CN106597373B - A kind of virtual reality positioning system, localization method and device based on the system - Google Patents
A kind of virtual reality positioning system, localization method and device based on the system Download PDFInfo
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- CN106597373B CN106597373B CN201610919859.1A CN201610919859A CN106597373B CN 106597373 B CN106597373 B CN 106597373B CN 201610919859 A CN201610919859 A CN 201610919859A CN 106597373 B CN106597373 B CN 106597373B
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- beacon
- beacons
- conduction chain
- inductor
- 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
A kind of virtual reality positioning system, localization method and device based on the system, the virtual reality positioning system include: multiple beacons, and different beacons has different light source frequencies；Wherein, the overlapped coverage of the coverage area of each beacon and other at least one beacons, and whole coverage areas of the multiple beacon are connection figure.The technical solution provided through the invention can realize more accurate virtual reality positioning under arbitrary dimension and geometric space.
Description
Technical field
The present invention relates to technical field of virtual reality, more particularly to a kind of virtual reality positioning system, are based on the system
Localization method and device.
Background technique
Virtual reality (Virtual Reality, abbreviation VR) technology is an important directions of emulation technology, is mainly wrapped
Simulated environment, perception, natural technical ability and sensing equipment etc. are included, it is a kind of computer to be utilized to realize Multi-source Information Fusion
The system simulation technology of interactive Three-Dimensional Dynamic what comes into a driver's and entity behavior.User can create virtual in virtual reality technology
Interactive Experience effect true to nature is obtained in the world.It is interacted to realize with user, virtual reality technology can pass through cognition technology
It identifies that user is intended to information such as the movement and the sound that capture user, and then is made accordingly in virtual world to user
Feedback.
Cognition technology 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 installing multiple devices for emitting laser in particular space in advance, to the particular space
Emit the laser that vertical and horizontal both direction is strafed, multiple laser induced receivers are arranged with it in user, arrive by calculating two-beam line
The three-dimensional coordinate of user is obtained up to the differential seat angle of user, the three-dimensional coordinate also can and then change when the user is mobile, to obtain
The action message of user is obtained, the motion capture to user is completed.This technical solution can to a certain extent move user
Make carry out trace trap.But this be likely to occur based on the location technology of laser scanning in practical application can not be to larger
Space carries out the problem of precise positioning.
To find out its cause, being that the laser emitted by the beacon for emitting laser or synchronizable optical will appear decaying, lead
Cause single beacon that can not cover king-sized region (for example, being about at present 5x5 meters or so than more typical beacon coverage area),
The existing laser positioning technology based on time-sharing multiplex can only at most support 2 beacons or the synchronous operation of 4 beacons, be difficult by
Laser scanning range covers greater room.
To solve the problems, such as above-mentioned Space Expanding, the prior art would generally be by multiple beacons according to specific opposite pattern (example
Such as, square) it puts, and unify scanning mode and the rhythm of these beacons by force to avoid generating interference letter in intersection region
Number, to realize the splicing of more beacons and the expansion in space.But such method is only mechanical by original square region
Spelling is connect, it is also very high to installation of the beacon before use and positioning requirements, it is not very regular for some places or hides
The more complicated region of blend stop part can not still carry out precise positioning.Further, this technical solution is also unable to satisfy some spies
The application demand of different property, for example, the application requirement being irradiated to simultaneously by more than two beacons is required for perceived point, due to
Existing technical solution in order to avoid intersection region signal interference and unified the scanning rhythm of multiple beacons by force, cause existing
Some technical solutions are unable to satisfy this application requirement.
At this stage, in most cases, the virtual reality location technology based on laser scanning is in order to expanded sweep
Beacon is usually put by specific opposite pattern and unifies the scanning mode and rhythm of beacon by force by space.But it is such
Technical solution is irregular or when obstruction conditions are complex in scanned region, possibly can not accurately carry out virtual reality
Positioning, is unfavorable for the promotion and popularization of virtual reality technology.
Summary of the invention
Present invention solves the technical problem that being that the prior art can not be irregular in scanned region or obstruction conditions are more multiple
The problem of virtual reality positioning is accurately carried out when miscellaneous.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of virtual reality positioning system, comprising: multiple lamps
Tower, different beacons have different light source frequencies；Wherein, the coverage area and other of each beacon at least one beacon covers
The overlapping of lid range, and whole coverage areas of the multiple beacon are connection figure.
