CN106597361A - Yaw angle determination method, device and system, and yaw angle correction system - Google Patents
Yaw angle determination method, device and system, and yaw angle correction system Download PDFInfo
- Publication number
- CN106597361A CN106597361A CN201611097189.6A CN201611097189A CN106597361A CN 106597361 A CN106597361 A CN 106597361A CN 201611097189 A CN201611097189 A CN 201611097189A CN 106597361 A CN106597361 A CN 106597361A
- Authority
- CN
- China
- Prior art keywords
- angle
- coordinate
- anchor points
- yaw angle
- horizontal coordinates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/789—Systems for determining direction or deviation from predetermined direction using rotating or oscillating beam systems, e.g. using mirrors, prisms
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a yaw angle determination method, device and system, and a yaw angle correction system. The yaw angle determination method is used for determine the yaw angle of a positioning device, and the positioning device includes two positioning points that are capable of receiving the positioning signals transmitted by a signal emitter. The determination method includes determining the coordinates of the two positioning points in a preset horizontal coordinate system; determining a first angle in the horizontal coordinate system according to the coordinates of the two positioning points; determining the yaw angle of the positioning device according to the first angle; wherein the position of the signal emitter is taken as the original point of the horizontal coordinate system, the first angle is the angle between the connecting line of the two positioning points in the horizontal coordinate system and the first coordinate axis of the horizontal coordinate system.
Description
Technical field
The present invention relates to location technology, more particularly to a kind of determination methods, devices and systems and yaw angle of yaw angle
Correction system.
Background technology
At present, some virtual reality (VR, Virtual Reality) equipment does not have interaction function, can only provide video, is
Expand the function of this part VR equipment, need to develop some auxiliary positioning equipment, show installed in the wear-type of VR equipment and set
On standby (hereinafter referred to as head shows), motion capture and spatial interaction are carried out such that it is able to auxiliary head is aobvious, such as carry out game operation.
User has on that head is aobvious can to carry out spatial interaction, as shown in figure 1, user can carry out the pitching (pitch) of three axles, deflection
(yaw), rolling (roll) motion, so as to form the corresponding angle of three below：The angle of pitch, yaw angle and roll angle.Wherein, bow
The elevation angle and roll angle are easier to determine, and the more difficult determination of yaw angle.
In some implementations, it is not provided with measuring the sensor of azimuth information on head is aobvious, accordingly, it would be desirable to pass through initial right
Accurately zeroing, then obtains yaw angle by the integration to gyroscope.In other implementations, head is aobvious itself to contain 9 axles
IMU (Inertial measurement unit, Inertial Measurement Unit) module, be calculated by magnetometer and gyroscope
Yaw angle.Aforesaid way all employ gyroscope integral operation to obtain yaw angle.However, integral operation can bring error, and
And the error can be over time accumulation and accumulate, ultimately result in the error of yaw angle too big and cannot use.In addition, though same
When coordinate to determine that yaw angle can reduce the error of yaw angle jointly using magnetometer and gyroscope, but magnetometer is easy to receive
To the impact of surrounding, when changing especially with environment, the error of magnetometer can further increase.Aforesaid way
Present in magnetometer and gyroscope error problem, can cause head display picture produce rotation, so as to affect user's body
Test.
The content of the invention
The following is the general introduction of the theme to describing in detail herein.This general introduction is not to limit the protection model of claim
Enclose.
The embodiment of the present invention provides a kind of determination methods, devices and systems of yaw angle and the correction system of yaw angle,
The calculation error of yaw angle can be reduced.
The embodiment of the present invention provides a kind of determination method of yaw angle, for determining the yaw angle of positioner, wherein, institute
Positioner is stated including two anchor points, described two anchor points can respectively receive the framing signal of signal projector transmitting；
The determination method includes：
Determine coordinate of described two anchor points in default horizontal coordinates；Wherein, with the signal projector institute
The origin of the horizontal coordinates is set in place；
In the horizontal coordinates, according to the coordinate of described two anchor points, first angle is determined；Wherein, described
One angle is between the line of two anchor points described in the horizontal coordinates and the first coordinate axess of the horizontal coordinates
Angle；
According to the first angle, the yaw angle of the positioner is determined.
Wherein, the framing signal of the signal projector transmitting can be rotary laser face signal；First coordinate axess
Can be the projection of the rotary shaft in horizontal plane of the framing signal, or, first coordinate axess can be parallel to the throwing
Shadow；The positive direction of first coordinate axess can determine according to the direction of rotation of the framing signal and right-hand screw rule；
Second coordinate axess of the horizontal coordinates can determine according to the right-hand rule and first coordinate axess.
Wherein, it is described in the horizontal coordinates, according to the coordinate of described two anchor points, determine first angle, can
To include：
It is described, according to the coordinate of described two anchor points, to calculate first angle in the horizontal coordinates, can wrap
Include：In the horizontal coordinates, with first coordinate axess as Y-axis, the second coordinate axess are X-axis, in the seat of two anchor points
When mark is respectively (x0, y0), (x1, y1), first angle is calculated according to following formula：β=arctan (| x0-x1 |/| y1-y0 |).
