CN106597373A - Virtual reality positioning system, positioning method and positioning device based on virtual reality positioning system - Google Patents
Virtual reality positioning system, positioning method and positioning device based on virtual reality positioning system Download PDFInfo
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- CN106597373A CN106597373A CN201610919859.1A CN201610919859A CN106597373A CN 106597373 A CN106597373 A CN 106597373A CN 201610919859 A CN201610919859 A CN 201610919859A CN 106597373 A CN106597373 A CN 106597373A
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- beacon
- conduction chain
- beacons
- virtual reality
- coordinate system
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention discloses a virtual reality positioning system, a positioning method and a positioning device based on the virtual reality positioning system. The virtual reality positioning system comprises a plurality of beacons, and different beacons have different light source frequencies. The coverage area of every beacon is superposed with the coverage area of at least another beacon, and all of the coverage areas of the plurality of beacons are used to form a communicated figure. By adopting the technical scheme provided by the invention, accurate virtual reality positioning is realized at any size and in any geometric space.
Description
Technical field
The present invention relates to technical field of virtual reality, more particularly to a kind of virtual reality alignment system, based on the system
Localization method and device.
Background technology
Virtual reality (Virtual Reality, abbreviation VR) technology is an important directions of emulation technology, and it is mainly wrapped
Simulated environment, perception, the natural aspect such as technical ability and sensing equipment are included, it is that a kind of utilization computer realizes Multi-source Information Fusion
Interactively Three-Dimensional Dynamic what comes into a driver's and the system simulation technology of entity behavior.User can be in the virtual of virtual reality technology establishment
Interactive Experience effect true to nature is obtained in the world.In order to realize the interaction with user, virtual reality technology can pass through cognition technology
The information such as action and sound to catch user is carried out identifying user and is intended to, and then makes accordingly to user in virtual world
Feedback.
Cognition technology the more commonly used at present is based primarily upon laser positioning technology or infrared optics location technology to realize.
By taking laser positioning technology as an example, by particular space installing multiple devices for launching laser in advance, to the particular space
The transmitting laser that anyhow both direction is strafed, arranges multiple laser induced receivers with user, arrived by calculating two-beam line
The three-dimensional coordinate of user is obtained up to the differential seat angle of user, when the user is mobile the three-dimensional coordinate also can and then change, so as to obtain
The action message of user is obtained, the motion capture to user is completed.This technical scheme can be moved to a certain extent to user
It is tracked seizure.But, this location technology based on laser scanning is likely to occur in practical application cannot be to larger
Space carries out the problem of precise positioning.
Trace it to its cause, be that the laser launched due to the beacon for launching laser or synchronizable optical occur decay, lead
Single beacon is caused to cover king-sized region (for example, at present than more typical beacon coverage be about 5x5 rice or so),
The existing laser positioning technology based on time-sharing multiplex can only at most support 2 beacons or 4 beacon synchronous operations, it is difficult to will
Laser scanning scope covers greater room.
To solve the problems, such as above-mentioned Space Expanding, prior art would generally be by multiple beacons according to specific relative pattern (example
Such as, square) put, and by force the scan mode and rhythm of unified these beacons disturbs letter to avoid being produced in intersection region
Number, so as to realize the splicing of many beacons and the expansion in space.But, such method is simply by original square region machinery
Spelling is connect, to beacon also very high using front installation and positioning requirements, for some places are not very regular or are hidden
The complex region of blend stop part cannot still carry out precise positioning.Further, this technical scheme cannot also meet some spies
The application demand of different property, for example, for perceived point requires by plural beacon the application requirement while being irradiated to, due to
Existing technical scheme has unified by force the scanning rhythm of multiple beacons in order to avoid the signal of intersection region is disturbed, and causes existing
Some technical schemes cannot meet this application requirement.
At this stage, in most cases, the virtual reality location technology based on laser scanning is in order to expanded sweep
Space, is generally put and is unified by force the scan mode and rhythm of beacon by beacon by specific relative pattern.But, it is such
Technical scheme is scanned region is irregular or during complex obstruction conditions, possibly cannot accurately carry out virtual reality
Positioning, is unfavorable for popularizing for virtual reality technology.
The content of the invention
Present invention solves the technical problem that being that prior art cannot be irregular in scanned region or obstruction conditions are more multiple
The problem of virtual reality positioning is accurately carried out when miscellaneous.
