CN106404000A - 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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- CN106404000A CN106404000A CN201610871331.1A CN201610871331A CN106404000A CN 106404000 A CN106404000 A CN 106404000A CN 201610871331 A CN201610871331 A CN 201610871331A CN 106404000 A CN106404000 A CN 106404000A
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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 provides a method and a system for automatically correcting an attitude measurement device. The system comprises a transmitting module, a receiving module and a processing module, wherein the transmitting module comprises the attitude measurement device, a gravity detection device and a transmitting device; the transmitting device can transmit a laser plane; the receiving module comprises a high-frequency photoinduction device and a low-frequency photoinduction device. Compared with the prior art, according to the system provided by the invention, the position of an angle zero point of an x axis and a z axis is regulated by utilizing a way of transmitting the laser plane by the transmitting device and receiving light signals in different features by the receiving module, so that the influence caused by error accumulation of the attitude measurement device is reduced, a maladjustment feeling of a user is reduced, an immersion sense is added, and great significance in motion-sensitive 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 method that attitude measuring corrects automatically
And system.
Background technology
Attitude measurement typically to measure angle information using attitude measuring, and the type of attitude measuring is a lot, profit
With three axle earth magnetism decouplings and three axis accelerometer, affected very big by external force acceleration, in the environment such as movement/vibration, output side
Larger 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, about a few Gauss of zero point, is highly susceptible to the interference of other magnets.Gyroscope output angle speed
Degree, is instantaneous flow, angular speed is directly to use on posture balancing, needs angular speed to calculate angle with time integral, obtains
The angle variable quantity arriving is added with initial angle, just obtains angle on target, and wherein time of integration Dt is less, and output angle is more smart
Really, but the principle of gyroscope determines its measuring basis is itself, the not absolute object of reference outside system, add that Dt is not
May be infinitely small, so the accumulated error of integration can increase sharply as time go on, ultimately result in output angle with reality not
Symbol.
Content of the invention
Affect the defect of angular surveying in order to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the method and system that the attitude measuring of cumulative errors corrects automatically.
The technical solution adopted for the present invention to solve the technical problems is：A kind of attitude measuring is provided automatically to correct
Method, including transmitter module, receiver module, processing module, described transmitter module includes attitude measuring, gravity detection means
And emitter, described emitter can launch lasing area, and described receiver module includes high frequency Photoinduction device and low frequency light
Induction installation, described attitude measuring is corrected automatically by following steps：
S1：Lasing area launched by described emitter, and described receiver module is in holding state；
S2：Described receiver module is sentenced according to the signal of described high frequency Photoinduction device and the transmission of described low frequency Photoinduction device
Break and whether transmit control information to described processing module；
S3：Described processing module is corrected to described attitude measuring according to the information that described receiver module transmits.
Preferably, described receiver module includes low-and high-frequency receiving module, and described low-and high-frequency receiving module includes front panel, institute
State high frequency Photoinduction device and described low frequency Photoinduction device is fixed on described front panel.
Preferably, described transmitter module includes high frequency face generating laser and low frequency face generating laser, described high frequency light
Induction installation can detect the laser of described high frequency face laser transmitter projects, and described low frequency Photoinduction device can detect
The laser of described low frequency face laser transmitter projects.
Preferably, described receiver module judges correction letter according to the signal that described Photoinduction device transmits by following steps
Breath：
S2.1 sets up rectangular coordinate system on the basis of described low-and high-frequency face, and z-axis is perpendicular to the ground, and positive direction is upward；；X-axis
Vertical with described front panel, with the radiation direction of front panel described in light vertical incidence for x-axis negative direction；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, when the laser of described transmitter module transmitting shines
When penetrating on described front panel, described high frequency Photoinduction device and described low frequency Photoinduction device respond successfully then x-axis, z simultaneously
Shaft angle degree is zero；
S2.3 when described high frequency Photoinduction device and described low frequency Photoinduction device respond successfully, described receiver module to
Described processing module transmits zeroing information.
