CN106406551A - Positioning system, positioning terminal and positioning network - Google Patents
Positioning system, positioning terminal and positioning network Download PDFInfo
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- CN106406551A CN106406551A CN201611064874.9A CN201611064874A CN106406551A CN 106406551 A CN106406551 A CN 106406551A CN 201611064874 A CN201611064874 A CN 201611064874A CN 106406551 A CN106406551 A CN 106406551A
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- positioning terminal
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- directional bearing
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- 238000012545 processing Methods 0.000 claims abstract description 28
- 238000003384 imaging method Methods 0.000 claims 1
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- 238000007654 immersion Methods 0.000 abstract description 5
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- 238000000034 method Methods 0.000 description 21
- 238000004422 calculation algorithm Methods 0.000 description 17
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000009432 framing Methods 0.000 description 6
- 238000012935 Averaging Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
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- 239000011800 void material Substances 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
Abstract
The invention discloses a positioning system, a positioning terminal and a positioning network. The positioning system comprises a radio positioning network, the positioning terminal, and data processing equipment, wherein the radio positioning network comprises at least four radio positioning base stations arranged in a preset space; the positioning terminal comprises a camera, a positioning apparatus and a near-to-eye displaying apparatus; the positioning apparatus is corresponding to the positioning way of the radio positioning base stations; and the data processing equipment is connected with the radio positioning network for determining position changing information of the positioning terminal in the preset space through the radio positioning network, and determining the posture changing information of the positioning terminal according to environment images shot by a camera. By adoption of the technical scheme provided by the embodiment of the invention, a laser scanning signal is not required to determine the posture changing information of the positioning terminal, so that a technical effect of determining the posture changing information of the positioning terminal in an non-sheltered way is realized; and therefore, it is ensured that correspondingly-changed images can be supplied for a user based on the posture changing information of the positioning terminal, so that an immersion type interaction experience can be supplied for the user consequently.
Description
Technical field
The present invention relates to space orientation field, more particularly, to a kind of alignment system, positioning terminal and positioning network.
Background technology
Virtual reality (English：Virtual Reality；Referred to as：VR) it is a kind of can establishment and the experiencing virtual world
Computer simulation system, it utilizes computer to generate a kind of simulated environment, by interactively Three-Dimensional Dynamic what comes into a driver's and entity row
For system emulation so that user is immersed in this environment, be that user brings the sensory experience surmounting real life environment.In vision
For aspect, virtual reality technology utilizes computer equipment to generate the image of virtual scene, and by optics by image light
Line is delivered to human eye so that user visually can experience this virtual scene completely.
Becoming increasingly prosperous with field of virtual reality, virtual game starts appearance, and virtual game can use according to user
Pose change during the virtual reality device such as head-mounted display or operation handle, provides a user with the picture of respective change, from
And provide a user with the interactive experience of immersion, " pose change " includes change in location and attitudes vibration, and change in location refers to void
The position intending real world devices moves to another place by a place, and attitudes vibration refers to the rotation of virtual reality device itself
Deng change, therefore, accurate space orientation tracer technique seems particularly critical, in prior art when carrying out space orientation, one
As laser scanning signal is sent to positioning terminals such as head-mounted display, operation handles by locating base station, further according to positioning terminal
The time difference receiving laser scanning signal determines the position that positioning terminal is with respect to locating base station, finally according to positioning terminal
In the diverse location of two adjacent time points, that is, it is obtained in that the change in location of positioning terminal, pass through to be arranged at positioning eventually simultaneously
Gyroscope on end is detecting the attitudes vibration of positioning terminal.
But, because the directionality of laser scanning signal is stronger, be extremely easily blocked, such as positioning terminal because itself
The reasons such as rotation, motion are it is possible to lead to positioning terminal cannot receive laser scanning signal, thus just cannot determine positioning eventually
The change in location at end, also just cannot determine the pose change of positioning terminal, thus phase cannot be provided a user with based on change in location
The picture that should change.
Therefore there is the position leading to not determine positioning terminal because laser scanning signal is easily blocked in prior art
The technical problem of appearance change.
Content of the invention
It is an object of the invention to provide a kind of alignment system, positioning terminal and positioning network, in order to solve prior art
Present in lead to not because laser scanning signal is easily blocked to determine the technical problem of the pose change of positioning terminal.
In order to realize foregoing invention purpose, first aspect present invention provides a kind of alignment system, including：
Radio position finding radio directional bearing network, including at least 4 radio position finding radio directional bearing base stations being arranged at pre-set space；
Positioning terminal, including camera, positioner and nearly eye display device, described positioner and institute's radio position finding radio directional bearing
The positioning mode of base station corresponds to；
Data processing equipment, is connected with described radio position finding radio directional bearing network, for by described radio position finding radio directional bearing network, determining
Change in location information in described pre-set space for the described positioning terminal, and true according to the ambient image of described camera shooting
The attitudes vibration information of fixed described positioning terminal.
