CN106500722A - Method and system of the attitude measuring from dynamic(al) correction - Google Patents
Method and system of the attitude measuring from dynamic(al) correction Download PDFInfo
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- CN106500722A CN106500722A CN201610866889.0A CN201610866889A CN106500722A CN 106500722 A CN106500722 A CN 106500722A CN 201610866889 A CN201610866889 A CN 201610866889A CN 106500722 A CN106500722 A CN 106500722A
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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
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Abstract
The present invention provides a kind of method of attitude measuring from dynamic(al) correction, including transmitter module, receiver module, processing module, the transmitter module includes attitude measuring, gravity detection means and discharger, the discharger can launch lasing area, the receiver module includes Photoinduction device, compared with prior art, the present invention launches the mode of lasing area and receiver module reception different characteristic optical signal using discharger, adjustment x-axis, y-axis, the position of z-axis angle zero point, reduce the impact that the error accumulation of attitude measuring brings, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning.
Description
Technical field
A kind of the present invention relates to attitude measurement field, more particularly, it relates to method of attitude measuring from dynamic(al) correction
And system.
Background technology
Attitude measurement typically measures angle information using attitude measuring, and the type of attitude measuring is a lot, profit
Decoupled with three axle earth magnetism and three axis accelerometer, affected very greatly, in the environment such as movement/vibration by external force acceleration, output side
Larger to angle error, geomagnetic sensor has shortcoming in addition, the characteristics of its absolute object of reference is the magnetic line of force in earth's magnetic field, earth magnetism is
Use range is big, but intensity is relatively low, about a few Gausses of zero point, is highly susceptible to the interference of other magnets.Gyroscope output angle speed
Degree, is instantaneous flow, and angular velocity is directly to use on posture balancing, needs angular velocity to calculate angle with time integral, obtains
The angle variable quantity for 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 that its measuring basiss are itself, the not absolute object of reference outside system, it is not to add Dt
May be infinitely small, so the cumulative error of integration can be increased sharply as time go on, ultimately result in output angle with reality not
Symbol.
Content of the invention
The defect of angular surveying is affected to solve current pose measurement apparatus cumulative errors, and the present invention provides one kind can be with
Eliminate the method and system of the attitude measuring of cumulative errors from dynamic(al) correction.
The technical solution adopted for the present invention to solve the technical problems is：A kind of attitude measuring is provided from dynamic(al) correction
Method, including transmitter module, receiver module, processing module, the transmitter module includes attitude measuring, gravity detection means
And discharger, the discharger can launch lasing area, and the receiver module includes Photoinduction device, the attitude measurement
Device is carried out from dynamic(al) correction by following steps：
S1：Lasing area launched by the discharger, and the receiver module is in holding state；
S2：The gravity detection means detection transmitter module and gravity direction angle, angle are zero and transmit signal to institute
Stating processing module and opening adjustment modes, angle is not zero, and signal is not transmitted to the processing module；
S3：The processing module monitors the signal of the Photoinduction device transmission in the case where adjustment modes are opened, if
The Photoinduction device transmits light-sensing signal to the processing module, and the processing module is adjusted to the attitude measuring
Z-operation.
Preferably, the receiver module includes slit receiving module, and the slit receiving module includes slit mouth, described narrow
Sealing is arranged on the end of the slit receiving module, and the Photoinduction device is fixed on the inside of the slit receiving module,
And the direction towards the slit mouth, laser beam can reach the Photoinduction device by the slit mouth and make the light
Induction installation produces response.
Preferably, the transmitter module includes transmitting terminal embedded type control module, the transmitting terminal embedded type control module
The data of the gravity detection means and attitude measuring transmission can be received, and by the data transfer for receiving to institute
State processing module.
Preferably, the transmitter module is handle, and the signal that the processing module transmit according to the Photoinduction device is logical
Cross following steps and judge control information：
S2.1 sets up rectangular coordinate system on the basis of the slit mouth, and z-axis is perpendicular to the ground, and x-axis is hung down with the slit mouth
Directly, y-axis is parallel with the slit mouth；
S2.2 when the handle geometry axle center perpendicular to ground and the handle top upward when, the x of the handle
Axle, y-axis angle are zero；When slit mouth described in the lasing area vertical incidence of handle transmitting, the z-axis angle of the handle is
Zero；
When the Photoinduction device is responded successfully, the receiver module transmits photosensitive letter to the processing module to S2.3
Breath, if the processing module is in adjustment modes opening, the x-axis of the processing module zeroing handle, y-axis, z-axis.