The embodiment of the present invention also provides a kind of determining device of yaw angle, for determining the yaw angle of positioner, wherein,
The positioner includes two anchor points, and described two anchor points can respectively receive the positioning letter of signal projector transmitting
Number；The determining device includes：
First processing module, for determining coordinate of described two anchor points in default horizontal coordinates；Wherein, with
The signal projector position is the origin of the horizontal coordinates；
Second processing module, in the horizontal coordinates, according to the coordinate of described two anchor points, determining first
Angle；Wherein, the first angle is the line of two anchor points described in the horizontal coordinates and the horizontal coordinates
The first coordinate axess between angle；
3rd processing module, for according to the first angle, determining the yaw angle of the positioner.
Wherein, the framing signal of the signal projector transmitting can be rotary laser face signal；First coordinate axess
Can be the projection of the rotary shaft in horizontal plane of the framing signal, or, first coordinate axess can be parallel to the throwing
Shadow；The positive direction of first coordinate axess can determine according to the direction of rotation of the framing signal and right-hand screw rule；
Second coordinate axess of the horizontal coordinates can determine according to the right-hand rule and first coordinate axess.
Wherein, the Second processing module, can be used in the following manner in the horizontal coordinates, according to described
The coordinate of two anchor points, determines first angle：
In the horizontal coordinates, with first coordinate axess as Y-axis, the second coordinate axess are X-axis, in two anchor points
Coordinate be respectively (x0, y0), (x1, y1) when, according to following formula calculate first angle：
β=arctan (| x0-x1 |/| y1-y0 |).
The embodiment of the present invention also provides a kind of determination system of yaw angle, including：Positioner, signal projector and partially
The determining device at boat angle；
Wherein, the positioner includes two anchor points, and described two anchor points can respectively receive signal projector
The framing signal of transmitting；
The determining device of the yaw angle, for determining seat of described two anchor points in default horizontal coordinates
Mark, according to the coordinate of described two anchor points, determines first angle, according to the first angle, determines the positioner
Yaw angle；Wherein, with origin that the signal projector position is the horizontal coordinates；The first angle is described
Angle between the line of two anchor points described in horizontal coordinates and the first coordinate axess of the horizontal coordinates.
Wherein, the framing signal of the signal projector transmitting can be rotary laser face signal；First coordinate axess
Can be the projection of the rotary shaft in horizontal plane of the framing signal, or, first coordinate axess can be parallel to the throwing
Shadow；The positive direction of first coordinate axess can determine according to the direction of rotation of the framing signal and right-hand screw rule；
Second coordinate axess of the horizontal coordinates can determine according to the right-hand rule and first coordinate axess.
Wherein, the determining device of the yaw angle can be also used in the following manner in the horizontal coordinates, root
According to the coordinate of described two anchor points, first angle is determined：
In the horizontal coordinates, with first coordinate axess as Y-axis, the second coordinate axess are X-axis, in two anchor points
Coordinate be respectively (x0, y0), (x1, y1) when, according to following formula calculate first angle：
β=arctan (| x0-x1 |/| y1-y0 |).
The embodiment of the present invention also provides a kind of correction system of yaw angle, including：Positioner, signal projector, driftage
The determining device and apparatus for correcting at angle；
Wherein, the positioner is installed on the target device, including two anchor points, and described two anchor points can divide
Not Jie Shou signal projector transmitting framing signal；
The determining device of the yaw angle, for determining seat of described two anchor points in default horizontal coordinates
Mark, according to the coordinate of described two anchor points, determines first angle, according to the first angle, determines the positioner
Yaw angle；Wherein, with origin that the signal projector position is the horizontal coordinates；The first angle is described
Angle between the line of two anchor points described in horizontal coordinates and the first coordinate axess of the horizontal coordinates；
The apparatus for correcting is used for the yaw angle of the positioner determined according to the determining device, corrects the target and sets
Standby yaw angle.
Wherein, the target device can be head-mounted display apparatus.
Wherein, the apparatus for correcting can be used for adopting iterative algorithm, be determined according to the determining device of the yaw angle
The yaw angle of positioner, corrects the yaw angle of the target device.
In the embodiment of the present invention, in default horizontal coordinates, according to the coordinate of two anchor points on positioner,
The calculating of yaw angle is carried out, so as to reduce the calculation error of yaw angle.
And, when positioner is arranged on target device, the yaw angle of positioner can be calculated, and according to positioning dress
The yaw angle put corrects the yaw angle of target device, so as to improve experience of the user to target device.
Other features and advantage will be illustrated in the following description, also, the partly change from description
Obtain it is clear that or being understood by implementing the application.The purpose of the application and other advantages can be by description, rights
Specifically noted structure is realizing and obtain in claim and accompanying drawing.
Description of the drawings
Accompanying drawing is used for providing further understanding technical scheme, and constitutes a part for description, with this
The embodiment of application is used to explain the technical scheme of the application together, does not constitute the restriction to technical scheme.
Fig. 1 is the schematic diagram of the angle of pitch, yaw angle and roll angle in correlation technique；
Fig. 2 is the flow chart of the determination method of the yaw angle that the embodiment of the present invention one is provided；
Fig. 3 is the schematic diagram calculation one of the first angle of the embodiment of the present invention one；
Fig. 4 is the schematic diagram calculation two of the first angle of the embodiment of the present invention one；
Fig. 5 is the application schematic diagram of the embodiment of the present invention one；
Fig. 6 is the schematic diagram of the determining device of the yaw angle that the embodiment of the present invention two is provided；
Fig. 7 is the schematic diagram of the determination system of the yaw angle that the embodiment of the present invention three is provided；
Fig. 8 is the schematic diagram of the correction system of the yaw angle that the embodiment of the present invention four is provided.