Alternatively, when described positioning terminal is multiple, described data processing equipment is additionally operable to send out to each positioning terminal
Give change in location information and the attitudes vibration information of other positioning terminals.
Alternatively, described radio position finding radio directional bearing network by least 4 ZigBee module, at least 4 Wi-Fi hotspot, at least 4
At least one class composition in position location satellite or at least 4 UWB base stations.
Alternatively, described camera is specially depth camera.
Second aspect present invention provides a kind of positioning terminal, including camera, positioner and nearly eye display device, institute
State positioner at least by ZigBee module, WiFi connector, satellite positioning signal receiver or UWB signal generator extremely
A few class composition.
Alternatively, described camera is specially depth camera.
Third aspect present invention provides a kind of positioning network, including：
Radio position finding radio directional bearing network, including at least 4 radio position finding radio directional bearing base stations being arranged at pre-set space；
Data processing equipment, is connected with described radio position finding radio directional bearing network and positioning terminal, and wherein, described positioning terminal includes
Camera and positioner, described positioner is corresponding with the positioning mode of institute's radio position finding radio directional bearing base station；Described data processing sets
It is ready for use on by described radio position finding radio directional bearing network, determine change in location information in described pre-set space for the described positioning terminal,
And the attitudes vibration information of described positioning terminal is determined according to the ambient image that described camera shoots.
Alternatively, when described positioning terminal is multiple, described data processing equipment is additionally operable to send out to each positioning terminal
Give change in location information and the attitudes vibration information of other positioning terminals.
Alternatively, described radio position finding radio directional bearing network by least 4 ZigBee module, at least 4 Wi-Fi hotspot, at least 4
At least one class composition in position location satellite or at least 4 UWB base stations.
One of embodiment of the present invention or multiple technical scheme, at least have the following technical effect that or advantage：
The data processing equipment that be can be seen that by above-mentioned part in alignment system provided in an embodiment of the present invention can lead to
Cross the framing signal of radio net receiving positioner transmission, or positioning letter is sent to positioner by radio net
Number, so that it is determined that change in location in pre-set space for the positioning terminal, simultaneously additionally it is possible to be clapped by the camera on positioner
Take the photograph the ambient image of surrounding, and the attitudes vibration information of positioning terminal is determined such that it is able to determine positioning eventually according to ambient image
The pose change information at end, and need not be by laser scanning signal come the pose change information of positioning terminal, so solving existing
There is the technology of the pose change leading to not present in technology determine positioning terminal because laser scanning signal is easily blocked
Problem is it is achieved that the technique effect of the pose change information of positioning terminal can unobstructedly be determined, thus ensure that being capable of base
Pose change information in positioning terminal provides a user with the picture of respective change, then can provide a user with the friendship of immersion
Mutually experience.
Brief description
Fig. 1 is the schematic diagram of alignment system provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram that radio position finding radio directional bearing network provided in an embodiment of the present invention is positioned；
Fig. 3 is the schematic diagram of the radio position finding radio directional bearing network 10 being made up of UWB base station provided in an embodiment of the present invention；
Fig. 4 A is the structural representation of magnetic field generator provided in an embodiment of the present invention；
Fig. 4 B is a kind of structural representation of field signal receiver provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram that camera 201 provided in an embodiment of the present invention shoots two frame ambient image.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
It is an object of the invention to provide a kind of alignment system, positioning terminal and positioning network, in order to solve prior art
Present in lead to not because laser scanning signal is easily blocked to determine the technical problem of the pose change of positioning terminal.
Embodiment of the present invention first aspect provides a kind of alignment system, refer to Fig. 1, and Fig. 1 provides for the embodiment of the present invention
Alignment system schematic diagram, as shown in figure 1, this alignment system includes：
Radio position finding radio directional bearing network 10, including at least 4 radio position finding radio directional bearing base stations 101 being arranged at pre-set space, radio
Locating base station 101 can be for example ZigBee module, Wi-Fi hotspot or UWB base station etc.；
Positioning terminal 20, this positioning terminal 20 is provided with camera 201, positioner 202 and nearly eye display device, fixed
Position terminal can be for example head-mounted display (English：Head Mount Display；Referred to as：HMD) etc., camera can be
Common camera or depth camera etc., the positioning mode that positioner 202 is adopted with radio position finding radio directional bearing base station is corresponding,
For example, when radio position finding radio directional bearing base station 101 is ZigBee module, positioner 202 is ZigBee module, in radio position finding radio directional bearing base station
101 when being Wi-Fi hotspot, and positioner 202 is WiFi connector etc., and nearly eye display device is used for providing a user with virtual existing
Entity is tested, and specifically can include the devices such as display screen and optical mirror slip, and here just repeats no more；
Data processing equipment 30, is connected with radio position finding radio directional bearing network 10 and positioning terminal 20, for by radio position finding radio directional bearing
Network and positioner, determine position in pre-set space for the positioning terminal, and true according to the ambient image of camera shooting
Determine the attitudes vibration information of positioning terminal.