Preferably, the gravity detection means can detect the y-axis angle information of the transmitter module, and will measure in real time
Y-axis information transmission to the processing module.
Preferably, the transmitting terminal embedded type control module is receiving the attitude measuring and gravity detection
After the data message that device is sent, data message is stamped and be sent to after timestamp the processing module and processed.
Preferably, after the processing module receives the correction signal that the receiver module transmission comes, the process mould
Block verification receives the moment t of correction signal2, and the data message with timestamp for receiving is detected, when the 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, the processing module
The angle information of the attitude measuring is corrected according to control information, after the completion of correction, the arithmetic processor exists
The timestamp of the receiver module transmit the correction signal that come before no longer Monitoring Data information is received again.
A kind of attitude measuring automatic correction system is provided, the transmitter module includes transmitting terminal wireless transport module,
The processing module includes processing end wireless transport module, and the transmitting terminal wireless transport module and the process end are wirelessly transferred
Between module can by way of being wirelessly transferred transmission information.
Preferably, the transmitter module is handle, and the handle includes emission port dough-making powder generating laser, the transmitting
Port is rectangular slot shape, and the laser of the face laser transmitter projects is injected space outerpace by emission port, forms laser
Face.
Preferably, the receiver module includes that slit receiving array, the slit receiving array include at least two slits
Receiving module, described at least two, slit receiving module is set up in parallel, and the slit receiving module includes slit mouth, and at least two
The respective slit mouth of slit receiver module is parallel to each other.
Compared with prior art, using discharger transmitting lasing area, receiver module receives different characteristic light letter to the present invention
Number mode, adjustment x-axis, y-axis, the position of z-axis angle zero point, reduce the shadow that the error accumulation of attitude measuring brings
Ring, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning.Phase
For the zero point for resetting Attitute detecting device manually, attitude measuring of the present invention is adjusted more from the method and system of dynamic(al) correction
Error that is natural and accurate, on the one hand preventing user to bring with " sensation " zeroing, was on the other hand using user
Natural and unconsciously return to zero in journey, feeling of immersion is increased, deliberately adjust stiff is decreased, be increased game, lifted
Experience effect.Using the setting of slit mouth, it is ensured that light must is fulfilled for certain incident condition fills just can photoinduction
Put the corresponding response of generation, it is achieved that the method that transmitter module attitude is judged by photoinduction, lead to the adjustment of attitude
Cross photoinduction and gravity detection combines to realize, be also achieved the attitude zeroing of the present invention.Gravity detection means can be with
Detection transmitter module coordinates the method for photoinduction zeroing to achieve the x of attitude measuring for the deflection angle of gravity direction
Axle, y-axis, the angle adjustment of three axle of z-axis, make attitude measuring be corrected in the accumulation of error of x-axis, y-axis, z-axis.Logical
The switch of overweight force checking device control adjustment modes can be effectively prevented processing module and mistuning zero occurs, it is ensured that the essence of zeroing
True property.By arranging the dead-center position of x-axis, y-axis, z-axis come the irradiating angle of corresponding lasing area, so as to the appearance of corresponding transmitter module
The method of state, establishes relatively simple gesture recognition rule, is more convenient to correct attitude using photoinduction.The emission port of handle
It is arranged to narrow and long rectangular shape, it is ensured that the laser of outgoing is formed than relatively thin lasing area without dissipating, it is ensured that light sensation
The realization that should be returned to zero.It is set up in parallel slit receiving module and can ensure that transmitter module there are more chances to correct attitude measurement dress
Put.
Description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is system module schematic diagram of the attitude measuring of the present invention from dynamic(al) correction；
Fig. 2 is the transmitter module schematic diagram with handle as example；
Fig. 3 is the reception device schematic diagram with slit receiving module as example；
Fig. 4 is slit receiving module zeroing x-axis, y-axis, z-axis schematic diagram；
Fig. 5 is that slit receiving module does not send one of zeroing instruction schematic diagram；
Fig. 6 is that slit receiving module does not send the two of zeroing instruction schematic diagram；
Fig. 7 is the reception device schematic diagram with slit receiving array as example；
Fig. 8 is working-flow schematic diagram of the attitude measuring of the present invention from dynamic(al) correction.