Preferably, described transmitter module includes transmitting terminal embedded type control module, described transmitting terminal embedded type control module
Described gravity detection means and the data of described attitude measuring transmission can be received, and by the data transfer receiving to institute
State processing module.
Preferably, described transmitting terminal embedded type control module is receiving described attitude measuring and the detection of described gravity
After the data message that device is sent, data message is stamped and is sent to described processing module after timestamp and is processed.
Preferably, after described processing module receives the correction signal that described receiver module transmission comes, described process mould
Block verification receives the moment t of correction signal2, and detect the data message with timestamp receiving, when described process mould
Block detects the time point that the timestamp of the data message with timestamp shows and is later than or is equal to t2During the moment, described processing module
According to control information, the angle information of described attitude measuring is corrected, after the completion of correction, described arithmetic processor exists
Receive the timestamp of no longer Monitoring Data information before the correction signal that the transmission of described receiver module comes again.
There 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
Between module can by way of being wirelessly transferred transmission information.
Preferably, described transmitter module is handle, and described handle includes high frequency face generating laser and low frequency face laser is sent out
Emitter, the lasing area of the lasing area of described high frequency face laser transmitter projects and described low frequency face laser transmitter projects is mutually flat
OK.
Preferably, described receiver module includes low-and high-frequency receiving array, and described low-and high-frequency receiving array includes at least two
Low-and high-frequency inductive module.
Compared with prior art, using emitter transmitting lasing area, receiver module receives different characteristic light letter to the present invention
Number mode, adjustment 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 of user to feel and increased feeling of immersion, have larger meaning for somatosensory operation and virtual reality.With respect to
Reset the zero point of Attitute detecting device manually, the method and system adjustment that attitude measuring of the present invention corrects automatically is more natural
With error that is accurate, on the one hand preventing user to bring with " sensation " zeroing, on the other hand make user in use
Natural and unconsciously return to zero, increased feeling of immersion, decrease deliberately adjust stiff, increased game, improve body
Test effect.Using high frequency Photoinduction device and low frequency Photoinduction device setting it is ensured that light must is fulfilled for certain incidence
Condition just can make high frequency light induction installation and low frequency Photoinduction device produce corresponding response it is achieved that sentencing by photoinduction
The method of disconnected transmitter module attitude, is made the adjustment of attitude can be realized by photoinduction, so that the attitude of the present invention is returned to zero
To realize.Gravity detection means can detect the deflection angle for gravity direction for the transmitter module, the side of cooperation photoinduction zeroing
Method achieves the x-axis of attitude measuring, y-axis, the angle adjustment of z-axis three axle, makes attitude measuring in x-axis, y-axis, z-axis
The accumulation of error can be corrected.The irradiating angle of lasing area is corresponded to by the dead-center position of setting x-axis, z-axis, thus corresponding
The method of the attitude of transmitter module, establishes relatively simple gesture recognition rule, is more convenient to correct attitude using photoinduction.Hand
The emission port of handle is arranged to narrow and long rectangular shape it is ensured that the laser of outgoing is formed than relatively thin lasing area without sending out
Dissipate it is ensured that photoinduction zeroing realization.Setting low-and high-frequency receiving array can ensure that transmitter module has more chances to come school
Positive attitude measuring.
Brief description
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the system module schematic diagram that attitude measuring of the present invention corrects automatically；
Fig. 2 is the transmitter module schematic diagram with handle as example；
Fig. 3 is the reception device schematic diagram with low-and high-frequency receiving module as example；
Fig. 4 is low-and high-frequency receiving module zeroing x-axis, z-axis schematic diagram；
Fig. 5 is low-and high-frequency receiving module zeroing x-axis, z-axis laser beam schematic diagram；
Fig. 6 is that low-and high-frequency receiving module does not send one of zeroing instruction schematic diagram；
Fig. 7 is that low-and high-frequency receiving module does not send one of zeroing instruction laser beam schematic diagram；
Fig. 8 is two that low-and high-frequency receiving module does not send zeroing instruction schematic diagram；
Fig. 9 is two that low-and high-frequency receiving module does not send zeroing instruction laser beam schematic diagram；
Figure 10 is the reception device schematic diagram with low-and high-frequency receiving array as example；
Figure 11 is the working-flow schematic diagram that attitude measuring of the present invention corrects automatically.
