CN106547352A - A kind of display packing of virtual reality picture, wear display device and its system - Google Patents
A kind of display packing of virtual reality picture, wear display device and its system Download PDFInfo
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- CN106547352A CN106547352A CN201610908575.2A CN201610908575A CN106547352A CN 106547352 A CN106547352 A CN 106547352A CN 201610908575 A CN201610908575 A CN 201610908575A CN 106547352 A CN106547352 A CN 106547352A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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Abstract
The invention discloses a kind of display packing of virtual reality picture, comprises the following steps：S10, when user be located at provide virtual reality innervation experiencing sensation simulation equipment in when, the head orientation information of user described in Real-time Collection；S21, the virtual reality picture that positive angle when the head of the user does not rotate, is then played to user；S22, when the head of the user rotates, then according to the head orientation information adjust virtual reality picture after；The virtual reality picture rotated behind corresponding visual angle is played to user.In the present invention after the head orientation information of Real-time Collection user's head, virtual reality picture is adjusted, the virtual reality picture after adjustment is played to user；So as to realize, in the dynamic reality picture of simulation, lifting the feeling of immersion of user.
Description
Technical field
The present invention relates to technical field of virtual reality, the more particularly to display packing of virtual reality picture, wear display
Equipment and its system.
Background technology
Virtual reality technology (VR) is by the 3 D stereo photorealism of computer generation, Real-time and Dynamic.In order to be lifted
The feeling of immersion of virtual reality, in addition to the visually-perceptible generated by computer graphics techniques, also feels, moves with audition, tactile, power
Deng perception.When rotating with the user's head for wearing display device, adaptively adjusted using computer wear it is aobvious
Show the display picture in equipment, so as to lift the feeling of immersion of user.
When wearing display device wearer in the unstable scene of experiences simulated (for example：Roller-coaster, flight simulation, air battle
Etc. scene) when, dynamic analog equipment can be passed through, for example：Meeting seat in rotary moving, providing to wearer can be with virtual
The motion simulated in reality scene and the innervation experiencing for bringing.
However, when sensation simulation equipment is moved, the orientation of user can be driven to change；Also, user's itself
Rotate, the orientation for also resulting in user changes；So as to cause user's head rotation in the dynamic virtual reality scene to regard
Feel that experience is inconsistent with actual experience.
The content of the invention
The technical scheme that the present invention is provided is as follows：
A kind of display packing of virtual reality picture that the present invention is provided, comprises the following steps：S10, when user be located at carry
During in the sensation simulation equipment of virtual reality innervation experiencing, the head orientation information of user described in Real-time Collection；S21, work as institute
When stating the head of user and not rotating, then the virtual reality picture of positive angle is played to user；S22, when the user's
When head rotates, then adjusted after virtual reality picture according to the head orientation information；Play to rotate to user and accordingly regard
Virtual reality picture behind angle.
Further, step S10 is further included：Described in S11, Real-time Collection, the head of user is relative to ground rotation
Head absolute orientation information；Sensation simulation equipment described in S12, Real-time Collection is believed relative to the equipment absolute orientation of ground rotation
Breath；S15, according to the head absolute orientation information, equipment absolute orientation information, calculate the head of the user relative to institute
State the head relative orientation information of sensation simulation equipment.
Further, step S11 is further included：S111, to measure the head in real time using head gyroscope exhausted
To the end rotation direction in azimuth information and head rotation angle；Step S12 is further included：S121, utilize equipment
Gyroscope measures the equipment direction of rotation in the equipment absolute orientation information and equipment rotational angle in real time.
Further, step S11 is further included：S112, the head that the user is measured using head acceleration measurement
Portion's component angle respectively on tri- axles of X, Y, Z, the component angle respectively in X, Y-axis of head gyroscope described in correction-compensation
Degree；Step S12 is further included：S122, using equipment Acceleration measure measure the sensation simulation equipment respectively X,
Component angle on tri- axles of Y, Z, the component angle respectively in X, Y-axis of equipment gyroscope described in correction-compensation.
Further, step S11 is further included：S113, sky is obtained using head Magnetic Sensor, head acceleration meter
Between three-dimensional in angular relationship, component angle of the head gyroscope described in correction-compensation on Z axis；Step S12 is further
Including：S123, the angular relationship obtained using equipment Magnetic Sensor, equipment Acceleration meter in space three-dimensional, described in correction-compensation
Component angle of the equipment gyroscope on Z axis.
Further, step S15 is further included：It is S151, definitely square according to the head absolute orientation information, equipment
Position information, and the computing rule of quaternary number；Calculate the head of the head relative to the sensation simulation equipment of the user
Relative orientation information.
Further, step S151 is further included：It is S1511, definitely square to the head absolute orientation information, equipment
Position information carries out attitude algorithm, and in solving the head absolute orientation information, equipment absolute orientation information respectively, quaternary number is constituted
Direction cosine matrix；S1512, according to the direction cosine matrix for solving, and the computing rule of quaternary number, by the user's
Head absolute orientation information of the head relative to ground rotation, the head for being transformed into the user are set relative to the sensation simulation
Standby head relative orientation information.
