server 3, its by generate user A standard
After really position and attitude data reduces refreshing frequency, send system server 3 to.Because carrying device 2 ' B, 2 ' C have basic phase
Same 26S Proteasome Structure and Function, location data processing unit 2 ' B21 and 2 ' C21 also can be by user B, C of the reduction refreshing frequency generating
Accurate location attitude data and send system server 3 to.
This image analysis processing unit 2 ' A22 and this location data processing unit 2 ' A21 and this system server 3 phase
Even, this image analysis processing unit 2 ' A22 obtains the user A with high, refresh frequency from location data processing unit 2 ' A21
Accurate location attitude data, in order to produce the VR experience data of user A visual angle landscape, meanwhile, this image analysis processing unit
2 ' A22 from system server 3 obtain reduce refreshing frequency after user B and user C accurate location attitude data, in order to
The real time position attitude of user B and user C is produced in the VR experience data of family A visual angle landscape.
This image analysis processing unit 2 ' A22 is also connected with this VR experience module 2 ' A3, this image analysis processing unit 2 '
A22 sends the VR experience data of the user A visual angle landscape of the real time position attitude comprising user B and user C to this VR experience
Module 2 ' A3, and be converted to VR experience information through this VR experience module 2 ' A3, including but not limited to audio-frequency information, video information,
The contents such as body-sensing information, and described VR experience information is presented to user A.
The flow chart that Fig. 3 prevents dizzy system compensation algorithm for the present invention based on sterically defined virtual reality, system start-up
Afterwards, this location data processing unit obtains the primary importance attitude data of user by described localizer, meanwhile, by this angle
Locating module obtains the second position attitude data of user.The initial rotation angle first to system for this location data processing unit
Carry out zero-in, that is, pass through the initial rotation angle in the described second position attitude data obtaining and described primary importance appearance
The deviation of the initial rotation angle in state data, calculates initial compensation value, using existing in this initial compensation value more new system
Offset.Transfer the offset after this renewal, the second position attitude data obtaining is corrected, and then obtain user's
Accurate location attitude data, and calibrated accurate location attitude data is exported.Hereafter, when getting new second
When putting attitude data, judge now whether localizer has new primary importance attitude data to produce：If it did not, transferring existing
Offset is corrected to the new second position attitude data obtaining, and calibrated accurate location attitude data is carried out defeated
Go out；Produce if there are new primary importance attitude data, then pass through initial in the new described second position attitude data obtaining
The deviation of the initial rotation angle in the anglec of rotation and the new described primary importance attitude data obtaining, calculates new compensation
Value, the offset using this new calculating updates existing offset, transfers updated existing offset, to second obtaining
Position and attitude data is corrected, and calibrated accurate location attitude data is exported.Hereafter, repeat this to correct
Journey, realizes using primary importance attitude data, second position attitude data is compensated with the purpose of correction.
The circular of this offset is as follows：
Record the locus coordinate X of user by angle locating module1, Y1, Z1, and user is relatively and horizontal level
Tiltangleθ1, and anglec of rotation φ1, can be in the hope of the horizontal displacement X of user according to following formula1', Y1’：
X1'=X1×cos(φ1)+Y1×sin(θ1)×sin(φ1)-Z1*cos(θ1)×sin(φ1)……..(1)
Y1'=Y1×cos(θ1)+Z1×sin(θ1)…………………………………………(2)
Horizontal coordinate X according to user1', Y1' value combine following algorithm it can be deduced that user's second position attitude data
In initial rotation angle Azimuth1：
Algorithm to calculate Azimuth1=arctan (Y1’/X1’)
Azimuth1(X1'=0, Y1’<0)=90 °
Azimuth1(X1'=0, Y1’>0)=270 °
Azimuth1(X1’<0)={ 180- [arctan (Y1’/X1’)]×180/π}°
Azimuth1(X1’>0,Y1’<0)={-[arctan (Y1’/X1’)]×180/π}°
Azimuth1(X1’>0,Y1’<0)={ 360- [arctan (Y1’/X1’)]×180/π}°
Based on similar approach, localizer records the locus coordinate X of user2, Y2, Z2, and user is relatively and horizontal position
The tiltangleθ put2, and anglec of rotation φ2, can be in the hope of the horizontal displacement X of user according to following formula2', Y2’：
X2'=X2×cos(φ2)+Y2×sin(θ2)×sin(φ2)-Z2*cos(θ2)×sin(φ2)……..(1)
Y2'=Y2×cos(θ2)+Z2×sin(θ2)…………………………………………(2)
Horizontal coordinate X according to user2', Y2' value combine following algorithm it can be deduced that user's primary importance attitude data
In initial rotation angle Azimuth2：
Algorithm to calculate Azimuth2=arctan (Y2’/X2’)
Azimuth2(X1'=0, Y1’<0)=90 °
Azimuth2(X1'=0, Y1’>0)=270 °
Azimuth2(X1’<0)={ 180- [arctan (Y1’/X1’)]×180/π}°