In actual applications, data processing equipment 30 can be an independent equipment, and such as data processing equipment 30 is
Independent host computer, positioning terminal 20 are head-mounted display it is also possible to be integrated in radio position finding radio directional bearing base station 101 or positioning terminal
On 20, such as positioning terminal 20 is to wear all-in-one etc., can also be that split designs, for example, data processing equipment 30 is in thing
Two parts are divided on reason, a part is arranged on one or more radio position finding radio directional bearing base station 101, another part is arranged
In positioning terminal 20, here is not limited.
As can be seen that because alignment system provided in an embodiment of the present invention determines positioning terminal by radio position finding radio directional bearing network
Change in location in pre-set space, determines the pose change of positioning terminal simultaneously by the camera of positioning terminal, and need not
By laser scanning signal, positioning terminal is positioned, so solving present in prior art because laser scanning signal holds
Easily it is blocked and lead to not determine the technical problem that the pose of positioning terminal changes, it is achieved thereby that can be unobstructedly to fixed
The technique effect that position terminal is positioned.
Ensuing partly in, will be described in detail technique scheme.
Refer to Fig. 2, Fig. 2 is the schematic diagram that radio position finding radio directional bearing network provided in an embodiment of the present invention is positioned, such as Fig. 2
Shown, radio position finding radio directional bearing network 10 includes at least 4 radio position finding radio directional bearing base stations, and this at least 4 radio position finding radio directional bearing base stations are arranged on
In pre-set space 90, in actual applications, radio position finding radio directional bearing network 10 is by least 4 ZigBee module, at least 4 Wi-Fi hotspot
Or at least one class composition at least 4 UWB base stations, of course, it is possible to according to the range of signal of each radio position finding radio directional bearing base station, relatively
For equably radio position finding radio directional bearing base station being arranged in pre-set space, ensuing partly in, be introduced respectively.
First, introduce radio position finding radio directional bearing network 10 by least 4 situations that ZigBee module forms：ZigBee module is collection
Become the circuit set of Zigbee protocol, program, radio frequency and chip, it can either send ZigBee signal and also can receive
ZigBee signal, at least 4 ZigBee module can make up a ZigBee-network, and wherein each ZigBee module is at this
Position in ZigBee-network can be set by user, for example, multiple ZigBee module can be compiled according to natural number
Number, the setting value further according to user determines the position of each ZigBee module in whole ZigBee-network, thus setting up ZigBee
Network topology structure.
In actual applications, in order to time-consuming, improve the accuracy of the topological structure of the ZigBee-network of foundation simultaneously,
Can by ZigBee-network from setting up topological structure, for example, by No. 1 ZigBee module receive other 4 non-coplanar
Received signal strength (English during the ZigBee signal that ZigBee module sends：Received Signal Strength；Letter
Claim：RSS), that is, can determine the position of this ZigBee module, namely ZigBee-network at least needs from the mode setting up topological structure
Want 5 ZigBee module, by that analogy, until determining the position of each ZigBee module in whole ZigBee-network, that is,
Say, after the corresponding coordinate system of one ZigBee-network of determination, that is, can determine each ZigBee mould in this ZigBee-network
The coordinate of block.If desired expand the orientation range of ZigBee-network, then correspondingly increase the quantity of ZigBee module, need not
Radio position finding radio directional bearing network 10 is reset, extension cost is relatively low.
Of course, the positioner 202 of positioning terminal 20 is also required to be provided with a ZigBee module, so, when fixed
When position terminal 20 enters the orientation range of ZigBee-network, ZigBee-network can determine the position of positioning terminal 20, specifically
Ground, can be the ZigBee receiving at least 4 non-coplanar ZigBee module according to the ZigBee module on positioner 202
Received signal strength during signal, by RSS (English：Received Signal Strength；Chinese：Received signal strength)
Algorithm, determines the position of positioning terminal 20, so, by persistently determining the position of positioning terminal 20, that is, can determine positioning eventually
End 20 change in location in pre-set space.