The present invention also provide it is a kind of wear display device comprising virtual reality picture, including：Head orientation acquisition module,
For when user be located at provide virtual reality innervation experiencing sensation simulation equipment in when, the head side of user described in Real-time Collection
Position information；Playing module, for when the head of the user does not rotate, then playing the virtual existing of positive angle to user
Real picture；Picture adjustment module, for when the head of the user rotates, then being adjusted according to the head orientation information
After virtual reality picture；The playing module, is additionally operable to user play the virtual reality picture rotated behind corresponding visual angle.
Further, including：Head orientation acquisition module, for user described in Real-time Collection head relative to ground rotation
Head absolute orientation information；Data communication module, turns relative to ground for receiving sensation simulation equipment described in Real-time Collection
Dynamic equipment absolute orientation information；Computing module, for according to the head absolute orientation information, equipment absolute orientation information,
Calculate the head relative orientation information of the head relative to the sensation simulation equipment of the user.
Further, the head orientation acquisition module includes：Head gyroscope, measures institute in real time using head gyroscope
State the end rotation direction in head absolute orientation information and head rotation angle；The data communication module, is additionally operable to receive
Measure equipment direction of rotation and the equipment rotational angle in the equipment absolute orientation information using equipment gyroscope in real time.
Further, the head orientation acquisition module also includes：Head acceleration meter, is measured using head acceleration and is measured
The head of user component angle respectively on tri- axles of X, Y, Z, head gyroscope described in correction-compensation is respectively in X, Y-axis
On component angle；The data communication module, is additionally operable to receive measured using equipment Acceleration and measures the sensation simulation and set
Component angle of the back-up not on tri- axles of X, Y, Z, the component angle respectively in X, Y-axis of equipment gyroscope described in correction-compensation
Degree.
Further, the head orientation acquisition module also includes：Head Magnetic Sensor, using head Magnetic Sensor, head
Accelerometer obtains the angular relationship in space three-dimensional, component angle of the head gyroscope described in correction-compensation on Z axis；It is described
Data communication module, is additionally operable to receive the angular relationship obtained using equipment Magnetic Sensor, equipment Acceleration meter in space three-dimensional,
Component angle of the equipment gyroscope described in correction-compensation on Z axis.
Further, the computing module, for according to the head absolute orientation information, equipment absolute orientation information, with
And the computing rule of quaternary number；Calculate the head relative bearing letter of the head relative to the sensation simulation equipment of the user
Breath.
The present invention also provides a kind of system for wearing display device comprising virtual reality picture, also includes：For to
Family provides the sensation simulation equipment of virtual reality innervation experiencing.
Compared with prior art, the present invention provide a kind of virtual reality picture display packing, wear display device and
Its system, has the advantages that：
In the present invention after the head orientation information of Real-time Collection user's head, virtual reality picture is adjusted, played to user
Virtual reality picture after adjustment；So as to realize, in the dynamic reality picture of simulation, lifting the feeling of immersion of user.
The head absolute orientation information of Real-time Collection user's head in the present invention, and the equipment of sensation simulation equipment is absolute
Azimuth information；Calculate the head relative orientation information that user's head is rotated relative to sensation simulation equipment；So as to preferably real
The feeling of immersion of user is lifted now.
The device orientation of the head orientation information and sensation simulation equipment of user's head is gathered in the present invention using gyroscope
Information；In addition, the component angle by accelerometer, Magnetic Sensor respectively to gyroscope in X, Y, Z axis is modified compensation；
So as to accurately obtain head orientation information and device orientation information；So that virtual reality picture is further carried closer to reality
Rise the feeling of immersion of user.
Description of the drawings
Below by the way of clearly understandable, preferred implementation is described with reference to the drawings, to a kind of virtual reality picture
Display packing, wear display device and its above-mentioned characteristic, technical characteristic, advantage and its implementation of system give furtherly
It is bright.
Fig. 1 is a kind of schematic flow sheet of the display packing of virtual reality picture of the invention；
Fig. 2 is the schematic flow sheet of step S10 in the present invention；
Fig. 3 is the schematic flow sheet of step S11 in the present invention；
Fig. 4 is the schematic flow sheet of step S12 in the present invention；
Fig. 5 is the schematic flow sheet of step S15 in the present invention；
Fig. 6 is a kind of structural representation for wearing display device of virtual reality picture of the invention；
Fig. 7 is the part-structure schematic diagram for wearing display device of virtual reality picture of the present invention；
Fig. 8 is the play structure schematic diagram of sensation simulation equipment of the present invention.
Drawing reference numeral explanation：
110th, head orientation acquisition module, 120, data communication module, 130, computing module, 140, picture adjustment module,
150th, playing module, 111, head gyroscope, 112, head acceleration meter, 113, head Magnetic Sensor；
210th, device orientation acquisition module, 211, equipment gyroscope, 212, equipment Acceleration meter, 213, equipment magnetic sensing
Device.
Specific embodiment
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below by control description of the drawings
The specific embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, can be obtaining other according to these accompanying drawings
Accompanying drawing, and obtain other embodiments.
To make simplified form, part related to the present invention in each figure, is only schematically show, they do not represent
Its practical structures as product.In addition, so that simplified form is readily appreciated, with identical structure or function in some figures
Part, only symbolically depicts one of those, or has only marked one of those.Herein, " one " is not only represented
" only this ", it is also possible to represent the situation of " more than one ".