Azimuth2(X1’>0,Y1’<0)={-[arctan (Y1’/X1’)]×180/π}°
Azimuth2(X1’>0,Y1’<0)={ 360- [arctan (Y1’/X1’)]×180/π}°
By calculating the initial rotation angle Azimuth in described second position attitude data1With described primary importance attitude
Initial rotation angle Azimuth in data2Deviation, you can draw rectification building-out value.One can be entered by this rectification building-out value
Step is corrected to the initial rotation angle in second position attitude data, you can draw accurate initial rotation angle, by this standard
True initial rotation angle instead can release accurate customer position information and angle information with location data processing unit, and then determines
The accurate location attitude data of user.
The flow chart that Fig. 4 prevents dizzy method for the present invention based on sterically defined virtual reality, it has at least one and carries
Device connects absolute positioning apparatus and a system server respectively, and each carrying device includes an angle locating module, certain
Position data processing unit, an image analysis processing unit and VR experience module, the method comprises the steps：
Step one：Obtain a second position of each carrying device by the location data processing unit of each carrying device
Attitude data and a primary importance attitude data；
Step 2：This primary importance attitude data is used to this by a correcting algorithm by this location data processing unit
Second position attitude data is corrected, and obtains an accurate position and attitude data；
Step 3：It is sent to after this location data processing unit reduces the refreshing frequency of this accurate location attitude data
This system server；
Step 4：By this image analysis processing unit of each carrying device obtain this carrying device oneself this is accurate
Position and attitude data, obtains the position and attitude data of the other carrying devices reducing refreshing frequency simultaneously from this system server,
And generate VR experience data；
Step 5：This VR experience data is sent to by this VR by this image analysis processing unit and experiences module, this VR body
Test module this VR experience data is converted to a VR experience information and presented.
Because, in prior art, the magnetic element of inertial positioning equipment is easily disturbed by peripheral facility and material, leads
Cause its initial information anglec of rotation inaccurate, and then impact position follows the trail of accuracy, and magnetic element is long-time in wide scope
Easily produce data wander when (having obvious initial rotation angular displacement more than 15 minutes) uses and again result in location tracking mistake
Accurate.And location tracking misalignment can not lead to present to the actual motion situation of the VR experience information of VR user and user itself not
Joining, thus causing motion sickness, leading to the senses of discomfort such as dizziness；And optical tracking (positioning) is although initial rotation can accurately be determined
Angle, but the refreshing frequency that optical tracking (positioning) gathers information is relatively low, leads to the time delay of positional information collection, and time delay is same
The actual motion situation that the VR experience information and user itself of presenting to VR user can be made mismatches thus causing motion sickness, band
Carry out the senses of discomfort such as dizziness；In addition, the levels of precision of the information in addition to initial rotation angle that optical tracking (positioning) gathers is remote
Not as the such inertial positioning equipment of nine axle sensors, the second position attitude data being obtained with inertial positioning equipment location equipment
Based on, using the primary importance attitude data that optical tracking (positioning) gathers, it is corrected, the tracking of acquisition can be made
Location data is more accurate；Additionally, optical tracking (positioning) is also easy to the situation of survey or None- identified by mistake, and excessively
Complicated Venues Environment also can allow labelling point be easier to be blocked by barrier, thus there is test leakage problem, leads to positional information
The actual motion situation losing the VR experience information and user itself causing to present to VR user mismatches.The present invention passes through to adopt
Correcting algorithm, measures the position and attitude data of each user respectively using the high inertial positioning system of refreshing frequency, solves position
Information gathering time delay and the problem of positional information collection omission；Meanwhile, accurately determined often by optical tracking (positioning) collection
The position and attitude of individual user, the initial position attitude information for correcting each inertial positioning system drifts about and error, so that
Multiple users can continuously obtain accurate position and attitude information simultaneously, and solving existing VR equipment makes for a long time in large area
What the used time existed presents to the VR experience information of VR user and the unmatched problem of actual motion situation of user itself.