Optionally, the light source of the multiple beacon includes infrared laser light source.
The embodiment of the present invention also provides a kind of localization method based on the virtual reality positioning system, including walks as follows
It is rapid: to determine the conduction chain between the respective local coordinate system of the multiple beacon, the conduction chain is for indicating different beacons
Transformational relation between local coordinate system；When mobile by inductor, determine by inductor and the multiple beacon at least
The relative positional relationship of one beacon, the relative positional relationship are indicated based on the local coordinate system of at least one beacon；
According to described by the relative positional relationship of inductor and the conduction chain, positioned to described by inductor.
Optionally, it determines the conduction chain between the respective local coordinate system of the multiple beacon, includes the following steps: basis
The overlapping region of the coverage area of the multiple beacon determines the conduction chain.
Optionally, the conduction chain is determined according to the overlapping region in the coverage area of the multiple beacon, including as follows
Step: select the point being irradiated to simultaneously by most quantity beacons in the overlapping region as induction point, most quantity lamps
Tower is denoted as the first beacon set, and the beacon in the multiple beacon in addition to most quantity beacons is denoted as the second beacon collection
It closes；The relative positional relationship in the induction point and the first beacon set between each beacon is determined, to establish described first
Conduction chain in beacon set between the local coordinate system of each beacon；For each beacon in the second beacon set, choosing
Point in the beacon and the first beacon set in the overlapping region of the coverage area of any beacon is selected as the induction point,
To establish the conduction chain in the beacon and the first beacon set between the local coordinate system of each beacon.
The embodiment of the present invention also provides a kind of positioning device based on the virtual reality positioning system, comprising: conduction chain
Determining module, for determining the conduction chain between the respective local coordinate system of the multiple beacon, the conduction chain is for indicating
Transformational relation between the local coordinate system of different beacons；Relative positional relationship determining module, when described mobile by inductor,
Determine that, by the relative positional relationship of at least one beacon in inductor and the multiple beacon, the relative positional relationship is based on
The local coordinate system of at least one beacon indicates；Locating module, for according to the relative positional relationship by inductor
With the conduction chain, positioned to described by inductor.
Optionally, the conduction chain determining module includes: that conduction chain determines submodule, for according to the multiple beacon
The overlapping region of coverage area determines the conduction chain.
Optionally, the conduction chain determines that submodule includes: the first induction point selecting unit, for selecting the overlay region
For the point being irradiated to simultaneously by most quantity beacons in domain as induction point, most quantity beacons are denoted as the first beacon set,
Beacon in the multiple beacon in addition to most quantity beacons is denoted as the second beacon set；Relative positional relationship determines single
Member, for determining the relative positional relationship in the induction point and the first beacon set between each beacon, described in establishing
Conduction chain in first beacon set between the local coordinate system of each beacon；Second induction point selecting unit, for described second
Each beacon in beacon set selects the overlay region of the coverage area of any beacon in the beacon and the first beacon set
Point in domain as the induction point, with establish each beacon in the beacon and the first beacon set local coordinate system it
Between conduction chain.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that
In the virtual reality positioning system of multiple beacons composition, there is different beacons different light source frequencies to make institute
Stating virtual reality positioning system can be realized being used in combination for multiple beacons, determine object based on the beacon location technology of frequency division multiplexing
Manage the unique corresponding relation in space and Virtual Space；Wherein, the coverage area and other of each beacon at least one beacon covers
The overlapping of lid range, and whole coverage areas of the multiple beacon are connection figure, to support to virtual reality located space
Any expansion.Compared with the beacon location technology of existing time-sharing multiplex, arbitrary dimension and geometric space can be effectively supported
Virtual reality positioning system preferably improves the positioning accuracy of virtual reality, and sufficiently expanding can located space.