Specific embodiment
The defect of angular surveying is affected to solve current pose measurement apparatus cumulative errors, and the present invention provides one kind can be with
Eliminate the method and system of the attitude measuring of cumulative errors from dynamic(al) correction.
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now control accompanying drawing is described in detail
The specific embodiment of the present invention.
Fig. 1 is referred to, 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 discharger 21, transmitting terminal embedded type control module 22, attitude measurement dress
23, power module 24, gravity detection means 25, operation device 27 and transmitting terminal wireless transport module 29 is put, 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 the transmitting of receiving and transmitting unit 21, and the light information for 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 further located
Reason.Attitude measuring 23 can measure attitude and angle information of the transmitter module 2 in space, and gravity detection means 25 can be surveyed
Amount transmitter module 2 and angle information and the angle direction of gravity direction, operation device 27 can be operated by user and send life
The order letter that the related data and operation device 27 for making information, attitude measuring 23 and gravity detection means 25 measure sends
Breath can be delivered to transmitting terminal embedded type control module 22 by way of the signal of telecommunication, and transmitting terminal embedded type control module 22 can be with
Above- mentioned information is delivered to process end wireless transport module 31 by transmitting terminal wireless transport module 29, end is processed and is wirelessly transferred mould
Block 31 can by by the data for receiving by the signal of telecommunication in the way of be delivered to arithmetic processor 33 and processed.
Fig. 2 is referred to, Fig. 2 schematically illustrates the transmitter module 2 with handle 201 as first embodiment, in the 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, discharger 21 includes that face generating laser 211, face generating laser 211 include emission port
2113 and lasing light emitter 2115, the emission port 2113 of face generating laser 211 is rectangular slot shape, four rectangles of rectangular slot
The geometry axle center L of Bian Zhong, the longer rectangular edges of two for being parallel to each other and handle 2011Parallel, what lasing light emitter 2115 was launched swashs
Light can be transmitted in the space outerpace of handle 201 by the emission port 2113 of slit-shaped, form fan laser face, wherein,
Fan-shaped region is by light L2With light L3Delimit.Geometry axle center L when handle 2011Perpendicular to ground when, fan laser face with
Ground is perpendicular.
Fig. 3 is referred to, Fig. 3 schematically illustrates the reception device 11 with slit receiving module 101 as first embodiment,
In this embodiment, slit receiving module 101 includes that slit mouth 1011, Photoinduction device 1013, slit receiving module 101 are fixed
Arrange, Photoinduction device 1013 is fixed on the inside of slit receiving module 101, and the direction towards slit mouth 1011.Slit mouth
1011 is in elongated rectangle planar, and which is arranged on the end of slit receiving module 101, and light can be injected by slit mouth 1011
The inside of slit receiving module 101.
Fig. 4 Fig. 6 is referred to, Fig. 4 schematically illustrates the one of the zeroing attitude measuring 23 of slit receiving module 101
The situation of kind.We set up rectangular coordinate system on the basis of the slit mouth 1011 of slit receiving module 101, and z-axis is perpendicular to the ground, just
Direction is upward；X-axis is vertical with slit mouth 1011, positive direction along " 1013 slit mouth 1011 of Photoinduction device " direction, y-axis with narrow
Sealing 1011 is parallel, and positive direction meets coordinate system xyz into right-handed system.Attitude measuring 23, attitude is provided with handle 201
The meeting cumulative errors during measurement of measurement apparatus 23, make the error between measurement result and legitimate reading increasing.Appearance
State measurement apparatus 23 can be according to the attitudes vibration of handle 201, there is provided angle change of the handle 201 in x-axis, y-axis, and z-axis.Handle
201 further include gravity detection means 25, and gravity detection means 25 can be with real-time detection handle 201 and the angle of vertical direction
Change, and the y-axis measurement result of the measurement of real time correction attitude measuring 23.We can arrange x-axis, the y of handle 201 in advance
Axle, the position of z-axis angle zero point, as a kind of set-up mode therein, as the geometry axle center L of handle 2011Perpendicular to ground and
The top of handle 201 upward when, we remember that the x-axis of handle 201, y-axis angle are zero；When handle 201 transmitting lasing area vertical
Entrance slit mouth 1011, we remember that the z-axis angle of handle 201 is 0.Handle 201 is gripped by user, in use, when
The geometry axle center L of handle 2011Perpendicular to ground and handle 201 transmitting lasing area vertical incidence slit mouth 1011 when, a side