As shown in figure 1, according to one embodiment of present invention, a kind of display packing of virtual reality picture, including it is following
Step：S10, when user (head-mounted display wearer) positioned at provide virtual reality innervation experiencing sensation simulation equipment in when,
The head orientation information of user described in Real-time Collection, the head orientation information refer to the head of the user relative to ground rotation
Head absolute orientation information；According to the virtual reality picture of the positive angle of user, the initial shape of sensation simulation equipment is adjusted
State；And in virtual reality picture process, the sensation simulation equipment provides a user with the innervation experiencing of virtual reality；When user not
Positioned at provide virtual reality innervation experiencing sensation simulation equipment in when, also can user described in Real-time Collection head orientation letter
Breath；
S21, when the head of the user does not rotate (when the head of user is towards dead ahead), then to user play
The virtual reality picture of positive angle；
S22, when the head of the user rotates, then according to the head orientation information adjust virtual reality picture
Afterwards, when user is not located in the sensation simulation equipment for provide virtual reality innervation experiencing, believed according to the head absolute orientation
Breath adjusts virtual reality picture；When user is located in the sensation simulation equipment for provide virtual reality innervation experiencing, according to described
Head relative orientation information adjusts virtual reality picture；The virtual reality picture rotated behind corresponding visual angle is played to user.
As shown in Figure 1 and Figure 2, according to one embodiment of present invention, a kind of display packing of virtual reality picture, including
Following steps：S10, when user (head-mounted display wearer) positioned at provide virtual reality innervation experiencing sensation simulation equipment in
When, the head orientation information of user described in Real-time Collection, the head orientation information refer to the head of the user relative to ground
The head absolute orientation information of rotation；According to the virtual reality picture of the positive angle of user, the first of sensation simulation equipment is adjusted
Beginning state；And in virtual reality picture process, the sensation simulation equipment provides a user with the innervation experiencing of virtual reality；When with
Family be not located at provide virtual reality innervation experiencing sensation simulation equipment in when, also can user described in Real-time Collection head orientation
Information；
Step S10 is further included：Head of the head of user relative to ground rotation described in S11, Real-time Collection
Absolute orientation information；Equipment absolute orientation information of the sensation simulation equipment described in S12, Real-time Collection relative to ground rotation；
S15, according to the head absolute orientation information, equipment absolute orientation information, calculate the head of the user relative to described
The head relative orientation information of sensation simulation equipment.
Preferably, step S15 is further included：It is S151, definitely square according to the head absolute orientation information, equipment
Position information, and the computing rule of quaternary number；Calculate the head of the head relative to the sensation simulation equipment of the user
Relative orientation information.
S21, when the head of the user does not rotate (when the head of user is towards dead ahead), then to user play
The virtual reality picture of positive angle；
S22, when the head of the user rotates, then according to the head orientation information adjust virtual reality picture
Afterwards, when user is not located in the sensation simulation equipment for provide virtual reality innervation experiencing, believed according to the head absolute orientation
Breath adjusts virtual reality picture；When user is located in the sensation simulation equipment for provide virtual reality innervation experiencing, according to described
Head relative orientation information adjusts virtual reality picture；The virtual reality picture rotated behind corresponding visual angle is played to user.
As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5, according to one embodiment of present invention, a kind of display side of virtual reality picture
Method, comprises the following steps：S10, when user (head-mounted display wearer) positioned at provide virtual reality innervation experiencing dynamic mould
When proposing standby middle, the head orientation information of user described in Real-time Collection, the head orientation information refer to the head phase of the user
For the head absolute orientation information of ground rotation；According to the virtual reality picture of the positive angle of user, sensation simulation is adjusted
The original state of equipment；And in virtual reality picture process, the sensation simulation equipment provides a user with the innervation of virtual reality
Experience；When user is not located in the sensation simulation equipment for provide virtual reality innervation experiencing, also can user described in Real-time Collection
Head orientation information；
Step S10 is further included：Head of the head of user relative to ground rotation described in S11, Real-time Collection
Absolute orientation information；Equipment absolute orientation information of the sensation simulation equipment described in S12, Real-time Collection relative to ground rotation；
S15, according to the head absolute orientation information, equipment absolute orientation information, calculate the head of the user relative to described
The head relative orientation information of sensation simulation equipment.
Step S11 is further included：S111, to measure the head in real time using head gyroscope 111 definitely square
End rotation direction and head rotation angle in the information of position；The head gyroscope 111 is according to angular velocity to time integral meter
Calculation obtains head rotation angle；S112, the head of the user is measured using head acceleration meter 112 respectively in X, Y, Z tri-
Component angle on individual axle, the component angle respectively in X, Y-axis of head gyroscope 111 described in correction-compensation；S113, utilize head
Portion's Magnetic Sensor 113, head acceleration meter 112 obtain the angular relationship in space three-dimensional, head gyroscope described in correction-compensation
The 111 component angles on Z axis；
Step S12 is further included：S121, to measure the equipment in real time using equipment gyroscope 211 definitely square
Equipment direction of rotation and equipment rotational angle in the information of position；The equipment gyroscope 211 is according to angular velocity to time integral meter
Calculation obtains equipment rotational angle.There is a gyro inside gyroscope, its axle is parallel with inceptive direction all the time due to gyroscopic effect,
Thus direction of rotation and angle can be calculated by the deviation with inceptive direction；Can be with reference to accelerometer and Magnetic Sensor
The angular relationship of 3-dimensional is obtained, gyroscope can integrate the angular relationship for obtaining three-dimensional.