Specific embodiment
The embodiment of the present application is described in detail below in conjunction with accompanying drawing, it will be appreciated that embodiments described below is only
For instruction and explanation of the application, it is not used to limit the application.
It should be noted that the description and claims of this application and the term " first " in above-mentioned accompanying drawing, "
Two " it is etc. the object for distinguishing similar, without for describing specific order or precedence.
If it should be noted that not conflicting, each feature in the embodiment of the present application and embodiment can be tied mutually
Close, within the protection domain of the application.In addition, though logical order is shown in flow charts, but in some situations
Under, can be with the step shown or described by performing different from order herein.
Embodiment one
The present embodiment provides a kind of determination method of yaw angle, for determining the yaw angle of positioner.Wherein, positioning dress
Put including two anchor points, two anchor points can respectively receive the framing signal of signal projector transmitting.
As shown in Fig. 2 the determination method of the yaw angle of the present embodiment offer includes：
Step 201：Determine coordinate of two anchor points of positioner in default horizontal coordinates；
Step 202：In horizontal coordinates, according to the coordinate of two anchor points, first angle is determined；
Step 203：According to first angle, the yaw angle of positioner is determined.
Wherein, the horizontal coordinates of the present embodiment definition is parallel to horizontal plane, horizontal coordinates by a zero with
And two orthogonal coordinate axess (the first coordinate axess and the second coordinate axess) determine.Zero can be launched according to signal
Device position determines that such as, zero can be center or the center of gravity of signal projector.Wherein, with signal projector
Center of gravity position is the origin of horizontal coordinates；To preset, the setting means of the first coordinate axess can be with for first coordinate axess
Have various.
Wherein, in order to realize the space orientation of two anchor points, signal projector can launch one or more rotations and swash
Bright finish signal.As signal projector launches one or more rotary laser face framing signals, the rotation in one of rotary laser face
Rotating shaft is not perpendicular to horizontal plane, i.e., have an angle with horizontal plane or parallel to horizontal plane, then can preset the first coordinate
Axle is the projection of the rotary shaft in horizontal plane in the rotary laser face of framing signal, or, the first coordinate axess are parallel to the throwing
Shadow.
In this case horizontal coordinates can in the following manner be determined：
Direction of rotation and right-hand screw rule according to the framing signal of rotation transmitting, determines the pros of the first coordinate axess
To；
According to the right-hand rule and the first coordinate axess, the second coordinate axess of horizontal coordinates are determined.
As one or more rotary laser face framing signals are launched in signal projector rotation, wherein all rotary laser faces
Rotary shaft is each perpendicular to horizontal plane, then can pre-define a direction as the first coordinate axess, and first coordinate axess can basis
The structure and service condition of signal projector is determined, and further according to the right-hand rule and the first coordinate axess, determines horizontal coordinate
Second coordinate axess of system.
Framing signal such as signal projector transmitting is non-rotating lasing area signal, and such as ultrasonic signal now also may be used
To pre-define a direction as the first coordinate axess, first coordinate axess according to the structure of signal projector and can use feelings
Condition is determined, and further according to the right-hand rule and the first coordinate axess, determines the second coordinate axess of horizontal coordinates.
In some implementations, signal projector is, for example, cuboid, as shown in figure 5, default horizontal coordinates can be with
It is as described below：The origin of horizontal coordinates is the center of gravity of signal projector, and the first coordinate axess of horizontal coordinates (are for example referred to as Y
Axle) perpendicular to the side panel of signal projector, the second coordinate axess (being for example referred to as X-axis) perpendicular to the front panel of signal projector,
And the direction pointed on front side of front panel is the positive direction of the second coordinate axess；The positive direction of the first coordinate axess and the second coordinate axess are just
Direction meets the right-hand rule.By way of example only, the application is for signal projector for the signal projector of above-mentioned rectangular shape
Shape do not limit.In other implementations, signal projector can be the shapes such as cylinder, spheroid, then can have it
His method for defining horizontal coordinates.
In some implementations, signal projector can launch the framing signal of one or more type and (such as, only launch
Ultrasonic signal or laser signal, or both launched ultrasonic signal, also launch laser signal), each anchor point is provided with
The receptor of framing signal, for detecting framing signal.Positioner can be after anchor point receives framing signal, according to fixed
The framing signal that site receives determines the three dimensional space coordinate of anchor point；Or, anchor point can be with oneself according to framing signal
Reception condition, determine the three dimensional space coordinate of oneself.However, the application is not limited this.
In some implementations, positioner or anchor point can be in the three-dimensional coordinate systems consistent with horizontal coordinates
In carry out location Calculation；Such as, as Y-axis, the second coordinate axess are X-axis to the first coordinate axess with horizontal coordinates, and three dimensions are sat
Mark is to include as a example by X-axis, Y-axis, Z axis, now, the coordinate figure of z-component is removed from the three-dimensional coordinate of anchor point, you can with
To coordinate of the anchor point under horizontal coordinates.Or, positioner or anchor point can also be inconsistent with horizontal coordinates
Three-dimensional coordinate system in carry out location Calculation, at this time, it may be necessary to according to the conversion of horizontal coordinates and three-dimensional coordinate system
Relation, to the three-dimensional coordinate of anchor point the coordinate being converted under horizontal coordinates is carried out.