Face, it is zero and by the information by transmitting that gravity detection means 25 detects the geometry axle center of handle 201 and gravity direction angle
End wireless transport module 29 is delivered to processing module 3, and processing module 3 opens adjustment modes；On the other hand, Photoinduction device 1013
Sense laser beam and produce response, Photoinduction device 1013 transmits the electrical signal to receiving terminal embedded type control module 13, connects
Receiving end embedded type control module 13 transmits signal to processing module 3, when processing module 3 in adjustment modes and receives photoinduction
After the photoreceptor signal of the transmission of device 1013, it is zero that processing module 3 resets handle x-axis, y-axis, the angle-data of z-axis.Due to this
Calibration occurs during user use unintentionally, so, has no to examine with user in operating process not deliberately
Can just complete in the case of feel to handle x-axis, y-axis, z-axis calibration, prevent error persistent accumulation from causing measurement error excessive,
The feeling of immersion of user is significantly enhanced simultaneously.Due to the characteristic of human body wrist, handle 201 in use essentially without
There is the geometry axle center L of handle 2011Perpendicular to ground and handle 201 top situation directed downwardly, so we are to such case
Do not consider.
Fig. 5 schematically illustrates slit receiving module 101 and responds a kind of unsuccessful situation, when the geometry of handle 201
Axle center L1When being not orthogonal to ground and the lasing area vertical incidence slit mouth 1011 of the transmitting of handle 201, now Photoinduction device
1013 can receive laser signal, but the handle 201 that gravity detection means 25 is measured is not zero with the angle of z-axis, process
In module 3, adjustment modes are not opened.Even if slit receiving module 101 have sent signal to processing module 3, processing module 3
Zeroing operation is not carried out.
Fig. 6 schematically illustrates slit receiving module 101 and responds unsuccessful another kind of situation, several when handle 201
The angle of what axle center and gravity direction is zero and during the lasing area out of plumb entrance slit mouth 1011 of the transmitting of handle 201, now swashs
Light cannot make Photoinduction device 1013 produce response by slit mouth 1011.Gravity detection means 25 detects the several of handle 201
What axle center is zero and the information is delivered to processing module 3 by transmitting terminal wireless transport module 29 with gravity direction angle, locates
Reason module 3 opens adjustment modes, and simultaneously, slit receiving module 101 is not as Photoinduction device 1013 receives optical signal
Processing module 3 is not transmitted a signal to, even if adjustment modes are opened, processing module 3 does not carry out zeroing operation yet.
Fig. 7 is referred to, Fig. 7 schematically illustrates the reception device 11 with slit receiving array 102 as second embodiment,
Slit receiving array 102 includes that at least two slit receiving modules 101, at least two slit reception devices 101 are set up in parallel, extremely
The slit mouth 1011 of few two slit reception devices 101 is being parallel to each other.Every group of slit receiving module 101 can independently to connecing
Receiving end embedded type control module 13 sends the signal of telecommunication.When gravity detection means 25 detects the geometry axle center of handle 201 and gravity
Angular separation is zero and the information is delivered to processing module 3 by transmitting terminal wireless transport module 29, and processing module 3 is opened and adjusted
Integral pattern, and simultaneously, when Photoinduction device 1013 detects laser signal in one of which slit receiving module 101, process mould
The x-axis of the zeroing attitude measuring 23 of block 3, y-axis, z-axis.It is set up in parallel slit receiving module 101 and can ensure that processing module 3 has
More chances are correcting attitude measuring 23.
Fig. 8 is referred to, when attitude measuring automatic correction system of the present invention is started working, the transmitting of transmitter module 2 swashs
Bright finish, while receiver module 1 is in holding state.The 1013 monitor in real time laser reactive of Photoinduction device of reception device 11, when
Gravity detection means 25 detect the geometry axle center of handle 201 and gravity direction angle be zero and by the information by transmitting terminal without
Line transport module 29 is delivered to processing module 3, and processing module 3 opens adjustment modes, while the monitoring receiver module 1 of processing module 3
State, when in reception device 11 Photoinduction device 1013 produce response when, light is believed by receiving terminal embedded type control module 13
Number information is sent to processing module 3, and processing module 3 is returned to zero x-axis, y-axis, z-axis data immediately；When in reception device 11 without light sensation
When answering device 1013 to produce response, receiving terminal embedded type control module 13 does not send light sensation information to processing module 3.