In terms of multi-user collaborative interaction, because the requirement of the VR experience information to itself visual angle for the user is most sensitive severe
Carve, and the real-time position information perception to other users is then more blunt.Therefore, the present invention is generating the VR at user itself visual angle
During experience data, directly using the raw bits of the high, refresh frequency (per second more than 500 frames) locally being obtained by correcting algorithm
Put attitude data to generate it is ensured that the actual motion situation of VR experience information and user itself matches；Accordingly, other users
As long as the refreshing frequency of real-time position information ensures that the action that human eye is aware of is that (about 30 frames are per second for continuous state
Realize this purpose), therefore, image analysis processing unit to server send for interaction position and attitude data when, meeting
Send after the refreshing frequency of home position attitude data is reduced, so greatly reduce the data volume of the communication between module,
Improve data transmission bauds, the data processing pressure reducing system, it is ensured that the fluency of system operation, reduces system
The cost of equipment.
The present invention prevents the described localizer 12,1 ' 2 of dizzy system positioning module 1,1 ' based on sterically defined virtual reality
It is multiple when using for large area scene, and be in a burst of column arrangement.As shown in Figure 5 a, a VR scene area 4, described fixed
Position device 12,1 ' 2 is arranged on the headroom in this VR scene area 4, and this VR scene area 4 can be further divided into multiple subintervals
4A1、4A2、4A3…….For convenience of explanation, this VR scene area 4 and several subintervals are with square as representative for the present embodiment
Illustrate, but be not limited thereto in practice, it may be circle, rectangle, irregular figure or other shapes, in order to abundant
This VR scene area 4 of division, this subinterval also can be divided into combination of different shapes, such as when VR scene area 4 is circular, field
In subinterval be square or rectangle, and field week subinterval edge then be circle.As shown in Figure 5 b, with a subinterval
The arrangement of localizer array is described as a example 4A1, described localizer 12,1 ' 2 is arranged on the edge line in each subinterval, institute
State localizer 12,1 ' 2 and wide-angle lens localizer A and narrow angle mirror head localizer are divided into according to the camera lens visible angle difference being used
B, wide-angle lens localizer A can reconnaissance range larger, but detecting distance shorter, the model detected of narrow angle mirror head localizer B
Enclose less, but detecting distance is longer.In the localizer arrangement array structure of invention, narrow angle mirror head localizer B is positioned over
The edge of scene, corner, the position near limited view such as barriers, preferably at one group of each corner of a subinterval 4A1
On side, near this corner side, setting is at least symmetrical arranged narrow a pair angle mirror head localizer B；And wide-angle lens localizer A is set
Put in the more open position in the visuals field such as the central authorities of scene it is preferred that at least provided with one at the edge mid-points of a subinterval 4A1
Wide-angle lens localizer A, enters one preferably, can be in the point of bisection of a subinterval 4A1, at least provided with Radix Rumiciss at fourth class branch
Camera lens localizer A.As shown in Figure 5 c, in another preferred embodiment, explanation localizer array taking a subinterval 4A1 as a example
Arrangement, in this embodiment, can have larger reconnaissance range and longer detecting concurrently apart from full-shape camera lens C using one, at least exist
One full-shape camera lens C is set at the edge mid-points of one subinterval 4A1, at least symmetrical at other Along ents of full-shape camera lens C both sides
A pair of wide-angle lens localizer A is set, on one group of side in each corner of a subinterval 4A1 near this corner side arrange to
It is symmetrical arranged narrow a pair angle mirror head localizer B less.