Further, according to the conduction chain between the respective local coordinate system of the multiple beacon, when mobile by inductor
It determines by the relative positional relationship of at least one beacon in inductor and the multiple beacon, and according to described by inductor
Relative positional relationship and the conduction chain are positioned to described by inductor, thus can under the support of the conduction chain
Lasting, accurate virtual reality positioning is carried out by inductor to described, obtains the quilt in the arbitrary dimension and geometric space
The elaborate position information of inductor.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of virtual reality positioning system of the first embodiment of the present invention；
Fig. 2 is a kind of process of localization method based on the virtual reality positioning system of the second embodiment of the present invention
Figure；And
Fig. 3 is a kind of structure of positioning device based on the virtual reality positioning 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, the prior art positions skill in the beacon based on time-sharing multiplex
When art carries out virtual reality positioning, can not or obstruction conditions irregular in located space it is complex when in positioning sky
Between in precise positioning is carried out by inductor, be unfavorable for the promotion and popularization of virtual reality technology.
In order to solve the above-mentioned technical problem, the virtual reality positioning system that technical solution of the present invention is formed in multiple beacons
In system, there is different beacons different light source frequencies the virtual reality positioning system to be made to can be realized the connection of multiple beacons
It closes and uses, the unique corresponding relation of physical space and Virtual Space is determined based on the beacon location technology of frequency division multiplexing；Wherein, often
The coverage area of one beacon and the overlapped coverage of other at least one beacons, and whole covering models of the multiple beacon
It encloses to be connected to figure, to support any expansion to virtual reality located space.Technical solution of the present invention can be propped up effectively
The virtual reality positioning system of arbitrary dimension and geometric space is held, the positioning accuracy of virtual reality is preferably improved, sufficiently expands
It can located space.
In a preferred embodiment of the invention, the multiple beacons for including by predefining virtual reality positioning system
Conduction chain between respective local coordinate system, determined when mobile by inductor by inductor and the multiple beacon extremely
The relative positional relationship of a few beacon, and according to it is described by the relative positional relationship of inductor and the conduction chain come to described
It is positioned by inductor, so that under the support of the conduction chain lasting, accurate void can be carried out by inductor to described
Quasi- reality positioning, obtains the elaborate position information by inductor 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, with reference to the accompanying drawing to this
The specific embodiment of invention is described in detail.
Fig. 1 is a kind of schematic diagram of virtual reality positioning system of the first embodiment of the present invention.Specifically, in this implementation
In example, the virtual reality positioning system includes multiple beacons, and different beacons has different light source frequencies；Wherein, each
The coverage area of beacon and the overlapped coverage of other at least one beacons, and whole coverage areas of the multiple beacon are
It is connected to figure.
Preferably, multiple beacons that the virtual reality positioning system includes are distinguished based on the beacon technology of modulated signal
The light source frequency of different beacons enables the multiple beacon to use simultaneously, it is ensured that by inductor simultaneously by more than one lamp
Also different beacons can be identified when tower is irradiated to.For example, for laser scanning beacon, it 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 filtering enable the respective laser tube of the multiple beacon with different frequency
Export laser；Correspondingly, described can equally be identified by inductor according to the specific frequency for the laser being irradiated to, with
The radiation situation of the multiple beacon is distinguished, it is ensured that more than one beacon is irradiated to described described in when inductor simultaneously
It can precisely know currently irradiated by which beacon to itself by inductor.
Preferably, the light source of the multiple beacon includes infrared laser light source.For example, the embodiment of the present invention can not only answer
For laser light field sweeping scheme, infrared camera tracing scheme can also be applied to.
Wherein, the set (namely whole coverage areas) of the scanning area of the multiple beacon is connection figure, so-called company
Logical figure refers to the path all existed in figure from any point on figure to another point.When the set packet in the scanned region
When including two or more scanned regions, the edge in any scanned region in the described two or above scanned region with extremely
Edge in few one other scanned region is tangent or intersects.
In a preferred application scenarios, the virtual reality positioning system include beacon 1, beacon 2, beacon 3 and
Beacon 4, the space placement locations of four beacons as shown in Figure 1, the respective coverage area of four beacons in Fig. 1 with shade
Image is shown.Wherein, the overlapping region of the coverage area of the beacon 1 and the beacon 2 is region a；It is the beacon 2, described
The overlapping region of the coverage area of beacon 3 and the beacon 4 is region b；Whole coverage areas of four beacons can be with
The L shape region that Fig. 1 solid box defines is completely covered, forms connection figure.