S122, measured using equipment Acceleration meter 212 the sensation simulation equipment respectively on tri- axles of X, Y, Z point
Measuring angle, the component angle respectively in X, Y-axis of equipment gyroscope 211 described in correction-compensation.
S123, the angular relationship obtained using equipment Magnetic Sensor 213, equipment Acceleration meter 212 in space three-dimensional, amendment
Compensate component angle of the equipment gyroscope 211 on Z axis.Gyroscope is believed at short notice, and asking by irregular steps adds
Velometer and Magnetic Sensor；Look at whether the angle of gyroscope occurs drift, and drifted about how many.
Step S15 is further included：S151, according to the head absolute orientation information, equipment absolute orientation information,
And the computing rule of quaternary number；Calculate the head relative bearing of the head relative to the sensation simulation equipment of the user
Information.
Step S151 is further included：S1511, to the head absolute orientation information, equipment absolute orientation information
Attitude algorithm is carried out, the direction of quaternary number composition in the head absolute orientation information, equipment absolute orientation information is solved respectively
Cosine matrix；Head acceleration meter 112, head Magnetic Sensor 113, equipment Acceleration meter 212, equipment Magnetic Sensor 213 are point
The other quaternary number in direction cosine matrix is modified；S1512, according to the direction cosine matrix for solving, and quaternary number
Computing rule, by the head of the user relative to the head absolute orientation information of ground rotation, is transformed into the head of the user
Head relative orientation information of the portion relative to the sensation simulation equipment.
Quaternary number in mathematics can be used to indicate that direction of rotation and related operation in three dimensions, be represented with Q；If Qh generations
Table header direction, Qd represent the direction of unstable system simulation equipment, then head is relative with unstable system simulation equipment
Direction Qr can be calculated with equation below and be obtained：
Qr=Qh*Qd-1。
S21, when the head of the user does not rotate (when the head of user is towards dead ahead), then to user play
The virtual reality picture of positive angle；
S22, when the head of the user rotates, then according to the head orientation information adjust virtual reality picture
Afterwards, when user is not located in the sensation simulation equipment for provide virtual reality innervation experiencing, believed according to the head absolute orientation
Breath adjusts virtual reality picture；When user is located in the sensation simulation equipment for provide virtual reality innervation experiencing, according to described
Head relative orientation information adjusts virtual reality picture；The virtual reality picture rotated behind corresponding visual angle is played to user.
Specifically, the exemplary set source code of the AHRS attitude algorithms based on mahony algorithms is the following is, this is not should be
The restriction of bright implementation, theoretical basiss are DCM IMU:Theory.
#include"stm32f10x.h"#include"AHRS.h"#include"Positioning.h"#include<
math.h>#include<stdio.h>/*Private define------------------------------*/#
define Kp 2.0f
#define Ki 0.005f
#define halfT 0.0025f
#define ACCEL_1G 1000
Static float q0=1, q1=0, q2=0, q3=0；
Static float exInt=0, eyInt=0, ezInt=0；
EulerAngle_Type EulerAngle；//unit:Radian u8InitEulerAngle_Finished=
0；Float Magnetoresistor_mGauss_X=0, Magnetoresistor_mGauss_Y=0,
Magnetoresistor_mGauss_Z=0；//unit:Milli-Gaussfloat Accelerate_mg_X,
Accelerate_mg_Y, Accelerate_mg_Z；//unit:Mgfloat AngularRate_dps_X, AngularRate_
Dps_Y, AngularRate_dps_Z；//unit:dps:degree per second int16_t Magnetoresistor_
X, Magnetoresistor_Y, Magnetoresistor_Z；Uint16_t Accelerate_X=0, Accelerate_Y=
0, Accelerate_Z=0；Uint16_t AngularRate_X=0, AngularRate_Y=0, AngularRate_Z=
0；U8Quaternion_Calibration_ok=0；/*Private
macro----------------------------*/ /*Private
typedef------------------------------*/Function Name：AHRSupdate*Description：
None*Input：None*Output：None*Return：None********************************void
AHRSupdate (float gx, float gy, float gz, float ax, float ay, floataz, float mx,
Float my, float mz) { float norm；Float hx, hy, hz, bx, bz：Float vx, vy, vz, wx, wy, wz；
Float ex, ey, ez；//auxiliary variables to reduce number of repeated operations
Float q0q0=q0*q0；Float q0q1=q0*q1；Float q0q2=q0*q2；Float q0q3=q0*q3；float
Q1q1=q1*q1；Float q1q2=q1*q2；Float q1q3=q1*q3；Float q2q2=q2*q2；float q2q3
=q2*q3；Float q3q3=q3*q3；//normalise the measurements norm=sqrt (ax*ax+ay*ay
+az*az)；Ax=ax/norm；Ay=ay/norm；Az=az/norm；Norm=sqrt (mx*mx+my*my+mz*mz)；mx
=mx/norm；My=my/norm；Mz=mz/norm；//compute reference direction of magnetic
Field hx=2*mx* (0.5-q2q2-q3q3)+2*my* (q1q2-q0q3)+2*mz* (q1q3+q0q2)；Hy=2*mx*
(q1q2+q0q3)+2*my*(0.5-q1q1-q3q3)+2*mz*(q2q3-q0q1)；Hz=2*mx* (q1q3-q0q2)+2*my*