To solve above-mentioned technical problem, the embodiment of the present invention provides a kind of virtual reality alignment system, including：Multiple lamps
Tower, different beacon has different light source frequencies；Wherein, the coverage of each beacon and other at least one beacons cover
Lid overlapping ranges, and whole coverages of the plurality of beacon are connection figure.
Optionally, the light source of the plurality of beacon includes infrared laser light source.
The embodiment of the present invention also provides a kind of localization method based on the virtual reality alignment system, including following step
Suddenly：Determine the conduction chain between the respective local coordinate system of the plurality of beacon, the conduction chain is used to represent different beacons
Transformational relation between local coordinate system；When sensed body is moved, determine in sensed body and the plurality of beacon at least
The relative position relation of one beacon, the relative position relation is represented based on the local coordinate system of at least one beacon；
According to the relative position relation and the conduction chain of the sensed body, the sensed body is positioned.
Optionally, determine the conduction chain between the respective local coordinate system of the plurality of beacon, comprise the steps：According to
The overlapping region of the coverage of the plurality of beacon determines the conduction chain.
Optionally, the overlapping region in the coverage of the plurality of beacon determines the conduction chain, including as follows
Step：The point being irradiated in the overlapping region while by most quantity beacons is selected as induction point, most quantity lamps
Tower is designated as the first beacon set, and the beacon in the plurality of beacon in addition to most quantity beacons is designated as the second beacon collection
Close；The relative position relation between each beacon in the induction point and the first beacon set is determined, to set up described first
Conduction chain in beacon set between the local coordinate system of each beacon；For each beacon in the second beacon set, choosing
The point in the beacon and the overlapping region of the coverage of arbitrary beacon in the first beacon set is selected as the induction point,
With the conduction chain between the local coordinate system of each beacon in setting up the beacon and the first beacon set.
The embodiment of the present invention also provides a kind of positioner based on the virtual reality alignment system, including：Conduction chain
Determining module, for determining the conduction chain between the respective local coordinate system of the plurality of beacon, the conduction chain is used to represent
Transformational relation between the local coordinate system of different beacons；Relative position relation determining module, when the sensed body is moved,
Determine the relative position relation of at least one of sensed body and the plurality of beacon beacon, the relative position relation is based on
The local coordinate system of at least one beacon is represented；Locating module, for according to the relative position relation of the sensed body
With the conduction chain, the sensed body is positioned.
Optionally, the conduction chain determining module includes：Conduction chain determination sub-module, for according to the plurality of beacon
The overlapping region of coverage determines the conduction chain.
Optionally, the conduction chain determination sub-module includes：First induction point select unit, for selecting the overlay region
Used as induction point, most quantity beacons are designated as the first beacon set to the point being irradiated to by most quantity beacons simultaneously in domain,
Beacon in the plurality of beacon in addition to most quantity beacons is designated as the second beacon set；Relative position relation determines single
Unit, it is described to set up for the relative position relation between each beacon in determining the induction point and the first beacon set
Conduction chain in first beacon set between the local coordinate system of each beacon；Second induction point select unit, for described second
Each beacon in beacon set, selects the overlay region of the beacon and the coverage of arbitrary beacon in the first beacon set
Point in domain as the induction point, with set up the beacon and each beacon in the first beacon set local coordinate system it
Between conduction chain.
Compared with prior art, the technical scheme of the embodiment of the present invention has the advantages that：
In the virtual reality alignment system of multiple beacons composition, different beacons has different light source frequencies so that institute
Stating virtual reality alignment system can realize being used in combination for multiple beacons, and based on the beacon location technology of frequency division multiplexing thing is determined
Reason space and the unique corresponding relation of Virtual Space；Wherein, the coverage of each beacon and other at least one beacons cover
Lid overlapping ranges, and whole coverages of the plurality of beacon are connection figure, to support to virtual reality located space
Any expansion.Than the beacon location technology of existing time-sharing multiplex, arbitrary dimension and geometric space can be effectively supported
Virtual reality alignment system, preferably improves the positioning precision of virtual reality, and fully expanding can located space.