It will be appreciated by those skilled in the art that the prior art to L shape shown in FIG. 1 region carry out virtual reality positioning when, by
It is put mostly according to specific opposite pattern in existing beacon, for example, four of the half side rectangular area in a left side in L shape region
A beacon is respectively placed on a vertex, equally respectively places a lamp on four vertex of the half side rectangular area in the right side in L shape region
Tower, scanning mode and rhythm by unifying this eight beacons by force are completely covered L shape region to realize, Jin Ershi
Now the virtual reality by induction point in L shape region is positioned.But such scheme is needed in scanned area
Greater number of beacon is arranged in domain, is just able to achieve all standing to the scanned region, is easy to cause excessively disappearing for resource
Consumption.It is irregular particularly with scanned region or obstruction conditions are complex moreover, for more complicated scanned region
When, currently existing scheme possibly can not accurately carry out virtual reality positioning, be unfavorable for user experience.
Virtual reality positioning system described in the embodiment of the present invention can preferably solve above-mentioned present in the prior art ask
Topic only needs to arrange four lamps in L shape region shown in Fig. 1 using virtual reality positioning system described in the embodiment of the present invention
The scanning of all standing to L shape region can be realized in tower, can effectively increase the utilization rate of each beacon, be conducive to resource
Reasonable disposition.Further, respective by predetermined the multiple beacon using the technical solution of the embodiment of the present invention
Conduction chain between local coordinate system enables the embodiment of the present invention to support that the virtual reality of arbitrary dimension and geometric space is fixed
Position system, and be conducive to improve the accuracy of virtual reality positioning, sufficiently expanding can located space.
Next in conjunction with Fig. 2 the implementation based on the localization method of virtual reality positioning 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 multiple beacon
Conduction chain between portion's coordinate system, the conduction chain are used to indicate the transformational relation between the local coordinate system of different beacons.More
For specifically, the conduction chain is determined according to the overlapping region of the coverage area of the multiple beacon.
It executes subsequently into step S102, when mobile by inductor, determines by inductor and the multiple beacon
The relative positional relationship of at least one beacon, local coordinate system table of the relative positional relationship based at least one beacon
Show.Specifically, the relative positional relationship can be the rigid body translation matrix of 4 × 4 dimensions, be indicated with symbol P.Specifically
Ground, the relative positional relationship include the posture information by inductor under the local coordinate system of the beacon.Preferably,
The rigid body translation matrix of 4 × 4 dimension can be used to indicate that the space situation of movement by inductor in three-dimensional space
And in any direction on rotational case.Certainly, the relative positional relationship can also use other any forms appropriate
It indicates.
Step S103 is finally executed, according to described by the relative positional relationship of inductor and the conduction chain, to the quilt
Inductor is positioned.Specifically, described to be irradiated in moving process by different beacons by inductor, then according to the conduction
Chain switches location coordinate, enables and described passes through the chain that conducts by inductor and the relative positional relationship of different beacons
Conversion is transmitted, and is realized to the accurate positioning by inductor.
Further, in the step S102 according to the overlapping region determination in the coverage area of the multiple beacon
Conduct chain, may include step " select in the overlapping region point being irradiated to simultaneously by most quantity beacons as induction point,
Most quantity beacons are denoted as the first beacon set, the beacon note in the multiple beacon in addition to most quantity beacons
For the second beacon set；Determine the relative positional relationship in the induction point and the first beacon set between each beacon, with
Establish the conduction chain in the first beacon set between the local coordinate system of each beacon；For in the second beacon set
Each beacon, select point in the beacon and the first beacon set in the overlapping region of the coverage area of any beacon as
The induction point, to establish the conduction chain in the beacon and the first beacon set between the local coordinate system of each beacon."
Next, in conjunction with virtual reality positioning system shown in fig. 1 and Fig. 2 shows based on the virtual reality position
The localization method of system is illustrated the determination process of the conduction chain.It specifically, can be in advance in L shape shown in fig. 1 area
Four beacons are arranged in domain, four beacons are denoted as beacon 1, beacon 2, beacon 3 and beacon 4 respectively, in order to be based on
Four beacons carry out virtual reality positioning by inductor in L shape region, need according to four lamps
The overlapping region of the coverage area of tower determines the conduction chain.For example, the respective coverage area of four beacons is shown in Fig. 1
L shape 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 the point that is irradiated to by most quantity beacons simultaneously in the overlapping region, and the beacon 2, beacon 3 and beacon 4 can be with
It is denoted as the first beacon set, the beacon 1 can be denoted as the second beacon set.