Specific embodiment
Affect the defect of angular surveying in order to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the method and system that the attitude measuring of cumulative errors corrects automatically.
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing describes in detail
The specific embodiment of the present invention.
Refer 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 reception device 11, receiving terminal embedded type control module 13, and reception device 11 and receiving terminal are embedded
Control module 13 is electrically connected with.Transmitter module 2 includes emitter 21, transmitting terminal embedded type control module 22, attitude measurement dress
Put 23, power module 24, gravity detection means 25, operation device 27 and transmitting terminal wireless transport module 29, wherein, transmitting terminal is embedding
Enter formula control module 22 to be electrically connected with power module 24, transmitting terminal embedded type control module 22 and power module 24 respectively with send out
Injection device 21, attitude measuring 23, gravity detection means 25, operation device 27 and transmitting 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 receiving terminal embedded type control module 13, processes end and is wirelessly transferred
Module 31 can with transmitting terminal wireless transport module 29 by way of being wirelessly connected transmission information.Reception device 11 is mainly used in
The light of receiving and transmitting unit 21 transmitting, and the light information receiving is delivered to receiving terminal embedded type control module 13 carries out
Process, the result that receiving terminal embedded type control module 13 can be processed to is sent to arithmetic processor 33 and is located further
Reason.Attitude measuring 23 can measure the attitude in space for the transmitter module 2 and angle information, and gravity detection means 25 can be surveyed
The angle information of amount transmitter module 2 and gravity direction and angle direction, operation device 27 can be operated by user and send life
Make the related data that information, attitude measuring 23 and gravity detection means 25 record and the order that operation device 27 sends letter
Breath can be delivered to transmitting terminal embedded type control module 22 by way of electric signal, and transmitting terminal embedded type control module 22 is permissible
Above- mentioned information is delivered to process end wireless transport module 31 by transmitting terminal wireless transport module 29, processes end and be wirelessly transferred mould
Block 31 can by by the data receiving by electric signal in the way of be delivered to arithmetic processor 33 and processed.
Refer to Fig. 2, Fig. 2 schematically illustrates 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 simultaneously
Perpendicular to circular flat 2011, emitter 21 includes high frequency face generating laser 211 and low frequency face generating laser 212, high
Frequency face generating laser 211 includes high-frequency emission port 2113 and high frequency lasers source 2115, and low frequency face generating laser 212 includes
It is narrow that low frequencies port 2123 and low frequency lasers source 2125, high-frequency emission port 2113 and low frequencies port 2123 are rectangle
Gap-like, in the rectangular edges of rectangular slot, the geometry axle center L of longer rectangular edges and equal handle 2011Parallel, high frequency lasers source
The laser of 2115 transmittings can be transmitted in the space outerpace of handle 201 by the high-frequency emission port 2113 of slit-shaped, is formed
Fan laser face, the laser that low frequency lasers source 2125 is launched can also be launched in one's hands by the low frequencies port 2123 of slit-shaped
In the space outerpace of handle 201, form fan laser face, two fan laser faces are parallel to each other, as the geometry axle center L of handle 2011Hang down
Directly when ground, two fan laser faces are all perpendicular with ground.On handle 201, high frequency lasers source 2115 and low frequency lasers source
The distance between 2125 is d.