For example, in some implementations, signal projector can launch distance measuring signal (such as ultrasonic signal), with
And around the first rotary shaft (perpendicular to horizontal plane) and the second rotary shaft (parallel to horizontal plane) rotation transmitting two is orthogonal swashs
Bright finish signal；For each anchor point, positioner can receive moment, the signal projector of distance measuring signal according to anchor point
The moment of transmitting distance measuring signal and the transmission speed of distance measuring signal, determine the distance between anchor point and signal projector；Root
Be respectively received the moment of two lasing area signals according to anchor point and signal projector launch two lasing area signals when
Carve, calculate anchor point when receiving each lasing area signal, each lasing area signal and the first rotary shaft and the second rotary shaft institute
Determine the angle of plane；Based on a determination that distance and two angles can determine three of anchor point in three-dimensional coordinate system
Dimension coordinate.Wherein it is possible to using signal projector position as three-dimensional coordinate system origin, using the first rotary shaft as
Z axis, using the second rotary shaft as Y-axis, the direction for forming plane perpendicular to the first rotary shaft and the second rotary shaft is X-axis.
Wherein, when the X-axis of three-dimensional coordinate system (such as overlapping) consistent with the X-axis of the horizontal coordinates of the present embodiment, and three-dimensional space
Between coordinate system Y-axis (such as overlap) consistent with the Y-axis of the horizontal coordinates of the present embodiment when, can be by removing anchor point
Coordinate under the component of Z axis is to obtain horizontal coordinates in three-dimensional coordinate.However, the application does not limit the coordinate meter of anchor point
Calculation mode.In other implementations, signal projector can also launch other kinds of framing signal, and positioner can lead to
Cross other coordinate Computing Principles to determine the coordinate of anchor point.
Wherein, step 202 can include：
In horizontal coordinates, according to the coordinate of two anchor points, first angle is calculated；
Wherein, first angle be line and the horizontal coordinates of two anchor points in horizontal coordinates the first coordinate axess it
Between angle.
In the present embodiment, it is determined that after the coordinate of two anchor points in horizontal coordinates, it may be determined that first angle,
And according to first angle determining the yaw angle of positioner.
In some implementations, in horizontal coordinates, according to the coordinate of two anchor points, first angle is calculated, including：
In horizontal coordinates, with the first coordinate axess as Y-axis, the second coordinate axess are X-axis, in the coordinate point of two anchor points
Not Wei (x0, y0), (x1, y1) when, according to following formula calculate first angle：
β=arctan (| x0-x1 |/| y1-y0 |).
In some implementations, positioning dress can be determined according to first angle when first angle meets predetermined condition
The yaw angle put, wherein, predetermined condition can include：First angle is less than 30 degree or more than -30 degree.
Below with the first coordinate axess as Y-axis, the second coordinate axess are X-axis, the coordinate of two anchor points in horizontal coordinates
As a example by A (x0, y0), B (x1, y1), with reference to Fig. 3 and Fig. 4 the Computing Principle of first angle is illustrated.
As shown in figure 3, when x0 is more than x1, now defining β (i.e. aforesaid first angle) for vectorAnd vector
Angle, then can obtain：
By tan β=(x0-x1)/(y1-y0),
β=arctan ((x0-x1)/(y1-y0)) is obtained,
It is determined that now the yaw angle of positioner is β.
As shown in figure 4, when x0 is less than x1, defining β (i.e. aforesaid first angle) for vectorAnd vectorFolder
Angle, then can obtain：
By tan β=(x1-x0)/(y1-y0),
β=arctan ((x1-x0)/(y1-y0)) is obtained,
It is determined that now the yaw angle of positioner is-β.
In addition, when x0 is equal to x1, i.e. when anchor point A and B is located at a straight line, β=0.
It should be noted that first angle β is by arctan ((x0-x1)/(y1-y0)) or arctan ((x1-
X0)/(y1-y0)) obtain, therefore, when y1-y0 is less, the error of calculating can become big.When generally β is less than 30 °, this reality
The effect for applying the determination method of example is preferable.
It should be noted that the determination method of the present embodiment can be by the control module in positioner (such as, with meter
Calculate the chip of function) perform, it is also possible to performed by the mobile terminal that there is communication connection with positioner, such as, and mobile terminal
Coordinate of two anchor points in horizontal coordinates is obtained by radio communication, goniometer is carried out according to the coordinate of two anchor points
Calculate.However, the application is not limited this.
In some implementations, the determination method that the present embodiment is provided can be carried out periodically, such as, perform one within one second
The determination process of secondary yaw angle.However, the application is not limited this.
In sum, the coordinate that the present embodiment passes through two anchor points in default horizontal coordinates, calculates corresponding
Angle, to realize determining the yaw angle of positioner.
Embodiment two
The present embodiment provides a kind of determining device of yaw angle, for determining the yaw angle of positioner, wherein, positioning dress
Put including two anchor points A, B, two anchor points can respectively receive the framing signal of signal projector transmitting.