Further, according to the conduction chain between the respective local coordinate system of the plurality of beacon, when sensed body is moved
Determine the relative position relation of at least one of sensed body and the plurality of beacon beacon, and according to the sensed body
Relative position relation and the conduction chain positioning to the sensed body, so as to can under the support of the conduction chain
Lasting, accurate virtual reality positioning is carried out to the sensed body, the quilt in the arbitrary dimension and geometric space is obtained
The elaborate position information of inductor.
Description of the drawings
Fig. 1 is a kind of schematic diagram of virtual reality alignment system of the first embodiment of the present invention；
Fig. 2 is a kind of flow process of localization method based on the virtual reality alignment system of the second embodiment of the present invention
Figure；And
Fig. 3 is a kind of structure of positioner based on the virtual reality alignment system of the third embodiment of the present invention
Schematic diagram.
Specific embodiment
It will be appreciated by those skilled in the art that as stated in the Background Art, prior art is in the beacon positioning skill based on time-sharing multiplex
When art carries out virtual reality and positions, it is impossible to located space is irregular or during complex obstruction conditions to empty in the positioning
Between in sensed body carry out precise positioning, be unfavorable for popularizing for virtual reality technology.
In order to solve above-mentioned technical problem, the virtual reality positioning system that technical scheme of the present invention is constituted in multiple beacons
In system, there are different beacons different light source frequencies to enable the virtual reality alignment system to realize the connection of multiple beacons
Conjunction is used, and based on the beacon location technology of frequency division multiplexing the unique corresponding relation of physical space and Virtual Space is determined；Wherein, often
The overlapped coverage of the coverage of one beacon and other at least one beacons, and the whole of the plurality of beacon cover models
Enclose to connect figure, to support any expansion to virtual reality located space.Technical scheme of the present invention can be propped up effectively
The virtual reality alignment system of arbitrary dimension and geometric space is held, the positioning precision of virtual reality is preferably improved, is fully expanded
Can located space.
In a preferred embodiment of the invention, by predefining multiple beacons that virtual reality alignment system includes
Conduction chain between respective local coordinate system, determines in sensed body and the plurality of beacon extremely when sensed body is moved
The relative position relation of a few beacon, and the relative position relation according to the sensed body and the conduction chain are come to described
Sensed body is positioned, lasting, accurately empty so as to carry out to the sensed body under the support of the conduction chain
Intend reality positioning, obtain the elaborate position information of the sensed body in the arbitrary dimension and geometric space.
It is understandable to enable above-mentioned purpose of the invention, feature and beneficial effect to become apparent from, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
Fig. 1 is a kind of schematic diagram of virtual reality alignment system of the first embodiment of the present invention.Specifically, in this enforcement
In example, the virtual reality alignment system includes multiple beacons, and different beacons has different light source frequencies；Wherein, it is each
The overlapped coverage of the coverage of beacon and other at least one beacons, and whole coverages of the plurality of beacon are
Connection figure.
Preferably, multiple beacons that the virtual reality alignment system includes are distinguished based on the beacon technology of modulated signal
The light source frequency of different beacons so that the plurality of beacon can be used simultaneously, it is ensured that sensed body is simultaneously by more than one lamp
Also different beacons are capable of identify that when tower is irradiated to.For example, for laser scanning beacon, can be by being used to send out on modulation beacon
The laser tube of laser is penetrated, the means such as combination algorithm and filtration enable the respective laser tube of the plurality of beacon with different frequency
Output laser；Accordingly, the sensed body equally can be identified according to the CF of the laser being irradiated to, with
The radiation situation of the plurality of beacon is made a distinction, it is ensured that described in more than one beacon is irradiated to the sensed body simultaneously when
Sensed body can precisely be known and currently itself is irradiated by which beacon.
Preferably, the light source of the plurality of beacon includes infrared laser light source.For example, the embodiment of the present invention not only can be answered
For laser light field sweeping scheme, infrared camera tracing scheme can also be applied to.
Wherein, the set (namely whole coverages) of the scanning area of the plurality of beacon is connection figure, so-called company
Logical figure refers to that any point from figure all has the path in figure to another point.When the set bag in the scanned region
When including two or more scanned regions, the edge in the arbitrary scanned regions in described two or more scanned regions with extremely
Edge in few other scanned region is tangent or intersecting.