Refer to Fig. 3, Fig. 3 schematically illustrates the reception device with low-and high-frequency receiving module 101 as first embodiment
11, in this embodiment, low-and high-frequency receiving module 101 includes front panel 1011, high frequency Photoinduction device 1013, low frequency photoinduction
Device 1015, low-and high-frequency receiving module 101 is fixedly installed, and high frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 are fixing
In front panel 1011, high frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 are set up in parallel, and its line is parallel to the ground,
The distance between high frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 are d, swash with high frequency lasers source 2115 and low frequency
The distance between light source 2125 is equal.High frequency Photoinduction device 1013 can detect the laser letter of high frequency lasers source 2115 transmitting
Number, low frequency Photoinduction device 1015 can detect the laser signal of low frequency lasers source 2125 transmitting.And if only if laser beam
When meeting three below condition, high frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 can produce response simultaneously：First
First, the lasing area of high frequency lasers source 2115 and low frequency lasers source 2125 transmitting is perpendicular to front panel 1011；Secondly, high frequency lasers source
2115 and low frequency lasers source 2125 transmitting lasing area perpendicular to ground；Again, the laser light incident of high frequency lasers source 2115 transmitting
High frequency Photoinduction device 1013.
Refer to Fig. 4 Fig. 5, Fig. 4 Fig. 5 schematically illustrates low-and high-frequency receiving module 101 zeroing attitude measurement dress
Put a kind of 23 situation.We set up rectangular coordinate system on the basis of the front panel 1011 of low-and high-frequency receiving module 101, z-axis with
Ground is vertical, and positive direction is upward；X-axis is vertical with front panel 1011, with the radiation direction of light vertical incidence front panel 1011 as x
Axle negative direction；Y-axis is parallel with front panel 1011, 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 meeting cumulative errors during measurement, make between measurement result and legitimate reading
Error increasing.Attitude measuring 23 can provide handle 201 in x-axis, y-axis, and z according to the attitudes vibration of handle 201
The angle change of axle.Handle 201 further includes gravity detection means 25, and gravity detection means 25 can be with real-time detection handle
The change of 201 y-axis angle, and the y-axis measurement result of real time correction attitude measuring 23 measurement.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
L1Perpendicular to ground and handle 201 top upward when, we remember that the x-axis of handle 201, y-axis angle are zero；When 201, handle
The lasing area penetrated perpendicular to front panel 1011 and the light direction of propagation towards x-axis negative direction when, we remember the z-axis angle of handle 201
Spend for 0.Handle 201 is gripped by user, in use, as the geometry axle center L of handle 2011Perpendicular to ground and handle
During the lasing area vertical incidence front panel 1011 of 201 transmittings, 2126 dozens, high frequency lasers line and passes through high frequency on front panel 1011
Photoinduction device 1013, meanwhile, 2116 dozens, low frequency lasers line and passes through low frequency Photoinduction device 1015 on front panel 1011, high
Frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 sense that laser beam produces response, and transmit the electrical signal to reception
End embedded type control module 13, receiving terminal embedded type control module 13 transmission signal is to arithmetic processor 33, and resets handle x
Axle, the angle-data of z-axis are zero, and gravity detection means 25 detects y-axis angle and calibrates the y-axis angle-data of handle simultaneously.By
Occur unintentionally during user's use in this calibration, so, in not operating process deliberately and user
The calibration to handle x-axis, y-axis and z-axis just can be completed in the case of having no to discover, prevent error persistent accumulation from leading to measurement by mistake
Difference is excessive, significantly enhances the feeling of immersion of user simultaneously.It is normal that this zeroing mode avoids other optical zeroing modes simultaneously
The defect of the None- identified mirror image laser often occurring, i.e. the geometry axle center L of handle 2011Perpendicular to ground and handle 201 top
Often form the situation of same laser pattern down with top upward, the present embodiment passes through to arrange high frequency Photoinduction device 1013 He
Low frequency Photoinduction device 1015 prevents the situation of mirror image laser effect measurement result.