As shown in fig. 6, the determining device of the yaw angle of the present embodiment offer includes：
First processing module 601, for determining coordinate of two anchor points in default horizontal coordinates；Wherein, with
Signal projector position is the origin of horizontal coordinates；
Second processing module 602, in horizontal coordinates, according to the coordinate of two anchor points, determining first angle；
Wherein, first angle is the angle in horizontal coordinates between the line of two anchor points and the first coordinate axess of horizontal coordinates
Degree；
3rd processing module 603, for according to first angle, determining the yaw angle of positioner.
The determining device that the present embodiment is provided can be arranged in positioner, it is also possible to be arranged on and existed with positioner
In the mobile terminal of communication connection.When the determining device of the present embodiment is arranged in positioner, first processing module 601 can
With the framing signal received according to two anchor points, coordinate of two anchor points in default horizontal coordinates is calculated；Or,
The three dimensional space coordinate that directly can also be had determined from two anchor point acquisitions, determines that anchor point exists according to three dimensional space coordinate
Coordinate in default horizontal coordinates.When the determining device of the present embodiment is arranged on mobile terminal, first processing module 601
Coordinate that can be from two anchor points of positioner direct access in horizontal coordinates, or, it is also possible to obtain from positioner
The three dimensional space coordinate having determined is taken, coordinate of the anchor point in horizontal coordinates is determined according to three dimensional space coordinate.However,
The application is not limited this.
In some implementations, if framing signal is rotary laser face signal of the rotary shaft non-perpendicular to horizontal plane,
First coordinate axess are the projection of the rotary shaft in horizontal plane of framing signal, or, the first coordinate axess are parallel to the projection；First
Direction of rotation and right-hand screw rule determination of the positive direction of coordinate axess according to the framing signal of rotation transmitting；Horizontal coordinates
The second coordinate axess determined according to the right-hand rule and the first coordinate axess.
In some implementations, Second processing module 602, in the following manner in horizontal coordinates, according to two
The coordinate of individual anchor point, calculates first angle：
In horizontal coordinates, with the first coordinate axess as Y-axis, the second coordinate axess are X-axis, in the coordinate point of two anchor points
Not Wei A (x0, y0), B (x1, y1) when, according to following formula calculate first angle：
β=arctan (| x0-x1 |/| y1-y0 |).
In some implementations, Second processing module 602, for when first angle meets predetermined condition, according to first
Angle, determines the yaw angle of positioner, wherein, predetermined condition can include：First angle is less than 30 degree.
When x0 is more than x1, the yaw angle for determining positioner is β；When x0 is less than x1, the driftage of positioner is determined
Angle is-β.
The concrete processing procedure of the determining device provided with regard to the present embodiment is referred to the determination side of the description of embodiment one
Method, therefore repeat no more in this.
Embodiment three
The present embodiment provides a kind of determination system of yaw angle, as shown in fig. 7, comprises：
The determining device 703 of positioner 702, signal projector 701 and yaw angle；
Wherein, positioner 702 includes two anchor points, and two anchor points can respectively receive signal projector 701
The framing signal penetrated；
The determining device 703 of yaw angle, for determining coordinate of two anchor points in default horizontal coordinates；In water
In flat coordinate system, according to the coordinate of two anchor points, first angle is determined；According to first angle, the driftage of positioner is determined
Angle；Wherein, the origin with the position of signal projector 701 as horizontal coordinates；First angle is two in horizontal coordinates
Angle between the line of anchor point and the first coordinate axess of horizontal coordinates.
In the present embodiment, the determining device 703 of yaw angle can be arranged independently of positioner 702, such as be arranged on
Positioner 702 is present on the mobile terminal of communication connection, or, the determining device 703 of yaw angle can also be with positioner
702 are wholely set.However, the application is not limited this.
In some implementations, the determining device 703 of yaw angle is additionally operable to determine horizontal coordinates in the following manner：
If framing signal is rotary laser face signal of the rotary shaft non-perpendicular to horizontal plane, the first coordinate axess are the rotation of framing signal
Rotating shaft horizontal plane projection, or, the first coordinate axess are parallel to the projection；According to the direction of rotation and the right side of framing signal
Handss screw rule, determines the positive direction of the first coordinate axess；According to the right-hand rule and the first coordinate axess, horizontal coordinates is determined
Second coordinate axess.
In some implementations, the determining device 703 of yaw angle is additionally operable in the following manner in horizontal coordinates, root
According to the coordinate of two anchor points, first angle is determined：
In horizontal coordinates, with the first coordinate axess as Y-axis, the second coordinate axess are X-axis, in the coordinate point of two anchor points
Not Wei A (x0, y0), B (x1, y1) when, according to following formula calculate first angle：
β=arctan (| x0-x1 |/| y1-y0 |).
When x0 is more than x1, the yaw angle for determining positioner is β；When x0 is less than x1, the driftage of positioner is determined
Angle is-β.
In some implementations, the determining device 703 of yaw angle, for when first angle meets predetermined condition, according to
First angle determines the yaw angle of positioner, wherein, predetermined condition can include：First angle is less than 30 degree.
The concrete processing procedure of the determination system provided with regard to the present embodiment is referred to the determination side of the description of embodiment one
Method, therefore repeat no more in this.