(q2q3+q0q1)+2*mz*(0.5-q1q1-q2q2)；Bx=sqrt ((hx*hx)+(hy*hy))；Bz=hz；//estimated
Direction of gravity and magnetic field (v and w) vx=2* (q1q3-q0q2)；Vy=2* (q0q1
+q2q3)；Vz=q0q0-q1q1-q2q2+q3q3；Wx=2*bx* (0.5-q2q2-q3q3)+2*bz* (q1q3-q0q2)；Wy=
2*bx*(q1q2-q0q3)+2*bz*(q0q1+q2q3)；Wz=2*bx* (q0q2+q1q3)+2*bz* (0.5-q1q1-
q2q2)；//error is sum ofcross product between reference direction of fields
And directionmeasured by sensors ex=(ay*vz-az*vy)+(my*wz-mz*wy)；Ey=(az*vx-
ax*vz)+(mz*wx-mx*wz)；Ez=(ax*vy-ay*vx)+(mx*wy-my*wx)；//integral error scaled
Integral gain exInt=exInt+ex*Ki* (1.0f/sampleFreq)；EyInt=eyInt+ey*Ki* (1.0f/
sampleFreq)；EzInt=ezInt+ez*Ki* (1.0f/sampleFreq)；//adjusted gyroscope
Measurements gx=gx+Kp*ex+exInt；Gy=gy+Kp*ey+eyInt；Gz=gz+Kp*ez+ezInt；//
Integrate quaternion rate and normalizeq0=q0+ (- q1*gx-q2*gy-q3*gz) * halfT；Q1=
q1+(q0*gx+q2*gz-q3*gy)*halfT；Q2=q2+ (q0*gy-q1*gz+q3*gx) * halfT；Q3=q3+ (q0*gz+
q1*gy-q2*gx)*halfT；//normalise quaternion norm=sqrt (q0*q0+q1*q1+q2*q2+q3*
q3)；Q0=q0/norm；Q1=q1/norm；Q2=q2/norm；Q3=q3/norm；}
As shown in Figure 6, Figure 7, according to one embodiment of present invention, a kind of virtual reality picture wears display device,
Including：Head orientation acquisition module 110, when user (head-mounted display wearer) is positioned at the dynamic of offer virtual reality innervation experiencing
When in sense simulator, the head orientation information of user described in Real-time Collection, the head orientation information refer to the head of the user
Head absolute orientation information of the portion relative to ground rotation；According to the virtual reality picture of the positive angle of user, adjustment is dynamic
The original state of simulator；And in virtual reality picture process, the sensation simulation equipment provides a user with virtual reality
Innervation experiencing；When user is not located in the sensation simulation equipment for provide virtual reality innervation experiencing, also can be described in Real-time Collection
The head orientation information of user；
Preferably, the head orientation acquisition module 110, the head for user described in Real-time Collection turn relative to ground
Dynamic head absolute orientation information；
Preferably, the head orientation acquisition module 110 includes：Head gyroscope 111, it is real using head gyroscope 111
When measure end rotation direction and head rotation angle in the head absolute orientation information；The head gyroscope 111
Head rotation angle is calculated according to angular velocity to time integral；Head acceleration meter 112, using head acceleration meter 112
Measure the head of user component angle respectively on tri- axles of X, Y, Z, 111 points of head gyroscope described in correction-compensation
Component angle not in X, Y-axis；Head Magnetic Sensor 113, is obtained using head Magnetic Sensor 113, head acceleration meter 112
Angular relationship in space three-dimensional, component angle of the head gyroscope 111 described in correction-compensation on Z axis；
Preferably, data communication module 120, for sensation simulation equipment setting relative to ground rotation described in Real-time Collection
Standby absolute orientation information；
Preferably, the data communication module 120, is additionally operable to receive the institute for being measured using equipment gyroscope 211 in real time
State the equipment direction of rotation in equipment absolute orientation information and equipment rotational angle；The equipment gyroscope 211 is according to angular velocity
Equipment rotational angle is calculated to time integral.Have a gyro inside gyroscope, its axle due to gyroscopic effect all the time with
Inceptive direction is parallel, thus can calculate direction of rotation and angle by the deviation with inceptive direction；With reference to accelerometer
The angular relationship of 3-dimensional can be obtained with Magnetic Sensor, gyroscope can integrate the angular relationship for obtaining three-dimensional.
The data communication module 120, is additionally operable to receive the sensation simulation measured using equipment Acceleration meter 212
Equipment component angle respectively on tri- axles of X, Y, Z, equipment gyroscope 211 described in correction-compensation respectively in X, Y-axis point
Measuring angle.
The data communication module 120, is additionally operable to reception and is obtained using equipment Magnetic Sensor 213, equipment Acceleration meter 212
Space three-dimensional in angular relationship, component angle of the equipment gyroscope 211 described in correction-compensation on Z axis.At short notice
Believe gyroscope, by irregular steps ask accelerometer and Magnetic Sensor；Look at whether the angle of gyroscope occurs drift, and
Drift about how many.
Computing module 130, it is described for according to the head absolute orientation information, equipment absolute orientation information, calculating
Head relative orientation information of the head of user relative to the sensation simulation equipment.