In a preferred application scenarios, the virtual reality alignment system include beacon 1, beacon 2, beacon 3 and
Beacon 4, the space placement location of four beacons is as shown in figure 1, the respective coverage of four beacons is in FIG with shade
Image shows.Wherein, the overlapping region of the coverage of the beacon 1 and the beacon 2 is region a；It is the beacon 2, described
The overlapping region of the coverage of beacon 3 and the beacon 4 is region b；Whole coverages of four beacons can be with
The L-shaped region that Fig. 1 solid box is defined is completely covered, connection figure is formed.
It will be appreciated by those skilled in the art that prior art is when virtual reality positioning is carried out to the L-shaped region shown in Fig. 1, by
Put according to specific relative pattern mostly in existing beacon, for example, the four of the left half side rectangular area in the L-shaped region
A beacon is respectively placed on individual summit, and on four summits of the right half side rectangular area in the L-shaped region lamp is equally respectively placed
Tower, by unifying the scan mode and rhythm of this eight beacons by force realizes that the L-shaped region is completely covered, Jin Ershi
Now to the virtual reality positioning of the sensed point in the L-shaped region.But, such scheme is needed in scanned area
Greater number of beacon is arranged in domain, all standing to the scanned region could be realized, be easily caused excessively disappearing for resource
Consumption.And, it is irregular particularly with scanned region or obstruction conditions are complex for more complicated scanned region
When, currently existing scheme possibly cannot accurately carry out virtual reality positioning, be unfavorable for Consumer's Experience.
What virtual reality alignment system described in the embodiment of the present invention can preferably solve existing for prior art above-mentioned asks
Topic, using the virtual reality alignment system described in the embodiment of the present invention, only need to arrange four lamps in the L-shaped region shown in Fig. 1
Tower is capable of achieving all standing to the L-shaped region and scans, and can effectively increase the utilization rate of each beacon, is conducive to resource
Reasonable disposition.Further, it is respective by predetermined the plurality of beacon using the technical scheme of the embodiment of the present invention
Conduction chain between local coordinate system so that the embodiment of the present invention can support that the virtual reality of arbitrary dimension and geometric space is determined
Position system, and be conducive to improving the accuracy of virtual reality positioning, fully expanding can located space.
Next with reference to Fig. 2 to the enforcement based on the localization method of virtual reality alignment system described in the embodiment of the present invention
Journey is specifically addressed.
Specifically, in the embodiment shown in Figure 2, step S101 is first carried out, determines the respective office of the plurality of beacon
Conduction chain between portion's coordinate system, the conduction chain is used to represent the transformational relation between the local coordinate system of different beacons.More
For specifically, the conduction chain is that the overlapping region of the coverage according to the plurality of beacon determines.
Perform subsequently into step S102, when sensed body is moved, in determining sensed body and the plurality of beacon
The relative position relation of at least one beacon, local coordinate system table of the relative position relation based at least one beacon
Show.Specifically, the relative position relation can be the rigid body translation matrix of 4 × 4 dimensions, be represented with symbol P.Specifically
Ground, the relative position relation includes attitude information of the sensed body under the local coordinate system of the beacon.Preferably,
The rigid body translation matrix of 4 × 4 dimension can be used to indicate that space situation of movement of the sensed body in three dimensions
And the rotational case gone up in any direction.Certainly, the relative position relation can also adopt other any appropriate forms
Represent.
Last execution step S103, according to the relative position relation and the conduction chain of the sensed body, to the quilt
Inductor is positioned.Specifically, the sensed body is irradiated in moving process by different beacons, then according to the conduction
Chain switches location coordinate so that the sensed body can pass through the conduction chain from the relative position relation of different beacons
Conversion is transmitted, and realization is accurately positioned to the sensed body.
Further, described in the overlapping region in step S102 in the coverage of the plurality of beacon determines
Conduction chain, can include step " select the point being irradiated to by most quantity beacons simultaneously in the overlapping region as induction point,
Most quantity beacons are designated as the first beacon set, the beacon note in the plurality of beacon in addition to most quantity beacons
For the second beacon set；Determine the relative position relation between each beacon in the induction point and the first beacon set, with
Set up the conduction chain between the local coordinate system of each beacon in the first beacon set；For in the second beacon set
Each beacon, selects the point conduct in the beacon and the overlapping region of the coverage of arbitrary beacon in the first beacon set
The induction point, with the conduction chain between the local coordinate system of each beacon in setting up the beacon and the first beacon set.”