Example IV
The present embodiment provides a kind of correction system of yaw angle, as shown in figure 8, including：
Positioner 802, the determining device 803 of signal projector 801, yaw angle and apparatus for correcting 804；
Wherein, positioner 802 is installed on the target device, including two anchor points A, B, and two anchor points can be respectively
Receive the framing signal of the transmitting of signal projector 801；
The concrete processing procedure of the determining device 803 of yaw angle is referred to the determination system of the description of embodiment three, here
Repeat no more.
Apparatus for correcting 804 is used for the yaw angle that obtains according to the determining device 803 of yaw angle carries out the driftage of target device
The correction at angle, wherein, the mode of correction can be that iteration correction or the direct yaw angle obtained with determining device 803 replace
The calculated yaw angle of target device itself.
The apparatus for correcting 804 of the present embodiment for example can apply to the head of VR equipment and show.As shown in figure 5, the aobvious upper installation of head
There is positioner, and positioner includes two anchor points A, B, there is certain distance between two anchor points.In the present embodiment
In, it is determined that after the yaw angle of positioner 802, the computing module or head of upper configuration can be shown by the yaw angle and by head
The yaw angle that the computing module configured on the aobvious upper mobile phone installed draws is compared.If there is difference, then by positioning dress
The yaw angle for putting 802 goes to be corrected, and the method for correction can directly be substituted, or rectified by iterative algorithm
Just.Wherein, the application is not limited for the iterative algorithm for being adopted.
Head is aobvious upper with display screen, and the display of picture on display screen has a coordinate axess, is carried out by apparatus for correcting 804
Correction, the coordinate axess of the coordinate axess of picture on display screen and yaw angle determining device 803 is matched, when positioner 802
When yaw angle with the first coordinate axess is β, head is it is shown that turn over the picture of β angles.Specifically, as shown in figure 5, positioning
The yaw angle of the coordinate axess of device 802 and first is 0 °, and it is 0 ° that the picture that the display screen that now head shows shows should be yaw angle
Picture, if it is not, then need corrected so as to the picture of display is the picture that yaw angle is 0 °；Head is shown to moving to left
Dynamic, such as when going to position as shown in Figure 3, the picture that the display screen that now head shows shows should be the picture that yaw angle is β
Face, if it is not, then needing to be corrected so as to which the picture of display is the picture that yaw angle is β；Head is shown and is moved right, example
When such as going to position as shown in Figure 4, the picture that the display screen that now head shows shows should be the picture that yaw angle is-β, such as
Fruit is not then to need to be corrected so as to which the picture of display is the picture that yaw angle is-β.
Head is fixed on according to positioner 802 to show, the aobvious driftage of head is further corrected by the yaw angle of positioner 802
Angle, making the image of head display will not shift because head shows the error that gyroscope is calculated in upper computing module, so as to improve
Consumer's Experience.
It should be noted that when first angle β is calculated, if the distance of two anchor points in horizontal coordinates compared with
Little, calculation error can be larger.Therefore, in practical application, the distance between two anchor points can be set and meets predetermined value, with
Guarantee that distance of two anchor points in horizontal coordinates will not be too small, generally this distance is set greater than or equal to 20cm.
Additionally, the embodiment of the present invention also provides a kind of computer-readable recording medium, be stored with computer executable instructions,
The computer executable instructions are when executed by realizing the determination method of above-mentioned yaw angle.
One of ordinary skill in the art will appreciate that all or part of step in said method can be instructed by program
Related hardware (such as processor) is completed, and described program can be stored in computer-readable recording medium, such as read only memory,
Disk or CD etc..Alternatively, all or part of step of above-described embodiment can also be come using one or more integrated circuits
Realize.Correspondingly, each module/unit in above-described embodiment can be realized in the form of hardware, such as by integrated circuit
To realize its corresponding function, it would however also be possible to employ the form of software function module is realized, is such as stored in by computing device
Program/instruction in reservoir is realizing its corresponding function.The application is not restricted to the knot of the hardware and software of any particular form
Close.
The ultimate principle and principal character of the application and the advantage of the application has been shown and described above.The application is not by upper
State the restriction of embodiment, the principle for simply illustrating the application described in above-described embodiment and description, without departing from the application
On the premise of spirit and scope, the application also has various changes and modifications, and these changes and improvements both fall within claimed
In the range of the application.
Claims (10)
1. a kind of determination method of yaw angle, it is characterised in that for determining the yaw angle of positioner, wherein, the positioning
Device includes two anchor points, and described two anchor points can respectively receive the framing signal of signal projector transmitting；It is described true
The method of determining includes：
Determine coordinate of described two anchor points in default horizontal coordinates；Wherein, it is in place with signal projector institute
It is set to the origin of the horizontal coordinates；
In the horizontal coordinates, according to the coordinate of described two anchor points, first angle is determined；Wherein, described first jiao
Spend for the angle between the line of two anchor points described in the horizontal coordinates and the first coordinate axess of the horizontal coordinates
Degree；
The yaw angle of the positioner is determined according to the first angle.