In a typical application scenarios, any position can be selected as induction point (note in the region b in advance
Make induction point B), static placement is described by inductor on the induction point B, is asked by carrying out position at the induction point B
Solution, determine the relative positional relationship between the induction point B and the first beacon set, wherein the induction point B with it is described
Relative positional relationship between first beacon set includes the relative positional relationship between the induction point B and the beacon 2Relative positional relationship between the induction point B and the beacon 3And between the induction point B and the beacon 4
Relative positional relationshipAnd then the seat between the beacon 2, beacon 3 and the respective local coordinate system of beacon 4 is established accordingly
Mark conversion, obtains from the beacon 2 to beacon 3 again to the conduction chain of beacon 4.For example, from beacon 2 to the coordinate beacon 3
It is converted toIt is wherein describedForInverse operation.The covering collection of the conduction chain is combined into { 2,3,4 } at this time, i.e. institute
There are the conduction chains of covering relation to beacon 4 for the beacon 2 for stating in the first beacon set.
For the beacon 1 in the second beacon set, find the beacon 1 and conduction chain covering set 2,3,
4 } in the overlapping region of the beacon in a little as the induction point (for example, beacon 1 and the conduction chain covering gather 2,
3,4 } for the coverage area of the beacon 2 in there are overlapping region, the overlapping region is region a, then can will be in the region a
Position is denoted as induction point A as the induction point), it is opposite between the induction point A and the beacon 1 by obtaining respectively
Positional relationship P1 AAnd the relative positional relationship between the induction point A and the beacon 2It can 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, being from beacon 1 to the conduction chain beacon 3
Further, if also placed in the L shape region beacon 5 (Fig. 1 is not shown), and the covering model of the beacon 5
Enclose the non-overlapping region of coverage area with each beacon in the first beacon set, but the covering of the beacon 5 and the beacon 1
There are overlapping regions for range, then the embodiment of the present invention can determine the beacon 1 and each beacon in the first beacon set
Conduction chain between local coordinate system, beacon 5 and any in the overlapping region of the coverage area of the beacon 1 described in reselection
Point is induction point, is converted by determining from beacon 5 to the coordinate 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.At this point, conduction chain covering collection be combined into 1,2,3,4,
5}。
Further, if initial placement position of the beacon 5 in L shape region was not both covered with the beacon 1
Lid range generates overlapping region, does not also generate overlapping region with the coverage area of any beacon in the first beacon set, then
It can solve by adjusting the position of beacon in the virtual reality positioning system or the mode of increase beacon, constantly repeat
Process is stated until all beacons arranged in L shape region can establish the conduction chain, it is ensured that the virtual reality
There are the conduction chains of covering relation for all beacons that positioning system includes, so that in practical application, due to being in the L
Being moved when must carry out the switching of beacon irradiation area in shape region by inductor, can effectively build according to the conduction chain
Corresponding relationship between vertical local coordinate system.
In another typical application scenarios, institute can also be dynamically determined in the moving process by inductor
State conduction chain.Specifically, in the moving process by inductor, the athletic posture by inductor is dynamically calculated,
When it is described irradiated simultaneously by inductor by multiple beacons when, record it is described by each beacon in inductor and the multiple beacon it
Between relative positional relationship, the conduction chain is determined also according to the overlapping region of the coverage area of multiple beacons.For example, by
Inductor irradiation of beacon 1 from L shape shown in FIG. 1 region is moved to beacon 1 and beacon 2 while irradiating, then is moved to only by lamp
Tower 2 irradiates, the opposite position by induction point A and the beacon 1 that can be obtained the beacon 1 and beacon 2 while record when irradiating
Set relationship P1 AAnd the relative positional relationship between the induction point A and the beacon 2Can equally obtain from beacon 1 to
Coordinate conversion between beacon 2It is converted to accordingly from beacon 2 to the coordinate beacon 1It is wherein describedForInverse operation.