Refer to Fig. 6 Fig. 7, Fig. 6 schematically illustrates low-and high-frequency receiving module 101 and do not send zeroing instruction schematic diagram
One of, as the geometry axle center L of handle 2011It is not orthogonal to ground and the lasing area vertical incidence front panel 1011 of handle 201 transmitting
When, now due to geometrical relationship, beat level between the high frequency lasers line 2126 on front panel 1011 and low frequency lasers line 2116
The distance of two intersection points that direction line is formed is more than d, now high frequency Photoinduction device 1013 and low frequency Photoinduction device
1015 at most can only have one to produce sensing, and now, low-and high-frequency receiving module 101 does not transmit a signal to receiving terminal embedded Control
Module 13, low-and high-frequency receiving module 101 does not send zeroing instruction.
Refer to Fig. 8 Fig. 9, figure, 8 schematically illustrate low-and high-frequency receiving module 101 does not send zeroing instruction signal
The two of figure, as the geometry axle center L of handle 2011Perpendicular to ground and handle 201 transmitting lasing area out of plumb incidence front panel
When 1011, now due to geometrical relationship, beat between the high frequency lasers line 2126 on front panel 1011 and low frequency lasers line 2116
Distance be more than d, now high frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 at most can only have one to produce sensing,
Now, low-and high-frequency receiving module 101 does not transmit a signal to receiving terminal embedded type control module 13, and low-and high-frequency receiving module 101 is not
Send zeroing instruction.
Refer to Figure 10, Figure 10 schematically illustrates the reception dress with low-and high-frequency receiving array 102 as second embodiment
Put 11, low-and high-frequency receiving array 102 includes at least two low-and high-frequency inductive module 1023, at least two low-and high-frequency inductive module
1023 are arranged on array front panel 1021, and every group of low-and high-frequency inductive module 1023 can be independently to the embedded control of receiving terminal
Molding block 13 sends electric signal.When the high frequency Photoinduction device 1013 in one of which low-and high-frequency receiving module 101 and low frequency light
When induction installation 1015 is concurrently detected laser signal, this group low-and high-frequency receiver module 101 is to receiving terminal embedded type control module
13 send the successful signal of response.It is set up in parallel low-and high-frequency receiving module 101 and can ensure that processing module 3 has more chances
Correction attitude measuring 23.
Refer to Figure 11, when attitude measuring automatic correction system of the present invention is started working, transmitter module 2 transmitting swashs
Light face, simultaneously receiver module 1 be in holding state.The high frequency Photoinduction device 1013 of reception device 11 and low frequency Photoinduction device
1015 monitor in real time laser reactives, when reception device 11 medium-high frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 simultaneously
When producing response, the geometry axle center L of now handle 201 is described1Perpendicular to ground and handle 201 transmitting lasing area perpendicular to front
Panel 1011, now, the information of the x-axis that returns to zero, z-axis is sent to processing module 3 by receiving terminal embedded type control module 13, processes mould
Block 3 returns to zero x-axis, z-axis data immediately；When reception device 11 medium-high frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 do not have
When having generation response simultaneously, receiving terminal embedded type control module 13 does not send zeroing information to processing module 3.