2. the determination method of yaw angle according to claim 1, it is characterised in that the positioning of the signal projector transmitting
Signal is rotary laser face signal；First coordinate axess are the projection of the rotary shaft in horizontal plane of the framing signal, or,
First coordinate axess are parallel to the projection；Direction of rotation of the positive direction of first coordinate axess according to the framing signal
And right-hand screw rule determines；Second coordinate axess of the horizontal coordinates are according to the right-hand rule and first coordinate axess
It is determined that.
3. the determination method of yaw angle according to claim 1, it is characterised in that described in the horizontal coordinates,
According to the coordinate of described two anchor points, first angle is determined, including：
In the horizontal coordinates, with first coordinate axess as Y-axis, the second coordinate axess are X-axis, in the seat of two anchor points
When mark is respectively (x0, y0), (x1, y1), first angle is calculated according to following formula：
β=arctan (| x0-x1 |/| y1-y0 |).
4. a kind of determining device of yaw angle, it is characterised in that for determining the yaw angle of positioner, wherein, the positioning
Device includes two anchor points, and described two anchor points can respectively receive the framing signal of signal projector transmitting；It is described true
Determining device includes：
First processing module, for determining coordinate of described two anchor points in default horizontal coordinates；Wherein, with described
Signal projector position is the origin of the horizontal coordinates；
Second processing module, in the horizontal coordinates, according to the coordinate of described two anchor points, determines first jiao
Degree；Wherein, the first angle is the line of two anchor points described in the horizontal coordinates and the horizontal coordinates
Angle between first coordinate axess；
3rd processing module, for according to the first angle, determining the yaw angle of the positioner.
5. the determining device of yaw angle according to claim 4, it is characterised in that the Second processing module, for leading to
In the following manner is crossed in the horizontal coordinates, according to the coordinate of described two anchor points, first angle is determined：
In the horizontal coordinates, with first coordinate axess as Y-axis, the second coordinate axess are X-axis, in the seat of two anchor points
When mark is respectively (x0, y0), (x1, y1), first angle is calculated according to following formula：
β=arctan (| x0-x1 |/| y1-y0 |).
6. the determination system of a kind of yaw angle, it is characterised in that include：Positioner, signal projector and yaw angle are really
Determine device；
Wherein, the positioner includes two anchor points, and described two anchor points can respectively receive signal projector transmitting
Framing signal；
The determining device of the yaw angle, for determining coordinate of described two anchor points in default horizontal coordinates, root
According to the coordinate of described two anchor points, first angle is determined, according to the first angle, determine the driftage of the positioner
Angle；Wherein, with origin that the signal projector position is the horizontal coordinates；The first angle is the level
Angle between the line of two anchor points described in coordinate system and the first coordinate axess of the horizontal coordinates.
7. the determination system of yaw angle according to claim 6, it is characterised in that the determining device of the yaw angle is also used
In the horizontal coordinates, according to the coordinate of described two anchor points, determine first angle in the following manner：
In the horizontal coordinates, with first coordinate axess as Y-axis, the second coordinate axess are X-axis, in the seat of two anchor points
When mark is respectively (x0, y0), (x1, y1), first angle is calculated according to following formula：
β=arctan (| x0-x1 |/| y1-y0 |).
8. a kind of correction system of yaw angle, it is characterised in that include：Positioner, signal projector, the determination dress of yaw angle
Put and apparatus for correcting；
Wherein, the positioner is installed on the target device, including two anchor points, and described two anchor points can connect respectively
Receive the framing signal of signal projector transmitting；
The determining device of the yaw angle, for determining coordinate of described two anchor points in default horizontal coordinates, root
According to the coordinate of described two anchor points, first angle is determined, according to the first angle, determine the driftage of the positioner
Angle；Wherein, with origin that the signal projector position is the horizontal coordinates；The first angle is the level
Angle between the line of two anchor points described in coordinate system and the first coordinate axess of the horizontal coordinates；
The apparatus for correcting is used for the yaw angle of the positioner determined according to the determining device, corrects the target device
Yaw angle.
9. the correction system of yaw angle according to claim 8, it is characterised in that the target device shows for wear-type
Equipment.