Need to expend the regular hour as 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 and gravimetric data reality of the transmission of transmitter module 2 that reception is arrived
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 after the control information of transmission at once, and can cause 3 actual adjustment of processing module is
(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, affects the accuracy of attitude measuring 23 and the experience that equipment is overall.Another reality as the present invention
Example is applied, transmitting terminal embedded type control module 22 is receiving the data letter that attitude measuring 23 and gravity detection means 25 are sent
After breath, data message is stamped and be sent to after timestamp transmitting terminal wireless transport module 29, transmitting terminal wireless transport module 29 will
The data information transfer of timestamp is stamped to process end wireless transport module 31, and is transferred to by end wireless transport module 31 is processed
Arithmetic processor 33 is processed.After arithmetic processor 33 receives the correction signal that the transmission of receiver module 1 comes, calculation process
The verification of device 33 receives the moment t of correction signal2, and detect the data message with timestamp for 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 being received again
The timestamp of no longer Monitoring Data information before the correction signal that the transmission of receiver module 1 comes.The present embodiment is anti-by delay correction
Stop due to the accumulation of the error in data for causing time delay, the degree of accuracy and availability of equipment has greatly improved.
Compared with prior art, using the transmitting lasing area of discharger 21, receiver module 1 receives different characteristic to the present invention
The mode of optical signal, adjustment x-axis, y-axis, the position of z-axis angle zero point, the error accumulation for reducing attitude measuring 23 are brought
Impact, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning
Justice.Relative to the zero point for resetting Attitute detecting device 23 manually, attitude measuring of the present invention 23 from the method for dynamic(al) correction and is
System adjustment is more natural and accurate, the error on the one hand preventing user to bring with " sensation " zeroing, on the other hand use
Person is natural in use and unconsciously returns to zero, and increased feeling of immersion, decreases deliberately adjust stiff, increased trip
Play property, improves experience effect.Using the setting of slit mouth 1011, it is ensured that light must is fulfilled for certain incident condition and just may be used
So that Photoinduction device 1013 produces corresponding response, it is achieved that the method for judging 2 attitude of transmitter module by photoinduction, make
The adjustment of attitude can combine to realize by photoinduction and gravity detection, also be achieved the attitude zeroing of the present invention.
Gravity detection means 25 can detect that transmitter module 2, for the deflection angle of gravity direction, coordinates the method reality of photoinduction zeroing
Showed the x-axis of attitude measuring 23, y-axis, the angle adjustment of three axle of z-axis, attitude measuring 23 has been made in x-axis, y-axis, z-axis
The accumulation of error can be corrected.The switch that adjustment modes are controlled by gravity detection means 25 can be effectively prevented process mould
There is mistuning zero in block 3, it is ensured that the accuracy of zeroing.By arranging the dead-center position of x-axis, y-axis, z-axis come the photograph of corresponding lasing area
Firing angle degree, so as to the method for the attitude of corresponding transmitter module 2, establishes relatively simple gesture recognition rule, is more convenient to use
Photoinduction corrects attitude.The emission port 2113 of handle 201 is arranged to narrow and long rectangular shape, it is ensured that the laser of outgoing is formed
Than relatively thin lasing area without dissipating, it is ensured that the realization of photoinduction zeroing.It is set up in parallel slit receiving module 101 to protect
Card transmitter module 2 has more chances to correct attitude measuring 23.
Embodiments of the invention are described above in conjunction with accompanying drawing, but be the invention is not limited in above-mentioned concrete
Embodiment, above-mentioned specific embodiment are only schematic, rather than restricted, one 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, can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. method of a kind of attitude measuring from dynamic(al) correction, it is characterised in that including transmitter module, receiver module, process mould
Block, the transmitter module include that attitude measuring, gravity detection means and discharger, the discharger can be launched sharp
Bright finish, the receiver module include Photoinduction device, and the attitude measuring is carried out from dynamic(al) correction by following steps：
S1：Lasing area launched by the discharger, and the receiver module is in holding state；
S2：The gravity detection means detection transmitter module and gravity direction angle, angle are zero and transmit signal to the place
Reason module opens adjustment modes, and angle is not zero, and does not transmit signal to the processing module；
S3：The processing module monitors the signal of the Photoinduction device transmission in the case where adjustment modes are opened, if described
Photoinduction device transmits light-sensing signal to the processing module, and the processing module carries out zeroing behaviour to the attitude measuring
Make.