Further, when it is described the region only irradiated by beacon 2 is moved to by inductor after, in order to keep coordinate consistent
Property, the position of the local coordinate system by inductor relative to the beacon 1 can be expressed asWherein, described
P2To be described by the current position relative to the local coordinate system of the beacon 2 of inductor.
It is possible to further determine that the virtual reality positioning system includes according to the space locating for inductor
The placement position of each beacon and angle in the quantity of multiple beacons and the multiple beacon, so that each lamp in the multiple beacon
The coverage area of tower covers all areas in the space, and there are covering relations between each beacon in the multiple beacon
Conduct chain.For example, can according to the size and geometry in the space, in conjunction with the coverage area of the beacon, determine described in
The beacon quantity that multiple beacons include.
Further, multiple beacons that the virtual reality positioning system includes can be based on modulation-demodulation technique identical
Communication channel in communicated with each other based on different frequency ranges.
Fig. 3 is a kind of structure of positioning device based on the virtual reality positioning system of the third embodiment of the present invention
Schematic diagram.It will be appreciated by those skilled in the art that the positioning device 4 described in the present embodiment based on virtual reality positioning system is for implementing
Virtual reality positioning system and localization method technical solution described in above-mentioned Fig. 1 and embodiment illustrated in fig. 2.Specifically, exist
In the present embodiment, the positioning device 4 includes conduction chain determining module 41, for determining that the respective part of the multiple beacon is sat
Conduction chain between mark system, the conduction chain are used to indicate the transformational relation between the local coordinate system of different beacons；Opposite position
Relationship determination module 42 is set, when mobile by inductor, is determined by least one beacon in inductor and the multiple beacon
Relative positional relationship, the relative positional relationship based at least one beacon local coordinate system indicate；And positioning
Module 43, for, by the relative positional relationship of inductor and the conduction chain, being positioned to described by inductor according to described.
Preferably, the conduction chain determining module 41 includes that conduction chain determines submodule 411, for according to the multiple lamp
The overlapping region of the coverage area of tower determines the conduction chain.
Preferably, the conduction chain determines that submodule 411 includes the first induction point selecting unit 4111, described for selecting
For the point being irradiated to simultaneously by most quantity beacons in overlapping region as induction point, most quantity beacons are denoted as the first beacon
Gather, the beacon in the multiple beacon in addition to most quantity beacons is denoted as the second beacon set；Relative positional relationship
Determination unit 4112, for determining the relative positional relationship in the induction point and the first beacon set between each beacon,
To establish the conduction chain in the first beacon set between the local coordinate system of each beacon；And the second induction point selecting unit
4113, for each beacon in the second beacon set, select any beacon in the beacon and the first beacon set
Coverage area overlapping region in point as the induction point, it is each in the beacon and the first beacon set to establish
Conduction chain between the local coordinate system of beacon.
The positioning device 4 can be integrated in fixed for controlling or executing the virtual reality with hardware or software form
In the computer or other data processing equipments of position system, to execute technical solution described in the embodiment of the present invention.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in computer readable storage medium, storage
Medium may include: ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It 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
Subject to the range of restriction.
Claims (8)
1. a kind of localization method based on virtual reality positioning system, which is characterized in that the virtual reality positioning system includes
Multiple beacons, different beacons have different light source frequencies, wherein the coverage area of each beacon and other at least one lamps
The overlapped coverage of tower, and whole coverage areas of the multiple beacon are connection figure, the localization method includes as follows
Step:
Determine the conduction chain between the respective local coordinate system of the multiple beacon, the conduction chain is for indicating different beacons
Transformational relation between local coordinate system；
When mobile by inductor, determine and closed by the relative position of at least one beacon in inductor and the multiple beacon
System, the relative positional relationship are indicated based on the local coordinate system of at least one beacon；
According to described by the relative positional relationship of inductor and the conduction chain, positioned to described by inductor.
2. localization method according to claim 1, which is characterized in that determine the respective local coordinate system of the multiple beacon
Between conduction chain, include the following steps:
The conduction chain is determined according to the overlapping region of the coverage area of the multiple beacon.