Next, being positioned based on the virtual reality shown in the virtual reality alignment system and Fig. 2 with reference to shown in Fig. 1
The localization method of system, is illustrated to the determination process of the conduction chain.Specifically, can in advance in the L-shaped area shown in Fig. 1
Four beacons are arranged in domain, four beacons are denoted as respectively beacon 1, beacon 2, beacon 3 and beacon 4, in order to be based on
Four beacons carry out virtual reality positioning to the sensed body in the L-shaped region, need according to four lamps
The overlapping region of the coverage of tower determines the conduction chain.For example, the respective coverage of four beacons is shown in Fig. 1
L-shaped region in overlapping region mainly may be summarized to be region a and region b, wherein, the region a can simultaneously by lamp
Tower 1 and beacon 2 are irradiated to, and region b can be irradiated to by beacon 2, beacon 3 and beacon 4 simultaneously, then in the region b
Position is in the overlapping region while the point that is irradiated to by most quantity beacons, and the beacon 2, beacon 3 and beacon 4 can be with
The first beacon set is designated as, the beacon 1 can be designated as the second beacon set.
In a typical application scenarios, any position can be selected in the region b in advance as induction point (note
Make induction point B), it is static on the induction point B to place the sensed body, asked by carrying out position at the induction point B
Solution, determine the relative position relation between the induction point B and the first beacon set, wherein, the induction point B with it is described
Relative position relation between first beacon set includes the relative position relation between the induction point B and the beacon 2
Relative position relation between the induction point B and the beacon 3And the phase between the induction point B and the beacon 4
To position relationshipAnd then the coordinate set up accordingly between the beacon 2, beacon 3 and the respective local coordinate system of beacon 4 turns
Change, obtain from the beacon 2 to beacon 3 again to the conduction chain of beacon 4.For example, from beacon 2 to the Coordinate Conversion beacon 3
ForIt is wherein describedForInverse operation.Now the covering collection of the conduction chain is combined into { 2,3,4 }, i.e., and described the
There is the conduction chain of covering relation in the beacon 2 in one beacon set to beacon 4.
For the beacon 1 in the second beacon set, find the beacon 1 and the conduction chain cover set 2,3,
In the overlapping region of the beacon in 4 } a little as the induction point (for example, beacon 1 and the conduction chain cover set 2,
There is overlapping region in the coverage of the beacon 2 in 3,4 }, the overlapping region is region a, then can be by the region a
Position is denoted as induction point A as the induction point), it is relative between the induction point A and the beacon 1 by obtaining respectively
Position relationship P1 AAnd the relative position relation between the induction point A and the beacon 2Can obtain from beacon 1 to lamp
Coordinate Conversion between tower 2It is wherein describedFor P1 AInverse operation, and then obtain the beacon 1 and described first
Conduction chain in beacon set between the local coordinate system of each beacon.For example, it is to the conduction chain beacon 3 from beacon 1
Further, if also placed beacon 5 (Fig. 1 is not shown) in the L-shaped region, and the covering model of the beacon 5
Enclose the non-overlapping region of coverage with each beacon in the first beacon set, but the covering of the beacon 5 and the beacon 1
There is overlapping region in scope, then the embodiment of the present invention can determine the beacon 1 with each beacon in the first beacon set
It is arbitrary in conduction chain between local coordinate system, beacon 5 described in reselection and the overlapping region of the coverage of the beacon 1
Point is induction point, by determining from beacon 5 to the Coordinate Conversion of the beacon 1, and then obtains the beacon 5 and first lamp
Conduction chain between the local coordinate system of each beacon in tower set.Now, it is described conduction chain cover collection be combined into 1,2,3,4,
5}。
Further, if initial placement position of the beacon 5 in the L-shaped region was not both covered with the beacon 1
Lid scope produce overlapping region, also not with the first beacon set arbitrary beacon coverage produce overlapping region, then
Can adjusting the virtual reality alignment system in beacon position or solve by way of increasing beacon, constantly repeat on
State till all beacons that process arranged in the L-shaped region can set up the conduction chain, it is ensured that the virtual reality
All beacons that alignment system includes there are the conduction chain of covering relation so that in practical application, due in the L
When sensed body in shape region is moved and must carry out the switching of beacon irradiation area, effectively can be built according to the conduction chain
Corresponding relation between vertical local coordinate system.