Need to expend the regular hour because transmitter module 2 transmits attitude and gravity detection data to processing module 3, this when
Between we be referred to as time delay t, processing module 3 is in t0The attitude of transmitter module 2 transmission that reception arrives and gravimetric data are real
Corresponding on border is (t0- t) moment transmitter module 2 attitude information.If processing module 3 is in t1Reception is to receiver module 1
The angle information of attitude measuring 23 is corrected at once, can cause the actual adjustment of processing module 3 is after the control information sending
(t1- t) moment attitude measuring 23 angle information, make (t1- t) arrive t1The mistake of the attitude measuring 23 between the moment
Difference is cumulative, the experience of the accuracy of impact attitude measuring 23 and equipment entirety.Another as the present invention is real
Apply example, transmitting terminal embedded type control module 22 is in the data letter receiving attitude measuring 23 and gravity detection means 25 is sent
After breath, data message is stamped and after timestamp, is sent to transmitting terminal wireless transport module 29, transmitting terminal wireless transport module 29 will
The data information transfer stamping timestamp is to process end wireless transport module 31, and is transferred to by processing end wireless transport module 31
Arithmetic processor 33 is processed.After arithmetic processor 33 receives the correction signal that receiver module 1 transmission comes, calculation process
Device 33 verification receives the moment t of correction signal2, and detect the data message with timestamp receiving.Work as calculation process
Device 33 detects the time point that the timestamp of data message shows and is later than or is equal to t2During the moment, arithmetic processor 33 at once according to
Control information is corrected to the angle information of attitude measuring 23, and after the completion of correction, arithmetic processor 33 is receiving again
The timestamp of no longer Monitoring Data information before the correction signal that receiver module 1 transmission comes.The present embodiment passes through delay correction to be prevented
Stop the accumulation of the data error causing due to time delay, accuracy and the availability of equipment have been greatly improved.
Compared with prior art, using emitter 21 transmitting lasing area, receiver module 1 receives different characteristic to the present invention
The mode of optical signal, adjustment x-axis, the position of z-axis angle zero point, reduce the shadow that the error accumulation of attitude measuring 23 brings
Ring, decrease the inadaptable of user and feel and increased feeling of immersion, have larger meaning for somatosensory operation and virtual reality.Phase
For the manual zero point resetting Attitute detecting device 23, the method and system adjustment that attitude measuring 23 of the present invention corrects automatically
Error that is more natural and accurate, on the one hand preventing user to bring with " sensation " zeroing, on the other hand makes user make
With during natural and unconsciously return to zero, increased feeling of immersion, decrease deliberately adjust stiff, increased game,
Improve experience effect.Using high frequency Photoinduction device 1013 and low frequency Photoinduction device 1015 setting it is ensured that light must
Must meet certain incident condition just can make high frequency light induction installation 1013 and low frequency Photoinduction device 1015 produce corresponding
Respond the method it is achieved that judge transmitter module 2 attitude by photoinduction, the adjustment making attitude can be by photoinduction Lai real
Existing, so that the attitude of the present invention is returned to zero and be achieved.Gravity detection means 25 can detect transmitter module 2 for gravity direction
Deflection angle, the method for cooperation photoinduction zeroing achieves the x-axis of attitude measuring 23, y-axis, the angle adjustment of z-axis three axle,
So that attitude measuring 23 can be corrected in the accumulation of error of x-axis, y-axis, z-axis.By arranging the dead-center position of x-axis, z-axis
To correspond to the irradiating angle of lasing area, thus the method for the attitude of corresponding transmitter module 2, to establish relatively simple gesture recognition
Rule, is more convenient to correct attitude using photoinduction.The emission port 2113 of handle 201 is arranged to narrow and long rectangular shape, Ke Yibao
Card outgoing laser formed than relatively thin lasing area without dissipate it is ensured that photoinduction zeroing realization.Setting low-and high-frequency connects
Receive array 101 and can ensure that transmitter module 2 has more chances to correct attitude measuring 23.
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 specific embodiment is only schematically, rather than restricted, 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, also can make a lot
Form, these belong within the protection of the present invention.
Claims (10)
1. a kind of method that attitude measuring corrects automatically is it is characterised in that including transmitter module, receiver module, processing mould
Block, described transmitter module includes attitude measuring, gravity detection means and emitter, and described emitter can be launched sharp
Light face, described receiver module includes high frequency Photoinduction device and low frequency Photoinduction device, and described attitude measuring passes through following
Step is corrected automatically：
S1：Lasing area launched by described emitter, and described receiver module is in holding state；
S2：Described receiver module judges according to the signal of described high frequency Photoinduction device and the transmission of described low frequency Photoinduction device
No transmission control information is to described processing module；
S3：Described processing module is corrected to described attitude measuring according to the information that described receiver module transmits.