3. localization method according to claim 2, which is characterized in that according to the weight in the coverage area of the multiple beacon
Folded region determines the conduction chain, includes the following steps:
Select the point being irradiated to simultaneously by most quantity beacons in the overlapping region as induction point, most quantity beacons
It is denoted as the first beacon set, the beacon in the multiple beacon in addition to most quantity beacons is denoted as the second beacon set；
The relative positional relationship in the induction point and the first beacon set between each beacon is determined, to establish described first
Conduction chain in beacon set between the local coordinate system of each beacon；
For each beacon in the second beacon set, any beacon in the beacon and the first beacon set is selected
Point in the overlapping region of coverage area is as the induction point, to establish each lamp in the beacon and the first beacon set
Conduction chain between the local coordinate system of tower.
4. localization method according to claim 1, which is characterized in that the light source of the multiple beacon includes infrared laser light
Source.
5. a kind of positioning device based on virtual reality positioning system, which is characterized in that the virtual reality positioning system includes
Multiple beacons, different beacons have different light source frequencies, wherein the coverage area of each beacon and other at least one lamps
The overlapped coverage of tower, and whole coverage areas of the multiple beacon are connection figure, the positioning device includes:
Chain determining module is conducted, for determining the conduction chain between the respective local coordinate system of the multiple beacon, the conduction
Chain is used to indicate the transformational relation between the local coordinate system of different beacons；
Relative positional relationship determining module, when mobile by inductor, determine by inductor and the multiple beacon at least
The relative positional relationship of one beacon, the relative positional relationship are indicated based on the local coordinate system of at least one beacon；
Locating module, for according to described by the relative positional relationship of inductor and the conduction chain, to it is described by inductor into
Row positioning.
6. positioning device according to claim 5, which is characterized in that the conduction chain determining module includes: that conduction chain is true
Stator modules, the overlapping region for the coverage area according to the multiple beacon determine the conduction chain.
7. positioning device according to claim 5, which is characterized in that the conduction chain determines that submodule includes:
First induction point selecting unit, for select in the overlapping region point being irradiated to simultaneously by most quantity beacons as
Induction point, most quantity beacons are denoted as the first beacon set, in the multiple beacon in addition to most quantity beacons
Beacon be denoted as the second beacon set；
Relative positional relationship determination unit, for determining the phase between the induction point and each beacon in the first beacon set
To positional relationship, to establish the conduction chain in the first beacon set between the local coordinate system of each beacon；
Second induction point selecting unit selects the beacon and described first for each beacon in the second beacon set
Point in beacon set in the overlapping region of the coverage area of any beacon is as the induction point, to establish the beacon and institute
State the conduction chain in the first beacon set between the local coordinate system of each beacon.
8. positioning device according to claim 5, which is characterized in that the light source of the multiple beacon includes infrared laser light
Source.
Priority Applications (1)
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| 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 |
| CN110856254B (en) * | 2019-11-22 | 2021-02-26 | 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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| CN101655561A (en) * | 2009-09-14 | 2010-02-24 | 南京莱斯信息技术股份有限公司 | Federated Kalman filtering-based method for fusing multilateration data and radar data |
| CN104020445A (en) * | 2014-06-10 | 2014-09-03 | 西安电子科技大学 | Indoor laser positioning system based on frequency labeling method |
| CN105926993A (en) * | 2016-04-29 | 2016-09-07 | 北京国承万通信息科技有限公司 | Building component combination and virtual reality experience building |
| CN107850953A (en) * | 2014-11-05 | 2018-03-27 | 威尔乌集团 | For guiding the sensory feedback system and method for user in reality environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101655561A (en) * | 2009-09-14 | 2010-02-24 | 南京莱斯信息技术股份有限公司 | Federated Kalman filtering-based method for fusing multilateration data and radar data |
| CN104020445A (en) * | 2014-06-10 | 2014-09-03 | 西安电子科技大学 | Indoor laser positioning system based on frequency labeling method |
| CN107850953A (en) * | 2014-11-05 | 2018-03-27 | 威尔乌集团 | For guiding the sensory feedback system and method for user in reality environment |
| CN105926993A (en) * | 2016-04-29 | 2016-09-07 | 北京国承万通信息科技有限公司 | Building component combination and virtual reality experience building |
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