Preferably, the computing module 130, for according to the head absolute orientation information, equipment absolute orientation information,
And the computing rule of quaternary number；Calculate the head relative bearing of the head relative to the sensation simulation equipment of the user
Information.
Preferably, the computing module 130, is additionally operable to the head absolute orientation information, equipment absolute orientation information
Attitude algorithm is carried out, the direction of quaternary number composition in the head absolute orientation information, equipment absolute orientation information is solved respectively
Cosine matrix；Head acceleration meter 112, head Magnetic Sensor 113, equipment Acceleration meter 212, equipment Magnetic Sensor 213 are point
The other quaternary number in direction cosine matrix is modified；
Preferably, the computing module 130, is additionally operable to according to the direction cosine matrix for solving, and the calculating of quaternary number
Rule, by the head of the user relative to the head absolute orientation information of ground rotation, is transformed into the head phase of the user
For the head relative orientation information of the sensation simulation equipment.
Quaternary number in mathematics can be used to indicate that direction of rotation and related operation in three dimensions, be represented with Q；If Qh generations
Table header direction, Qd represent the direction of unstable system simulation equipment, then head is relative with unstable system simulation equipment
Direction Qr can be calculated with equation below and be obtained：
Qr=Qh*Qd-1。
Playing module 150, for when the head of the user does not rotate (when the head of user is towards dead ahead),
The virtual reality picture of positive angle is played to user then；
Picture adjustment module 140, for when the head of the user rotates, then according to the head orientation information
After adjusting virtual reality picture, when user is not located in the sensation simulation equipment for provide virtual reality innervation experiencing, according to institute
State head absolute orientation information and adjust virtual reality picture；When the sensation simulation that user is located at offer virtual reality innervation experiencing sets
When standby middle, virtual reality picture is adjusted according to the head relative orientation information；The playing module 150, is additionally operable to user
Play the virtual reality picture after rotating corresponding visual angle.
Specifically, // gyroscope, accelerometer, magnetometer data fusion void AHRSupdate (float gx, float
Gy, float gz, float ax, float ay, float az, float mx, float my, float mz) { float
norm；Float hx, hy, hz, bx, bz；Float vx, vy, vz, wx, wy, wz；//v* current poses calculate the gravity for getting
Component float ex on three axles, ey, ez；//auxiliary variables to reduce number of
Repeated operations float q0q0=q0*q0；Float q0q1=q0*q1；Float q0q2=q0*q2；
Float q0q3=q0*q3；Float q1q1=q1*q1；Float q1q2=q1*q2；Float q1q3=q1*q3；float
Q2q2=q2*q2；Float q2q3=q2*q3；Float q3q3=q3*q3；//normalise the measurements
Norm=sqrt (ax*ax+ay*ay+az*az)；Ax=ax/norm；Ay=ay/norm；Az=az/norm；Norm=sqrt
(mx*mx+my*my+mz*mz)；Mx=mx/norm；My=my/norm；Mz=mz/norm；//compute reference
Direction of magnetic field hx=2*mx* (0.5-q2q2-q3q3)+2*my* (q1q2-q0q3)+2*mz*
(q1q3+q0q2)；Hy=2*mx* (q1q2+q0q3)+2*my* (0.5-q1q1-q3q3)+2*mz* (q2q3-q0q1)；Hz=2*
mx*(q1q3-q0q2)+2*my*(q2q3+q0q1)+2*mz*(0.5-q1q1-q2q2)；Bx=sqrt ((hx*hx)+(hy*
hy))；Bz=hz；//estimated direction of gravity and magnetic field (v and w) // ginseng
Examine that coordinate n systems are transformed into carrier coordinate b systems with the 3rd row of direction cosine matrix that quaternary number is represented is.Weight after // process
Force component vx=2* (q1q3-q0q2)；Vy=2* (q0q1+q2q3)；Vz=q0q0-q1q1-q2q2+q3q3；After // process
Mag wx=2*bx* (0.5-q2q2-q3q3)+2*bz* (q1q3-q0q2)；Wy=2*bx* (q1q2-q0q3)+2*bz* (q0q1
+q2q3)；Wz=2*bx* (q0q2+q1q3)+2*bz* (0.5-q1q1-q2q2)；//error is sum of cross
product between reference direction of fields and direction measured by
Sensors is embodied in accelerometer compensation and magnetometer compensation, because relying solely on the variation that accelerometer compensation cannot correct Z axis,
So also needing to by magnetometer correct Z axis.(formula 28).
Computational methods are formula 10, as follows：
Ex=(ay*vz-az*vy)+(my*wz-mz*wy)；
Ey=(az*vx-ax*vz)+(mz*wx-mx*wz)；
Ez=(ax*vy-ay*vx)+(mx*wy-my*wx)；
ExInt=exInt+ex*Ki* (1.0f/sampleFreq)；
EyInt=eyInt+ey*Ki* (1.0f/sampleFreq)；
EzInt=ezInt+ez*Ki* (1.0f/sampleFreq)；
By error PI post-compensation to gyroscope, that is, compensate null offset.By adjusting two parameters of Kp, Ki, can control
Accelerometer amendment gyroscope integrates the speed of attitude.