RSS algorithm specifically can include two kinds of calculations, and the first is the empirical model or number that basis signal is propagated
Learn model, the RSS data measuring is mapped as distance parameter, thus according to different position estimation methods, such as three side positioning,
The method such as three-point fix or arrival time positioning, to determine the position of positioning terminal 20；Second is the method for fingerprint base, first remembers
What record positioning terminal 20 in regional in the orientation range of radio position finding radio directional bearing network 10 received is used for positioning from each
ZigBee module RSS data, generate offline fingerprint base, this offline fingerprint base describes radio position finding radio directional bearing network 10 in detail
In orientation range, RSS information and the corresponding relation of locational space, so, enter radio position finding radio directional bearing network 10 in positioning terminal 20
During orientation range, receive radio position finding radio directional bearing network 10, namely the RSS data that in ZigBee-network, each ZigBee module is sent,
Mated with aforesaid offline fingerprint base, thus determining positioning terminal 20 using probability or certainty matching algorithm simultaneously
Position.Second algorithm due to not using RSS data and distance between uncertainty relation model calculate, positioning accurate
Du Genggao.
Then, introduce radio position finding radio directional bearing network 10 by least 4 situations that Wi-Fi hotspot forms：Wi-Fi hotspot (English：
Access Point；Referred to as：AP) refer to utilize WiFi technology, provide the equipment connecting network to terminals such as computer, mobile phones, such as
Wireless router etc., it can send data to terminal it is also possible to receive the data of other Wi-Fi hotspot transmission, so, extremely
Few 4 Wi-Fi hotspot can make up radio position finding radio directional bearing network 10.
In one embodiment, relative position relation between at least 4 Wi-Fi hotspot can manually be arranged by user, thus
Set up the topological structure of the radio position finding radio directional bearing network 10 being made up of at least 4 Wi-Fi hotspot according to this relative position relation；Another
It is also possible to open the function that Wi-Fi hotspot receives the data of other Wi-Fi hotspot, so, each Wi-Fi hotspot in one embodiment
It is obtained in that the data such as hotspot name, the received signal strength of the broadcast of other Wi-Fi hotspot, to all Wi-Fi hotspot according to nature
After number is numbered, taking No. 1 Wi-Fi hotspot therein as a example, No. 1 Wi-Fi hotspot receives other 4 non-coplanar Wi-Fi hotspot
The hotspot name of broadcast, after received signal strength, certainly in addition it is also necessary to the sending out of formerly known other 4 non-coplanar Wi-Fi hotspot
Penetrate power, you can according to signal strength signal intensity and transmission power, to determine the distance apart from each Wi-Fi hotspot, so, in No. 1 WiFi
After focus determines the relative position relation and other 4 non-coplanar Wi-Fi hotspot between, that is, can determine No. 1 Wi-Fi hotspot
Position, by that analogy, can set up the topological structure of the radio position finding radio directional bearing network 10 being made up of Wi-Fi hotspot, certainly, this
The radio position finding radio directional bearing network 10 that topological structure can certainly be set up needs at least 5 Wi-Fi hotspot.If desired expand Wi-Fi hotspot group
The orientation range of the radio position finding radio directional bearing network 10 becoming, then correspondingly increase the quantity of Wi-Fi hotspot, need not be fixed to radio
Position network 10 is reset, and extension cost is relatively low.
Certainly, the positioner 202 of positioning terminal 20 needs to arrange the data that can receive Wi-Fi hotspot transmission
WiFi connector, so, when positioning terminal 20 enters into the orientation range of radio position finding radio directional bearing network 10, that is, can be by least 4
Individual Wi-Fi hotspot determines the position of positioning terminal 20, specifically, can according to positioning terminal 20 receive at least 4 non-coplanar
The received signal strength of the signal of Wi-Fi hotspot broadcast, by RSS algorithm, determines that positioning terminal 20 is located at first area, here
Just repeat no more.
Finally, introduce radio position finding radio directional bearing network 10 by least 4 situations that UWB base station forms：UWB (English：Ultra-
Wide band；Chinese：Ultra broadband) base station includes aerial array and UWB signal receiver, can receive nanosecond to picosecond level
Non-sinusoidal waveform burst pulse UWB signal, so, at least 4 UWB base stations can make up radio position finding radio directional bearing network 10.
Refer to Fig. 3, Fig. 3 is showing of the radio position finding radio directional bearing network 10 being made up of UWB base station provided in an embodiment of the present invention
It is intended to, as shown in figure 3, all UWB base stations 301 are connected on a switch 302, this switch 302 can connect several groups
UWB base station, specific grouping number can determine according to the hardware configuration of actual conditions and switch, here is not limited, with
When, in each packet, UWB base station is linked together by end to end mode, the synchronised clock that readily available switch sends
Signal.