10. the correction system of yaw angle according to claim 8, it is characterised in that the apparatus for correcting is used for using changing
For algorithm, the yaw angle of the positioner determined according to the determining device of the yaw angle corrects the driftage of the target device
Angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611097189.6A CN106597361B (en) | 2016-12-02 | 2016-12-02 | Method, device and system for determining yaw angle and system for correcting yaw angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611097189.6A CN106597361B (en) | 2016-12-02 | 2016-12-02 | Method, device and system for determining yaw angle and system for correcting yaw angle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106597361A true CN106597361A (en) | 2017-04-26 |
| CN106597361B CN106597361B (en) | 2020-04-21 |
Family
ID=58596869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611097189.6A Active CN106597361B (en) | 2016-12-02 | 2016-12-02 | Method, device and system for determining yaw angle and system for correcting yaw angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106597361B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009294128A (en) * | 2008-06-06 | 2009-12-17 | Visuatool Inc | Three-dimensional measuring system, measuring terminal, measuring method of three-dimensional shape, and total station |
| CN102149041A (en) * | 2010-12-31 | 2011-08-10 | 王斌 | Equipment and method for positioning spatial orientation and marking additional information |
| CN103267524A (en) * | 2013-04-24 | 2013-08-28 | 华中科技大学 | Wearable personnel gait-detection indoor-positioning system and method therefor |
| CN104394376A (en) * | 2014-12-08 | 2015-03-04 | 段然 | Method for overcoming instability of wearing video recording device images |
| CN104857704A (en) * | 2015-06-11 | 2015-08-26 | 苏州百源软件设计有限公司 | Wearable virtual reality motion helmet and wearable virtual action game system |
| CN105136128A (en) * | 2015-08-27 | 2015-12-09 | 中国航天空气动力技术研究院 | Airframe structure measuring method based on two-point positioning |
| CN105278454A (en) * | 2015-11-05 | 2016-01-27 | 合肥图迅电子科技有限公司 | Robot hand-eye positioning algorithm based on mechanical arm visual positioning system |
| CN105403859A (en) * | 2015-11-09 | 2016-03-16 | 深圳市中科鸥鹏智能科技有限公司 | Robot positioning method and device |
| CN106095113A (en) * | 2016-06-27 | 2016-11-09 | 南京睿悦信息技术有限公司 | The measuring and calculating of user's attitude and the virtual reality follow-up method that a kind of nine axle sensors merge |
-
2016
- 2016-12-02 CN CN201611097189.6A patent/CN106597361B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009294128A (en) * | 2008-06-06 | 2009-12-17 | Visuatool Inc | Three-dimensional measuring system, measuring terminal, measuring method of three-dimensional shape, and total station |
| CN102149041A (en) * | 2010-12-31 | 2011-08-10 | 王斌 | Equipment and method for positioning spatial orientation and marking additional information |
| CN103267524A (en) * | 2013-04-24 | 2013-08-28 | 华中科技大学 | Wearable personnel gait-detection indoor-positioning system and method therefor |
| CN104394376A (en) * | 2014-12-08 | 2015-03-04 | 段然 | Method for overcoming instability of wearing video recording device images |
| CN104857704A (en) * | 2015-06-11 | 2015-08-26 | 苏州百源软件设计有限公司 | Wearable virtual reality motion helmet and wearable virtual action game system |
| CN105136128A (en) * | 2015-08-27 | 2015-12-09 | 中国航天空气动力技术研究院 | Airframe structure measuring method based on two-point positioning |
| CN105278454A (en) * | 2015-11-05 | 2016-01-27 | 合肥图迅电子科技有限公司 | Robot hand-eye positioning algorithm based on mechanical arm visual positioning system |
| CN105403859A (en) * | 2015-11-09 | 2016-03-16 | 深圳市中科鸥鹏智能科技有限公司 | Robot positioning method and device |
| CN106095113A (en) * | 2016-06-27 | 2016-11-09 | 南京睿悦信息技术有限公司 | The measuring and calculating of user's attitude and the virtual reality follow-up method that a kind of nine axle sensors merge |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106597361B (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10282915B1 (en) | Superimposition device of virtual guiding indication and reality image and the superimposition method thereof | |
| CN101619974B (en) | Orientation-following display apparatus, orientation-following display method | |
| US9223408B2 (en) | System and method for transitioning between interface modes in virtual and augmented reality applications | |
| CN110927708B (en) | Calibration method, device and equipment of intelligent road side unit | |
| US7768527B2 (en) | Hardware-in-the-loop simulation system and method for computer vision | |
| US9070219B2 (en) | System and method for presenting virtual and augmented reality scenes to a user | |
| US10841570B2 (en) | Calibration device and method of operating the same | |
| CN110100151A (en) | The system and method for global positioning system speed is used in vision inertia ranging | |
| US20060227211A1 (en) | Method and apparatus for measuring position and orientation | |
| CN104296776A (en) | System and method for magnetometer calibration and compensation | |
| WO2012034092A1 (en) | Online reference generation and tracking for multi-user augmented reality | |
| CN110515110B (en) | Method, device, equipment and computer readable storage medium for data evaluation | |
| CN108958462A (en) | A kind of methods of exhibiting and device of virtual objects | |
| CN111080704B (en) | Video augmented reality method and device | |
| CN108344401A (en) | Localization method, device and computer readable storage medium | |
| CN108153417B (en) | Picture compensation method and head-mounted display device adopting same | |
| US20170069133A1 (en) | Methods and Systems for Light Field Augmented Reality/Virtual Reality on Mobile Devices | |
| CN106646349A (en) | Deviation angle determination method, deviation angle determination device, deviation angle determination system and deviation angle correction system | |
| JPH11211474A (en) | Attitude angle detecting device | |
| JP2001208529A (en) | Measuring apparatus, control method thereof and memory medium | |
| CN109241233A (en) | A kind of coordinate matching method and device | |
| JP3848092B2 (en) | Image processing apparatus and method, and program | |
| CN106597361A (en) | Yaw angle determination method, device and system, and yaw angle correction system | |
| CN115164823B (en) | Method and device for acquiring gyroscope information of camera | |
| CN113566847A (en) | Navigation calibration method and device, electronic equipment and computer readable medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221018 Address after: Room 82, 7th Floor, Building 5, Yard 30, Shixing Street, Shijingshan District, Beijing 100041 Patentee after: LINGYU TECHNOLOGY (BEIJING) Co.,Ltd. Address before: 100086 15b, 12 / F, building 3, 48 North Third Ring Road West, Haidian District, Beijing Patentee before: NOLO Co.,Ltd. |