In another typical application scenarios, institute can be determined with dynamic in the moving process of the sensed body
State conduction chain.Specifically, in the moving process of the sensed body, the athletic posture of the sensed body is dynamically calculated,
When the sensed body is irradiated by multiple beacons simultaneously, record the sensed body and each beacon in the plurality of beacon it
Between relative position relation, also according to multiple beacons coverage overlapping region determining the conduction chain.For example, quilt
The irradiation of beacon 1 is moved to beacon 1 and beacon 2 irradiates simultaneously in L-shaped region shown in inductor from Fig. 1, then is moved to only by lamp
Tower 2 irradiates, it is possible to obtain sensed point A and the relative position of the beacon 1 that the beacon 1 and beacon 2 are recorded when irradiating simultaneously
Put relation P1 AAnd the relative position relation between the induction point A and the beacon 2Equally can obtain from beacon 1 to
Coordinate Conversion between beacon 2It is to the Coordinate Conversion beacon 1 from beacon 2 accordinglyIt is wherein describedForInverse operation.
Further, after the sensed body moves to the region only irradiated by beacon 2, in order to keep coordinate consistent
Property, the sensed body phase can be expressed as the position of the local coordinate system of the beacon 1Wherein, it is described
P2For the sensed body currently relative to the beacon 2 local coordinate system position.
Determine what the virtual reality alignment system included it is possible to further the space according to residing for the sensed body
The putting position and angle of each beacon in the quantity of multiple beacons and the plurality of beacon so that each lamp in the plurality of beacon
The coverage of tower covers all regions in the space, and there is covering relation between each beacon in the plurality of beacon
Conduction chain.For example, can be according to the size in the space and geometry, with reference to the coverage of the beacon, it is determined that described
The beacon quantity that multiple beacons include.
Further, multiple beacons that the virtual reality alignment system includes can be based on modulation-demodulation technique identical
Communication channel in communicated based on different frequency ranges.
Fig. 3 is a kind of structure of positioner based on the virtual reality alignment system of the third embodiment of the present invention
Schematic diagram.It will be appreciated by those skilled in the art that the positioner 4 described in the present embodiment based on virtual reality alignment system is used to implement
Virtual reality alignment system and localization method technical scheme described in above-mentioned Fig. 1 and embodiment illustrated in fig. 2.Specifically, exist
In the present embodiment, the positioner 4 includes conduction chain determining module 41, for determining that the respective local of the plurality of beacon is sat
Conduction chain between mark system, the conduction chain is used to represent the transformational relation between the local coordinate system of different beacons；With respect to position
Relationship determination module 42 is put, when sensed body is moved, at least one of sensed body and the plurality of beacon beacon is determined
Relative position relation, the relative position relation represented based on the local coordinate system of at least one beacon；And positioning
Module 43, for according to the relative position relation of the sensed body and the conduction chain, positioning to the sensed body.
Preferably, the conduction chain determining module 41 includes conduction chain determination sub-module 411, for according to the plurality of lamp
The overlapping region of the coverage of tower determines the conduction chain.
Preferably, the conduction chain determination sub-module 411 includes the first induction point select unit 4111, described for selecting
Used as induction point, most quantity beacons are designated as the first beacon to the point being irradiated to by most quantity beacons simultaneously in overlapping region
Set, the beacon in the plurality of beacon in addition to most quantity beacons is designated as the second beacon set；Relative position relation
Determining unit 4112, for the relative position relation between each beacon in determining the induction point and the first beacon set,
Conduction chain in set up the first beacon set between the local coordinate system of each beacon；And the second induction point select unit
4113, for each beacon in the second beacon set, the beacon is selected with arbitrary beacon in the first beacon set
Coverage overlapping region in point as the induction point, it is each with the first beacon set to set up the beacon
Conduction chain between the local coordinate system of beacon.
The positioner 4 can be integrated in hardware or software form to be determined for controlling or performing the virtual reality
In the computer or other data processing equipments of position system, to perform technical scheme described in the embodiment of the present invention.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Completed with instructing the hardware of correlation by program, the program can be stored in computer-readable recording medium, to store
Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, without departing from this
In the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
The scope of restriction is defined.