In the present embodiment, radio position finding radio directional bearing network 10 can be set up by the position of each UWB base station of user setup
Topological structure；In another embodiment, reference mode known at least 4 positions can be set, and each reference mode can
Send UWB pulse signal, simultaneously need to ensureing that each UWB base station is able to detect that at least 4 non-coplanar reference modes send
UWB pulse signal, so, each the UWB base station in radio position finding radio directional bearing network 10 i.e. can be according at least 4 non-coplanar ginsengs
Examine the UWB pulse signal of base station transmission, determine the position of itself, thus setting up the topological structure of radio position finding radio directional bearing network 10,
This just repeats no more.If desired expand the orientation range of the radio position finding radio directional bearing network 10 of UWB base station composition, then correspondingly increase
The quantity of UWB base station, need not reset to radio position finding radio directional bearing network 10, and extension cost is relatively low.
UWB pulse signal transmitter can be arranged on the positioner 202 of positioning terminal 20, so, in positioning terminal 20
During the orientation range of entrance radio position finding radio directional bearing network 10, the UWB arteries and veins that UWB pulse signal transmitter sends is received by UWB base station
Rush signal, by RSS algorithm, direction of arrival degree (English：Angle-of-Arrival；Referred to as：AOA) algorithm, signal reach
Time (English：Time of arrival；Referred to as：TOA) or signal arrival time difference (English：Time difference of
arrival；Referred to as：TDOA) algorithm etc., to determine the position of positioning terminal 20, in the present embodiment, with TOA algorithm will be
Example is introduced.
TOA algorithm specifically includes many class computational methods, for example can include based on numerical value process location algorithm, geometry
Location algorithm, the location algorithm based on pattern match, location algorithm being differentiated based on channel status etc., here will introduce geometry
Location algorithm.In the present embodiment, after locating base station enters the orientation range of radio position finding radio directional bearing network 10, radio position finding radio directional bearing network
In 10, data processing equipment sends, to switch, the signal that a certain moment is synchronization point, and this signal is transmitted to no by switch again
Each UWB base station in line electricity positioning network 10, data processing equipment is also synchronous at this to positioning terminal 20 transmission one simultaneously
Moment sends the control signal of UWB pulse signal so that positioning terminal 20 sends UWB pulse signal in synchronization point, so, that is,
Can be received according to the time difference between the time point of the UWB base station receiving this UWB pulse signal and synchronization point, determination
The distance between the UWB base station of UWB pulse signal and positioning terminal 20, so, according to 4 non-coplanar UWB base stations and positioning
The distance between terminal 20, that is, can determine the position of positioning terminal 20.
Invention describes the three of radio position finding radio directional bearing network 10 kinds of positioning modes and its specific position fixing process, every kind of positioning
Mode can determine the coordinate of positioning terminal 20, and certainly, the difference according to positioning mode can have corresponding error.Pass through
The introduction of the present embodiment, the technical staff belonging to this area can also according to actual conditions select any of which it is also possible to
According to actual conditions, it is combined, includes as a example two kinds of positioning modes by radio position finding radio directional bearing network 10, can be fixed by two kinds
Two coordinates that position mode obtains are averaging processing, if radio position finding radio directional bearing network 10 includes above-mentioned three kinds of positioning modes, can
To be averaging processing three coordinates obtaining it is also possible to first remove the larger coordinate of its large deviations, then to remaining two
Coordinate is averaging processing, etc. it can be seen that being combined by multiple positioning modes, improve by radio position finding radio directional bearing
The accuracy that network 10 is positioned to positioning terminal 20.
It is, of course, also possible to other positioning modes that can use with reference to the technical staff belonging to this area, such as radio
Positioning network 10 can also be made up of at least 4 magnetic field generators：Refer to Fig. 4 A, Fig. 4 A is magnetic provided in an embodiment of the present invention
The structural representation of field generator, as shown in Figure 4 A, the structure of the transmitting coil of this magnetic field generator is that three orthogonal manner are solid
Fixed coil, in specific implementation process, three coils can be launched in turn by default sequential has had same frequency, intensity
It is also possible to launch different frequency, field signal known to intensity simultaneously, here is not limited the field signal known.
In actual applications, relative position relation between at least 4 magnetic field generators can manually be arranged by user, from
And the topological structure of the radio position finding radio directional bearing network 10 being made up of at least 4 magnetic field generators is set up according to this relative position relation；
In another embodiment or a field signal receiver is arranged on each magnetic field generator, so, to arrange
As a example having No. 1 magnetic field generator of a field signal receiver, according to field signal receiver receive other 4 non-coplanar
Magnetic field generator send field signal when received signal strength, determine this No. 1 magnetic field generator with respect to other magnetic fields
The position of generator, namely the radio position finding radio directional bearing network 10 being made up of magnetic field generator at least needs from the mode setting up topological structure
Want 5 magnetic field generators being provided with field signal receiver, by that analogy, until determining in whole radio position finding radio directional bearing network 10
The position of magnetic field generator, thus set up the topological structure of radio position finding radio directional bearing network 10.If desired expand magnetic field generator composition
Radio position finding radio directional bearing network 10 orientation range, then correspondingly increase the quantity of magnetic field generator, need not to radio calmly
Position network 10 is reset, and extension cost is relatively low.