By above-mentioned arrangement array structure, the position of various camera lenses of reasonably arranging in pairs or groups is so that localizer is in complicated venue
Also it is capable of the position and the attitude that detect user at no dead angle, in order to improve accuracy further it is preferred that can lead under environment
Cross using optical position tracing algorithm so that user, in the case of at least being detected by three localizers, just exports it simultaneously
Position and attitude data, realizes quickly and accurately detecting user, avoid as far as possible surveying simultaneously by mistake or None- identified situation, separately
This kind of preferred version adopts the mutual auxiliary corrective of multiple localizers outward, and the requirement to each positioner equipment precision is more wide
Pine, can reduce the laying cost of localizer array.
The above is only the preferred embodiments of the present invention, not the present invention is done with any pro forma restriction, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any is familiar with this professional technology people
Member, in the range of without departing from technical solution of the present invention, a little change or repaiies when the technology contents of available the disclosure above are made
Adorn the Equivalent embodiments for equivalent variations, as long as being the content without departing from technical solution of the present invention, the technology according to the present invention is real
Any simple modification, equivalent variations and modification that confrontation above example is made, all still fall within the scope of technical solution of the present invention
Interior.
Claims (13)
1. one kind prevents dizzy system it is characterised in that comprising based on sterically defined virtual reality：
One absolute positioning apparatus, include a controller, at least one localizer, and this controller is connected with described localizer；
At least one carrying device, this carrying device comprises an angle locating module, a data processing module, and a VR experiences module,
This data processing module comprises a location data processing unit and an image analysis processing unit further；
This location data processing unit is connected with the controller of this absolute positioning apparatus and obtains a primary importance of this carrying device
Attitude data, this location data processing unit is connected with the angle locating module of this carrying device and obtains the one the of this carrying device
Two position and attitude data；
This location data processing unit uses this primary importance attitude data to second position attitude data by a correcting algorithm
In data deviation be corrected, thus obtaining an accurate position and attitude data of this carrying device；
This location data processing unit is connected with this image analysis processing unit, and this accurate location attitude by this carrying device
Data is activation gives this image analysis processing unit, generates a VR experience data, and this image analysis processing unit experiences mould with this VR
Block is connected, and this VR experience data is sent to this VR experience module by this image analysis processing unit, and turns through this VR experience module
It is changed to a VR experience information to be presented.
2. according to claim 1 dizzy system is prevented based on sterically defined virtual reality it is characterised in that its have many
Individual carrying device, and comprise a system server further, the location data processing unit of each carrying device with this is respectively
System server is connected, for the accurate location attitude data of each carrying device is sent respectively to system server, this system
Server is connected with the image analysis processing unit of each carrying device respectively, the image analysis processing unit of each carrying device
The accurate location attitude data of other carrying devices can be obtained from this system server, for adding in this VR experience data
The positional information of other carrying devices.
3. according to claim 2 dizzy system is prevented it is characterised in that each carry based on sterically defined virtual reality
The location data processing unit of device will reduce the accurate position and attitude data is activation after refreshing frequency to this system server.
4. according to any one of claim 1 to 3 dizzy system is prevented based on sterically defined virtual reality, its feature exists
In described each localizer is an optical tracker.
5. according to any one of claim 1 to 3 dizzy system is prevented based on sterically defined virtual reality, its feature exists
In described angle locating module is one or nine axle sensors.
6. according to claim 5 dizzy system is prevented based on sterically defined virtual reality it is characterised in that this angle is fixed
Position module also includes a Kalman filter, and this second position attitude data that this angle locating module obtains passes through this Kalman
After wave filter is filtered, obtained by this location data processing unit.
7. according to any one of claim 1 to 3 dizzy system is prevented based on sterically defined virtual reality, its feature exists
In described localizer is multiple, and described localizer is arranged on the headroom in a VR scene area, and described localizer includes multiple
Wide-angle lens localizer and multiple narrow angle mirror head localizer, narrow-angle camera lens localizer be placed on this VR scene area edge,
Corner, the position near limited view such as barriers, described wide-angle lens localizer is arranged on the central authorities in this VR scene area etc. and regards
Wild more open position.
8. according to claim 7 dizzy system is prevented based on sterically defined virtual reality it is characterised in that this VR scene
Area can be divided into multiple subintervals, and described localizer is arranged on the edge line in described subinterval, at each angle in each subinterval
On the one group of side falling, near this corner side, setting is at least symmetrical arranged narrow a pair angle mirror head localizer.