Claims (8)
1. a kind of virtual reality alignment system, it is characterised in that include：
Multiple beacons, different beacon has different light source frequencies；
Wherein, the overlapped coverage of the coverage of each beacon and other at least one beacons, and the plurality of beacon
Whole coverages are connection figure.
2. virtual reality alignment system according to claim 1, it is characterised in that the light source of the plurality of beacon includes red
Outer LASER Light Source.
3. a kind of localization method of the virtual reality alignment system based on described in claim 1 or 2, it is characterised in that include as
Lower step：
Determine the conduction chain between the respective local coordinate system of the plurality of beacon, the conduction chain is used to represent different beacons
Transformational relation between local coordinate system；
When sensed body is moved, the relative position for determining at least one of sensed body and the plurality of beacon beacon is closed
System, the relative position relation is represented based on the local coordinate system of at least one beacon；According to the phase of the sensed body
To position relationship and the conduction chain, the sensed body is positioned.
4. localization method according to claim 3, it is characterised in that determine the respective local coordinate system of the plurality of beacon
Between conduction chain, comprise the steps：
The conduction chain is determined according to the overlapping region of the coverage of the plurality of beacon.
5. localization method according to claim 4, it is characterised in that according to the weight in the coverage of the plurality of beacon
Folded region determines the conduction chain, comprises the steps：
The point being irradiated in the overlapping region while by most quantity beacons is selected as induction point, most quantity beacons
The first beacon set is designated as, the beacon in the plurality of beacon in addition to most quantity beacons is designated as the second beacon set；
The relative position relation between each beacon in the induction point and the first beacon set is determined, to set up described first
Conduction chain in beacon set between the local coordinate system of each beacon；
For each beacon in the second beacon set, the beacon is selected with arbitrary beacon in the first beacon set
Point in the overlapping region of coverage as the induction point, to set up the beacon with each lamp in the first beacon set
Conduction chain between the local coordinate system of tower.
6. a kind of positioner of the virtual reality alignment system based on described in claim 1 or 2, it is characterised in that include：
Conduction chain determining module, for determining the conduction chain between the respective local coordinate system of the plurality of beacon, the conduction
Chain is used to represent the transformational relation between the local coordinate system of different beacons；
Relative position relation determining module, when sensed body is moved, determines in sensed body and the plurality of beacon at least
The relative position relation of one beacon, the relative position relation is represented based on the local coordinate system of at least one beacon；
Locating module, for according to the relative position relation of the sensed body and the conduction chain, entering to the sensed body
Row positioning.
7. positioner according to claim 6, it is characterised in that the conduction chain determining module includes：Conduction chain is true
Stator modules, for determining the conduction chain according to the overlapping region of the coverage of the plurality of beacon.
8. positioner according to claim 7, it is characterised in that the conduction chain determination sub-module includes：
First induction point select unit, for selecting the overlapping region in the point conduct that is irradiated to by most quantity beacons simultaneously
Induction point, most quantity beacons are designated as the first beacon set, in the plurality of beacon in addition to most quantity beacons
Beacon be designated as the second beacon set；
Relative position relation determining unit, for determining the phase between the induction point and each beacon in the first beacon set
To position relationship, to set up the first beacon set in each beacon local coordinate system between conduction chain；
Second induction point select unit, for each beacon in the second beacon set, selects the beacon with described first
Point in beacon set in the overlapping region of the coverage of arbitrary beacon as the induction point, to set up the beacon and institute
State the conduction chain between the local coordinate system of each beacon in the first beacon set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610919859.1A CN106597373B (en) | 2016-10-21 | 2016-10-21 | A kind of virtual reality positioning system, localization method and device based on the system |
Applications Claiming Priority (1)
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| CN106990851A (en) * | 2017-05-24 | 2017-07-28 | 北京无远弗届科技有限公司 | Virtual reality hand-held device and preparation method thereof, virtual reality interactive system |
| CN109582129A (en) * | 2018-10-16 | 2019-04-05 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Object captures auxiliary locator and positioning system in a kind of virtual reality scenario |
| CN110856254A (en) * | 2019-11-22 | 2020-02-28 | 上海图聚智能科技股份有限公司 | Vision-based indoor positioning method, device, equipment and storage medium |
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