Can arrange on the positioner 202 of positioning terminal 20 and receive with the structure identical field signal shown in Fig. 4 A
Device is such that it is able to receive the field signal that magnetic field generator sends.In specific implementation process, in order to reduce receiving coil body
Long-pending, increase magnetic conductivity, facilitate coil to be wound around simultaneously, can receiving coil in field signal receiver centrally disposed one just
Square or circular FERRITE CORE, refer to Fig. 4 B, and Fig. 4 B is the one of field signal receiver provided in an embodiment of the present invention
Plant structural representation.
Magnetic field range measurement principle：Derived according to Bi-Sa-draw law and Faraday's electromagnetic induction law, according to this two
Law can derive the attenuation law in spatial for the magnetic field range finding, can more accurately draw emission of magnetic field source and magnetic field
Physical distance between receiving terminal, this conclusion proves repeatedly academicly passing through, and belongs to known technology, so derivation
Herein it is not described in detail with formula.
So, the orientation range of radio position finding radio directional bearing network 10 is entered in the positioning terminal 20 being provided with field signal receiver
Afterwards, that is, can be by being determined the position of positioning terminal 20 by the radio position finding radio directional bearing network 10 that at least 4 magnetic field generators form, tool
Body ground, can be to receive at least 4 non-coplanar magnetic field generators in radio position finding radio directional bearing network 10 according to positioning terminal 20
Received signal strength during field signal, the RSS algorithm introduced by preceding sections, so that it is determined that the position of positioning terminal 20,
So, by persistently determining the position of positioning terminal 20, that is, can determine change in location in pre-set space for the positioning terminal 20.
As can be seen that the radio position finding radio directional bearing network 10 that the embodiment of the present application provides, not only have and can determine rapidly positioning
The advantage of the position of terminal, also has the advantages that autgmentability is strong, extend low cost.
In another embodiment, when technical scheme in embodiments of the present invention is applied to outdoor, radio position finding radio directional bearing network
10 can also be made up of at least 4 position location satellites, for example, can be gps satellite, GLONASS aeronautical satellite or Beidou navigation
Satellite etc., certainly, the positioner 202 of positioning terminal 20 is also required to be provided with a satellite positioning signal receiver, this
Sample, the satellite positioning signal being received according to satellite positioning signal receiver, that is, can determine the position of positioning terminal 20, utilize
The detailed process here that position location satellite is positioned just repeats no more.
As above-mentioned part is introduced, data processing equipment 30 i.e. can be according to radio net 10 receiving positioner 202
The framing signal sending, or framing signal is sent to positioner 202 by radio net 10, so that it is determined that positioning terminal
20 change in location in pre-set space.
During ensuing, determined introducing according to the ambient image determination that the camera 201 of positioning terminal 20 shoots
The detailed process of the attitudes vibration information of position terminal 20.
Please continue to refer to Fig. 5, Fig. 5 is the signal that camera 201 provided in an embodiment of the present invention shoots two frame ambient image
Figure, as shown in figure 5, the key frame F1 that camera 201 shoots in A1 point. taking 1 point of P12 on object in true environment 50 as a example
Middle P12 is point P1, and in the key frame F2 that A2 point shoots, this point corresponds to point P2, can be confirmed a little by Feature Points Matching during calculating
P1 and point P2 is all 1 point of P12 on object 50, by carrying out to F1 and F2 after Stereo matching, that is, can determine between F1 and F2
Parallactic angle, be equivalent to by concurrently building figure and location algorithm (English：simultaneous localization and
mapping；Referred to as：SLAM), determine attitudes vibration information between A1 and A2 for the positioning terminal 20.By that analogy, by shooting
201 are persistently shot, that is, can be according to the attitudes vibration letter shooting the multiframe ambient image obtaining and determining positioning terminal 20
Breath.
Please continue to refer to Fig. 2, when camera 201 is specially common monocular cam, only can be true according to F1 and F2
Determine ∠ P1P12P2Angle, if camera 201 be specially depth camera, P can not only be determined according to F11P12Length
Degree, determines P according to F212P2Length, ∠ P can also be determined simultaneously1P12P2Angle, so, that is, be capable of determining that P1P2Length
Degree, namely additionally it is possible to determine positioning eventually while determining attitudes vibration information between A1 and A2 for the positioning terminal 20
The end 20 change in location information between A1 and A2, this change in location information can be used in mentioned by radio position finding radio directional bearing network
When 10 pairs of positioning terminals 20 position, defined location change information is calibrated or is compensated.