2. the method for the automatic correction of attitude measuring according to claim 1 is it is characterised in that described receiver module bag
Include low-and high-frequency receiving module, described low-and high-frequency receiving module includes front panel, described high frequency Photoinduction device and described low frequency light
Induction installation is fixed on described front panel.
3. the method for the automatic correction of attitude measuring according to claim 2 is it is characterised in that described transmitter module bag
Include high frequency face generating laser and low frequency face generating laser, described high frequency Photoinduction device can detect described high frequency face and swash
The laser of optical transmitting set transmitting, described low frequency Photoinduction device can detect swashing of described low frequency face laser transmitter projects
Light.
4. the method for the automatic correction of attitude measuring according to claim 3 is it is characterised in that described receiver module root
Signal according to the transmission of described Photoinduction device judges control information by following steps：
S2.1 sets up rectangular coordinate system on the basis of described low-and high-frequency face, and z-axis is perpendicular to the ground, and positive direction is upward；；X-axis and institute
State front panel vertical, with the radiation direction of front panel described in light vertical incidence for x-axis negative 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, when the laser of described transmitter module transmitting is radiated at
When on described front panel, described high frequency Photoinduction device and described low frequency Photoinduction device respond successfully then x-axis, z-axis angle simultaneously
Degree is zero；
, when described high frequency Photoinduction device and described low frequency Photoinduction device respond successfully, described receiver module is to described for S2.3
Processing module transmits zeroing information.
5. the method for the automatic correction of attitude measuring according to claim 4 is it is characterised in that described transmitter module bag
Include transmitting terminal embedded type control module, described transmitting terminal embedded type control module can receive described gravity detection means and described
The data of attitude measuring transmission, and by the data transfer receiving to described processing module.
6. the method that attitude measuring according to claim 5 corrects automatically is it is characterised in that described transmitting terminal embeds
Formula control module receive described attitude measuring and data message that described gravity detection means is sent after, data is believed
Breath is sent to described processing module after stamping timestamp and is processed.
7. the method that attitude measuring according to claim 6 corrects automatically is it is characterised in that work as described processing module
After receiving the correction signal that described receiver module transmission comes, described processing module verification receives the moment t of correction signal2,
And detect the data message with timestamp receiving, when described processing module detect the data message with timestamp when
Between stab display time point be later than or be equal to t2During the moment, described processing module is according to control information to described attitude measuring
Angle information be corrected, after the completion of correction, described arithmetic processor is receiving what the transmission of described receiver module came again
The timestamp of no longer Monitoring Data information before correction signal.
8. the attitude measuring of a kind of method that attitude measuring according to claim 1 corrects automatically corrects automatically
It is characterised in that described transmitter module includes transmitting terminal wireless transport module, it is wireless that described processing module includes process end to system
Transport module, can be by being wirelessly transferred between described transmitting terminal wireless transport module and described process end wireless transport module
Mode transmission information.
9. Attitute detecting device automatic correction system according to claim 8 is it is characterised in that described transmitter module is hand
Handle, described handle includes high frequency face generating laser and low frequency face generating laser, described high frequency face laser transmitter projects
The lasing area of lasing area and described low frequency face laser transmitter projects is parallel to each other.
10. Attitute detecting device automatic correction system according to claim 8 is it is characterised in that described receiver module bag
Include low-and high-frequency receiving array, described low-and high-frequency receiving array includes at least two low-and high-frequency inductive module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610871331.1A CN106404000A (en) | 2016-09-30 | 2016-09-30 | Method and system for automatically correcting attitude measurement device |
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| CN201610871331.1A CN106404000A (en) | 2016-09-30 | 2016-09-30 | Method and system for automatically correcting attitude measurement device |
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| CN106404000A true CN106404000A (en) | 2017-02-15 |
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| CN201610871331.1A Pending CN106404000A (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 |
|---|---|---|---|---|
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