Gx=gx+Kp*ex+exInt；
Gy=gy+Kp*ey+eyInt；
Gz=gz+Kp*ez+ezInt；
Q0=q0+ (- q1*gx-q2*gy-q3*gz) * halfT；
Q1=q1+ (q0*gx+q2*gz-q3*gy) * halfT；
Q2=q2+ (q0*gy-q1*gz+q3*gx) * halfT；
Q3=q3+ (q0*gz+q1*gy-q2*gx) * halfT；
Norm=sqrt (q0*q0+q1*q1+q2*q2+q3*q3)；
Q0=q0/norm；Q1=q1/norm；Q2=q2/norm；Q3=q3/norm；
As shown in Fig. 6, Fig. 7, Fig. 8, according to one embodiment of present invention, a kind of system of virtual reality picture, including
Display device is worn described in previous embodiment, also include the sensation simulation with device orientation acquisition module 210, communication module
Equipment；
The device orientation acquisition module 210 includes：Equipment gyroscope 211, is measured in real time using equipment gyroscope 211
Equipment direction of rotation and equipment rotational angle in the equipment absolute orientation information；The equipment gyroscope 211 is according to angle speed
Degree is calculated equipment rotational angle to time integral.Have a gyro inside gyroscope, its axle due to gyroscopic effect all the time
It is parallel with inceptive direction, thus direction of rotation and angle can be calculated by the deviation with inceptive direction；With reference to acceleration
Meter and Magnetic Sensor can obtain the angular relationship of 3-dimensional, and gyroscope can integrate the angular relationship for obtaining three-dimensional.
Equipment Acceleration meter 212, measures the sensation simulation equipment respectively in X, Y, Z using equipment Acceleration meter 212
Component angle on three axles, the component angle respectively in X, Y-axis of equipment gyroscope 211 described in correction-compensation.
Equipment Magnetic Sensor 213, obtains the angle in space three-dimensional using equipment Magnetic Sensor 213, equipment Acceleration meter 212
Degree relation, component angle of the equipment gyroscope 211 described in correction-compensation on Z axis.Gyroscope is believed at short notice, it is poor every three
Five ask accelerometer and Magnetic Sensor；Look at whether the angle of gyroscope occurs drift, and drifted about how many.
Specifically, computing module 130 in display device, picture adjustment module 140 are worn, computer can be arranged on
In；(head gyroscope 111, head acceleration meter 112, head magnetic are passed only to increase orientation acquisition module in display device is worn
Sensor is 113).
That wears display device realizes that principle is the eyes of wearer when wearer will wear display device and be applied to head
Front to have the display screen of suitable size, wearer will can only see picture shown in display screen, when display screen just exists
When the position display of the right and left eyes of wearer has relief right and left eyes picture, the scene that wearer sees will with it is real
The picture seen in that scene is the same, and such wearer visually just cannot be distinguished by whether this scene is virtual
's.When wearer's head is rotated, the built-in azimuthal measurement part of head-mounted display apparatus will measure current wearer's head
The direction of rotation in portion, while right and left eyes picture will be shown according to new cephalad direction on display screen, such wearer
Corresponding scene after rotatable head is can be appreciated that in virtual reality scenario, this can more strengthen sensation on the spot in person, while wearing
Wearer can rotate all angles that head watches virtual reality scenario.
Specifically, not only need to correct the various errors of gyroscope during attitude algorithm, in addition it is also necessary to update in real time
DCM.Matrix_update (delta_t) in AP_AHRS_DCM.cpp, is exactly real-time update DCM matrix.
It is exactly that gyro_vector twice is obtained by gyroscope first, is then averaged to reduce error；Then it is exactly to compare
More professional algorithm realization _ dcm_matrix.rotate ((_ omega+_omega_P+_omega_yaw_P) * _ G_Dt).Enter
Enter to have rotate () function in matrix3.cpp, the function is exactly to realize that the algorithm that DCM updates realizes that algorithm is mainly used
The output valve of gyroscope is added back in DCM again with the product of DCM matrixes, the concept of discretization used in processing procedure, i.e.,
Dcm (k+1)=dcm (k)+increment, because there is derivation in formula, it is necessary to could computer disposal after discretization.
It should be noted that above-described embodiment can independent assortment as needed.The above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, in the premise without departing from the principle of the invention
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (14)
1. a kind of display packing of virtual reality picture, it is characterised in that comprise the following steps：
S10, when user be located at provide virtual reality innervation experiencing sensation simulation equipment in when, the head of user described in Real-time Collection
Portion's azimuth information；
S21, the virtual reality picture that positive angle when the head of the user does not rotate, is then played to user；
S22, when the head of the user rotates, then according to the head orientation information adjust virtual reality picture after；
The virtual reality picture rotated behind corresponding visual angle is played to user.
2. the display packing of virtual reality picture as claimed in claim 1, it is characterised in that step S10 is further wrapped
Include：
Head absolute orientation information of the head of user described in S11, Real-time Collection relative to ground rotation；
Equipment absolute orientation information of the sensation simulation equipment described in S12, Real-time Collection relative to ground rotation；
S15, according to the head absolute orientation information, equipment absolute orientation information, calculate the head of the user relative to
The head relative orientation information of the sensation simulation equipment.