2. method of the attitude measuring according to claim 1 from dynamic(al) correction, it is characterised in that the receiver module bag
Slit receiving module is included, the slit receiving module includes that slit mouth, the slit mouth are arranged on the slit receiving module
End, the Photoinduction device are fixed on the inside of the slit receiving module, and the direction towards the slit mouth, laser light
Line can reach the Photoinduction device by the slit mouth and make the Photoinduction device produce response.
3. method of the attitude measuring according to claim 2 from dynamic(al) correction, it is characterised in that the transmitter module bag
Include transmitting terminal embedded type control module, the transmitting terminal embedded type control module can receive the gravity detection means and described
The data of attitude measuring transmission, and by the data transfer for receiving to the processing module.
4. method of the attitude measuring according to claim 3 from dynamic(al) correction, it is characterised in that the transmitter module is
Handle, the processing module judge control information according to the signal that the Photoinduction device is transmitted by following steps：
S2.1 sets up rectangular coordinate system on the basis of the slit mouth, and z-axis is perpendicular to the ground, and x-axis is vertical with the slit mouth, y
Axle is parallel with the slit mouth；
S2.2 when the handle geometry axle center perpendicular to ground and the handle top upward when, the x-axis of the handle, y
Shaft angle degree is zero；When slit mouth described in the lasing area vertical incidence of handle transmitting, the z-axis angle of the handle is zero；
When the Photoinduction device is responded successfully, the receiver module transmits photosensitive information to the processing module to S2.3, if
The processing module is in adjustment modes opening, the x-axis of the processing module zeroing handle, y-axis, z-axis.
5. method of the attitude measuring according to claim 4 from dynamic(al) correction, it is characterised in that the gravity detection dress
The y-axis angle information that can detect the transmitter module is put, and in real time by the y-axis information transmission for measuring to the processing module.
6. method of the attitude measuring according to claim 5 from dynamic(al) correction, it is characterised in that the transmitting terminal is embedded in
Data are believed after the data message that the attitude measuring and the gravity detection means are sent is received by formula control module
Breath is sent to the processing module after stamping timestamp and is processed.
7. method of the attitude measuring according to claim 6 from dynamic(al) correction, it is characterised in that when the processing module
After receiving the correction signal that the receiver module transmission comes, the processing module verification receives the moment t of correction signal2,
And detect the data message with timestamp for receiving, when the processing module detect the data message with timestamp when
Between stab display time point be later than or be equal to t2During the moment, the processing module is according to control information to the attitude measuring
Angle information be corrected, after the completion of correction, the arithmetic processor is receiving what receiver module transmission came again
The timestamp of no longer Monitoring Data information before correction signal.
8. a kind of attitude measuring according to claim 1 is from the attitude measuring of the method for dynamic(al) correction from dynamic(al) correction
System, it is characterised in that the transmitter module includes that transmitting terminal wireless transport module, the processing module include that process end is wireless
Transport module, can be by being wirelessly transferred between the transmitting terminal wireless transport module and process end wireless transport module
Mode transmission information.
9. Attitute detecting device automatic correction system according to claim 8, it is characterised in that the transmitter module is handss
Handle, the handle include emission port dough-making powder generating laser, and the emission port is rectangular slot shape, the face Laser emission
The laser of device transmitting injects space outerpace by emission port, forms lasing area.
10. Attitute detecting device automatic correction system according to claim 8, it is characterised in that the receiver module bag
Slit receiving array is included, the slit receiving array includes at least two slit receiving modules, slit described at least two is received
Module is set up in parallel, and the slit receiving module includes slit mouth, the respective slit mouth of at least two slit receiver modules
It is parallel to each other.
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| CN201610866889.0A CN106500722A (en) | 2016-09-30 | 2016-09-30 | Method and system of the attitude measuring from dynamic(al) correction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521501A (en) * | 2017-09-20 | 2019-03-26 | 和硕联合科技股份有限公司 | Calibration method of gravity sensor |
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