In another embodiment, the complete environment figure of pre-set space can also be prestored in data processing equipment 30
Picture, after positioning terminal 20 enters pre-set space, shoots the ambient image of pre-set space by camera 201, then by camera
The ambient image of 201 shootings is mated with complete ambient image, is capable of determining that positioning terminal 20 according to matching result
Current position and attitude, here just repeats no more.
In specific implementation process, alignment system provided in an embodiment of the present invention can include multiple positioning terminals, so,
After the change in location information determining each positioning terminal by way of foregoing description and attitudes vibration information, data processing sets
Standby 30 can send the change in location information of other positioning terminals and attitudes vibration information to each positioning terminal such that it is able to
It is easy to the interaction between multiple positioning terminals and identification.For example, with large-scale virtual reality theme park as pre-set space,
As a example positioning terminal is specially head-mounted display, virtual reality theme park is to refer to a certain theme or a certain class theme
For showing content, according to the diverse location being located using the user of the virtual reality device such as head-mounted display, show not to user
With the large scene of virtual reality content, so, entered using virtual reality device such as head-mounted displays respectively in multiple users
Behind this virtual reality theme park, each head-mounted display can be determined by alignment system provided in an embodiment of the present invention
Change in location information and attitudes vibration information, send corresponding virtual reality image and sound etc. to each head-mounted display
Deng, and change in location information and the attitudes vibration information of other head-mounted displays is sent to each head-mounted display, so as to
Enough it is easy to multiple user collaborations and completes corresponding target, or between multiple user, packet carries out resisting etc., here is just no longer
Repeat.
The data processing equipment 30 that be can be seen that by above-mentioned part in alignment system provided in an embodiment of the present invention can
The framing signal being sent by radio net 10 receiving positioner 202, or by radio net 10 to positioner
202 transmission framing signals, so that it is determined that change in location in pre-set space for the positioning terminal 20, simultaneously additionally it is possible to pass through positioning
The ambient image around camera shooting on device 20, and the attitudes vibration information of positioning terminal is determined according to ambient image,
So as to determine the pose change information of positioning terminal 20, and need not be become come the pose of positioning terminal by laser scanning signal
Change information, so solve to lead to not because laser scanning signal is easily blocked present in prior art determine positioning eventually
The technical problem of the pose change at end is it is achieved that the technology effect of the pose change information of positioning terminal can unobstructedly be determined
Really, thus ensure that the picture that can provide a user with respective change based on the pose change information of positioning terminal, then can
Provide a user with the interactive experience of immersion.
On the other hand the embodiment of the present invention also provides a kind of positioning terminal it is characterised in that including camera and positioning dress
Put, positioner is at least by ZigBee module, WiFi connector, satellite positioning signal receiver or UWB signal generator
At least one class composition.
In specific implementation process, camera is specially depth camera, and depth camera for example can adopt binocular side
Case, structure light scheme or TOF (English：Time of flight；Chinese：Flight time) scheme etc., here is not limited.
On the other hand the embodiment of the present invention also provides a kind of positioning network, and this positioning network includes：
Radio position finding radio directional bearing network, including at least 4 radio position finding radio directional bearing base stations being arranged at pre-set space；
Data processing equipment, is connected with radio position finding radio directional bearing network and positioning terminal, wherein, positioning terminal include camera and
Positioner, positioner is corresponding with the positioning mode of institute's radio position finding radio directional bearing base station；Data processing equipment is used for by radio
Positioning network, determines change in location information in pre-set space for the positioning terminal, and the ambient image shooting according to camera
Determine the attitudes vibration information of positioning terminal.
In specific implementation process, positioning terminal for multiple when, data processing equipment is additionally operable to each positioning terminal
Send change in location information and the attitudes vibration information of other positioning terminals.
In specific implementation process, radio position finding radio directional bearing network is by least 4 ZigBee module, at least 4 Wi-Fi hotspot, extremely
At least one class composition in few 4 position location satellites or at least 4 UWB base stations.
Positioning terminal in the embodiment of the present invention and positioning network have been carried out detailed introduction in preceding sections,
This is succinct in order to specification, just repeats no more.