3. the display packing of virtual reality picture as claimed in claim 2, it is characterised in that step S11 is further wrapped
Include：
S111, end rotation direction and the head turn measured using head gyroscope in real time in the head absolute orientation information
Dynamic angle；
Step S12 is further included：
S121, equipment direction of rotation and the equipment turn measured using equipment gyroscope in real time in the equipment absolute orientation information
Dynamic angle.
4. the display packing of virtual reality picture as claimed in claim 3, it is characterised in that step S11 is further wrapped
Include：
S112, the component angle for measuring the head of the user respectively on tri- axles of X, Y, Z is measured using head acceleration, repaiied
Component angle of the head gyroscope respectively in X, Y-axis is being compensated just；
Step S12 is further included：
S122, using equipment Acceleration measure measure component angle of the sensation simulation equipment respectively on tri- axles of X, Y, Z,
The component angle respectively in X, Y-axis of equipment gyroscope described in correction-compensation.
5. the display packing of virtual reality picture as claimed in claim 3, it is characterised in that step S11 is further wrapped
Include：
S113, the angular relationship obtained using head Magnetic Sensor, head acceleration meter in space three-dimensional, head described in correction-compensation
Component angle of portion's gyroscope on Z axis；
Step S12 is further included：
S123, the angular relationship obtained using equipment Magnetic Sensor, equipment Acceleration meter in space three-dimensional, are set described in correction-compensation
Standby component angle of the gyroscope on Z axis.
6. the display packing of the virtual reality picture as described in Claims 2 or 3 or 4 or 5, it is characterised in that step S15
Further include：
S151, according to the head absolute orientation information, equipment absolute orientation information, and the computing rule of quaternary number；Calculate
Go out the head relative orientation information of the head relative to the sensation simulation equipment of the user.
7. the display packing of virtual reality picture as claimed in claim 6, it is characterised in that step S151 is further wrapped
Include：
S1511, attitude algorithm is carried out to the head absolute orientation information, equipment absolute orientation information, solve the head respectively
The direction cosine matrix that quaternary number is constituted in portion's absolute orientation information, equipment absolute orientation information；
S1512, according to the direction cosine matrix for solving, and the computing rule of quaternary number, by the head of the user relative to
The head absolute orientation information of ground rotation, is transformed into the head phase of the head relative to the sensation simulation equipment of the user
To azimuth information.
8. a kind of virtual reality picture comprising as described in any one in claim 1～7 wears display device, its feature
It is, including：
Head orientation acquisition module, it is for when user is located in the sensation simulation equipment for provide virtual reality innervation experiencing, real
When gather the head orientation information of the user；
Playing module, for when the head of the user does not rotate, then the virtual reality of positive angle being played to user
Picture；
Picture adjustment module, for when the head of the user rotates, then adjusting empty according to the head orientation information
After intending real picture；The playing module, is additionally operable to user play the virtual reality picture rotated behind corresponding visual angle.
9. virtual reality picture as claimed in claim 8 wears display device, it is characterised in that include：
The head orientation acquisition module, the head for being additionally operable to user described in Real-time Collection are absolute relative to the head of ground rotation
Azimuth information；
Data communication module, for receiving equipment absolute orientation of the sensation simulation equipment described in Real-time Collection relative to ground rotation
Information；
Computing module, for according to the head absolute orientation information, equipment absolute orientation information, calculating the head of the user
Head relative orientation information of the portion relative to the sensation simulation equipment.
10. virtual reality picture as claimed in claim 9 wears display device, it is characterised in that the head orientation is adopted
Collection module includes：
Head gyroscope, using head gyroscope measure in real time end rotation direction in the head absolute orientation information and
Head rotation angle；
The data communication module, is additionally operable to receive and is measured in the equipment absolute orientation information in real time using equipment gyroscope
Equipment direction of rotation and equipment rotational angle.
11. virtual reality pictures as claimed in claim 10 wear display device, it is characterised in that the head orientation is adopted
Collection module also includes：
Head acceleration meter, measured using head acceleration measure the head of the user respectively on tri- axles of X, Y, Z point
Measuring angle, the component angle respectively in X, Y-axis of head gyroscope described in correction-compensation；
The data communication module, be additionally operable to receive using equipment Acceleration measure measure the sensation simulation equipment respectively X,
Component angle on tri- axles of Y, Z, the component angle respectively in X, Y-axis of equipment gyroscope described in correction-compensation.
12. virtual reality pictures as claimed in claim 10 wear display device, it is characterised in that the head orientation is adopted
Collection module also includes：
Head Magnetic Sensor, obtains the angular relationship in space three-dimensional using head Magnetic Sensor, head acceleration meter, and amendment is mended
Repay component angle of the head gyroscope on Z axis；
The data communication module, is additionally operable to reception and is obtained in space three-dimensional using equipment Magnetic Sensor, equipment Acceleration meter
Angular relationship, component angle of the equipment gyroscope described in correction-compensation on Z axis.
13. virtual reality pictures as described in claim 9 or 10 or 11 or 12 wear display device, it is characterised in that：
The computing module, for according to the head absolute orientation information, equipment absolute orientation information, and the meter of quaternary number
Algorithm；Calculate the head relative orientation information of the head relative to the sensation simulation equipment of the user.
14. a kind of virtual reality picture comprising as described in any one in claim 8～13 wear display device be
System, it is characterised in that also include：For providing a user with the sensation simulation equipment of virtual reality innervation experiencing.
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