9. according to claim 7 dizzy system is prevented based on sterically defined virtual reality it is characterised in that this VR scene
Area can be divided into multiple subintervals, and described localizer is arranged on the edge line in described subinterval, at the edge in each subinterval
Midpoint is at least provided with a wide-angle lens localizer.
10. according to claim 7 dizzy system is prevented based on sterically defined virtual reality it is characterised in that described fixed
Position device includes one and has larger reconnaissance range and longer detecting concurrently apart from full-shape camera lens, and this VR scene area can be divided into multiple sub-districts
Between, described localizer is arranged on the edge line in described subinterval, and at least at the edge mid-points in each subinterval, setting one is complete
Angle mirror head, is at least symmetrical arranged a pair of wide-angle lens localizer, in each son at other Along ents of this full-shape camera lens both sides
On one group of side in interval each corner, near this corner side, setting is at least symmetrical arranged narrow a pair angle mirror head localizer.
11. according to any one of claim 1 to 3 dizzy system is prevented based on sterically defined virtual reality, its feature
It is：
Described correcting algorithm includes following content：
The location data processing unit of one carrying device obtains this primary importance attitude of this carrying device by described localizer
Data, obtains this second position attitude data of this carrying device simultaneously by this angle locating module；
This location data processing unit is zeroed to this initial second position attitude data according to this primary importance attitude data
Correction, that is, pass through in the initial rotation angle and this primary importance attitude data in this second position attitude data obtaining
The deviation of another initial rotation angle, calculates an initial compensation value, updates existing offset using this initial compensation value；
This location data processing unit transfers this existing offset, and this second position attitude data obtaining is corrected,
And then obtain an accurate position and attitude data of this carrying device, and this calibrated accurate location attitude data is carried out defeated
Go out；
Hereafter, when getting new second position attitude data, judge now whether described localizer has new primary importance
Attitude data produces：
If it did not, transfer existing offset new this second position attitude data obtaining is corrected, and will be calibrated
Accurate location attitude data exported；
Produce if there are new primary importance attitude data, then pass through initial in the new described second position attitude data obtaining
The deviation of another initial rotation angle in the anglec of rotation and new this primary importance attitude data obtaining, calculates new compensation
Value, the offset using this new calculating updates existing offset, transfers updated offset, to the second position appearance obtaining
State data is corrected, and calibrated accurate location attitude data is exported.
12. according to claim 11 prevent dizzy system based on sterically defined virtual reality it is characterised in that this angle
After the second position attitude data that locating module obtains is filtered by a Kalman filter, processed single by this location data
Unit obtains.
13. one kind prevent dizzy method based on sterically defined virtual reality it is characterised in that having at least one carrying device respectively
Connect absolute positioning apparatus and a system server, each carrying device includes an angle locating module, at a location data
Reason unit, an image analysis processing unit and VR experience module, the method comprises the steps：
Step one：Obtain a second position attitude of each carrying device by the location data processing unit of each carrying device
Data and a primary importance attitude data；
Step 2：By this location data processing unit by a correcting algorithm use this primary importance attitude data to this second
Position and attitude data is corrected, and obtains an accurate position and attitude data；
Step 3：Being sent to this after this location data processing unit reduces the refreshing frequency of this accurate location attitude data is
System server；
Step 4：This accurate location of this carrying device oneself is obtained by this image analysis processing unit of each carrying device
Attitude data, obtains the position and attitude data of the other carrying devices reducing refreshing frequency simultaneously from this system server, and raw
Become VR experience data；
Step 5：This VR experience data is sent to by this VR by this image analysis processing unit and experiences module, this VR experiences mould
This VR experience data is converted to a VR experience information and is presented by block.
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| CN201611005962.1A CN106383596B (en) | 2016-11-15 | 2016-11-15 | Virtual reality anti-dizzy system and method based on space positioning |
| PCT/CN2017/099558 WO2018090692A1 (en) | 2016-11-15 | 2017-08-30 | Spatial positioning based virtual reality dizziness prevention system and method |
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| CN201611005962.1A CN106383596B (en) | 2016-11-15 | 2016-11-15 | Virtual reality anti-dizzy system and method based on space positioning |
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| CN106383596B (en) | 2023-08-29 |
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