One of embodiment of the present invention or multiple technical scheme, at least have the following technical effect that or advantage：
The data processing equipment that be can be seen that by above-mentioned part in alignment system provided in an embodiment of the present invention can lead to
Cross the framing signal of radio net receiving positioner transmission, or positioning letter is sent to positioner by radio net
Number, so that it is determined that change in location in pre-set space for the positioning terminal, simultaneously additionally it is possible to be clapped by the camera on positioner
Take the photograph the ambient image of surrounding, and the attitudes vibration information of positioning terminal is determined such that it is able to determine positioning eventually according to ambient image
The pose change information at end, and need not be by laser scanning signal come the pose change information of positioning terminal, so solving existing
There is the technology of the pose change leading to not present in technology determine positioning terminal because laser scanning signal is easily blocked
Problem is it is achieved that the technique effect of the pose change information of positioning terminal can unobstructedly be determined, thus ensure that being capable of base
Pose change information in positioning terminal provides a user with the picture of respective change, then can provide a user with the friendship of immersion
Mutually experience.
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, all can be replaced by other alternative features equivalent or that there is similar purpose.I.e., unless specifically stated otherwise, each feature
It is a series of equivalent or one of similar characteristics example.
The invention is not limited in aforesaid specific embodiment.The present invention expands to and any discloses in this manual
New feature or any new combination, and the arbitrary new method of disclosure or the step of process or any new combination.
Claims (9)
1. a kind of alignment system is it is characterised in that include：
Radio position finding radio directional bearing network, including at least 4 radio position finding radio directional bearing base stations being arranged at pre-set space；
Positioning terminal, including camera, positioner and nearly eye display device, described positioner and institute's radio position finding radio directional bearing base station
Positioning mode correspond to；
Data processing equipment, is connected with described radio position finding radio directional bearing network, described for by described radio position finding radio directional bearing network, determining
Change in location information in described pre-set space for the positioning terminal, and institute is determined according to the ambient image that described camera shoots
State the attitudes vibration information of positioning terminal.
2. alignment system as claimed in claim 1 it is characterised in that described positioning terminal be multiple when, at described data
Reason equipment is additionally operable to send change in location information and the attitudes vibration information of other positioning terminals to each positioning terminal.
3. alignment system as claimed in claim 1 is it is characterised in that described radio position finding radio directional bearing network is by least 4 ZigBee
At least one class composition in module, at least 4 Wi-Fi hotspot, at least 4 position location satellites or at least 4 UWB base stations.
4. right wants the alignment system as described in 1 it is characterised in that described camera is specially depth camera.
5. a kind of positioning terminal is it is characterised in that include camera, positioner and nearly eye display device, described positioner
At least by least one class group in ZigBee module, WiFi connector, satellite positioning signal receiver or UWB signal generator
Become.
6. positioning terminal as claimed in claim 5 is it is characterised in that described camera is specially depth camera.
7. a kind of positioning network is it is characterised in that include：
Radio position finding radio directional bearing network, including at least 4 radio position finding radio directional bearing base stations being arranged at pre-set space；
Data processing equipment, is connected with described radio position finding radio directional bearing network and positioning terminal, and wherein, described positioning terminal includes imaging
Head and positioner, described positioner is corresponding with the positioning mode of institute's radio position finding radio directional bearing base station；Described data processing equipment is used
In by described radio position finding radio directional bearing network, determine change in location information in described pre-set space for the described positioning terminal, and
Determine the attitudes vibration information of described positioning terminal according to the ambient image that described camera shoots.
8. as claimed in claim 7 positioning network it is characterised in that described positioning terminal be multiple when, at described data
Reason equipment is additionally operable to send change in location information and the attitudes vibration information of other positioning terminals to each positioning terminal.
9. positioning network as claimed in claim 7 is it is characterised in that described radio position finding radio directional bearing network is by least 4 ZigBee
At least one class composition in module, at least 4 Wi-Fi hotspot, at least 4 position location satellites or at least 4 UWB base stations.
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| CN202311373259.6A CN117354924A (en) | 2016-11-28 | 2016-11-28 | Positioning system, positioning terminal and positioning network |
| CN201611064874.9A CN106406551A (en) | 2016-11-28 | 2016-11-28 | Positioning system, positioning terminal and positioning network |
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| CN201611064874.9A CN106406551A (en) | 2016-11-28 | 2016-11-28 | Positioning system, positioning terminal and positioning network |
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| CN202311373259.6A Division CN117354924A (en) | 2016-11-28 | 2016-11-28 | Positioning system, positioning terminal and positioning network |
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| CN107346013A (en) * | 2017-06-01 | 2017-11-14 | 上海乐相科技有限公司 | A kind of method and device for calibrating locating base station coordinate system |
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| CN112946570A (en) * | 2021-02-06 | 2021-06-11 | 湖南科天健光电技术有限公司 | Dynamic attitude position compensation method, system, electronic device, and medium |
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| CN113359506A (en) * | 2021-07-29 | 2021-09-07 | Oppo广东移动通信有限公司 | Control system, method and device of household equipment and wireless communication module |
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