CN106851575B - Method for uniformly positioning base station coordinate system and positioning calibration device - Google Patents
Method for uniformly positioning base station coordinate system and positioning calibration device Download PDFInfo
- Publication number
- CN106851575B CN106851575B CN201710053790.3A CN201710053790A CN106851575B CN 106851575 B CN106851575 B CN 106851575B CN 201710053790 A CN201710053790 A CN 201710053790A CN 106851575 B CN106851575 B CN 106851575B
- Authority
- CN
- China
- Prior art keywords
- base station
- laser
- positioning base
- coordinate system
- positioning
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The embodiment of the invention provides a method for uniformly positioning a coordinate system of a base station and a positioning calibration device, wherein the positioning calibration device acquires a first coordinate of at least three laser receiving modules under the coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules under the coordinate system of a second positioning base station at the same time, then the first positioning base station is taken as a reference, and the positioning calibration device determines the azimuth attitude of the second positioning base station in the coordinate system of the first positioning base station according to the first coordinate of at least three laser receiving modules under the coordinate system of the first positioning base station and the second coordinate under the coordinate system of the second positioning base station. The coordinates of the target object in the two coordinate systems can be unified according to the orientation posture of the second positioning base station in the coordinate system of the first positioning base station, so that the situation that the positioning of the target is jumped to influence the user experience when the same target is monitored by two different positioning base stations successively is avoided on the one hand, and an inertial sensor is not required to be additionally added in the positioning base station on the other hand, and the hardware cost is saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of laser and electronics, in particular to a method for uniformly positioning a base station coordinate system and a positioning calibration device.
Background
Virtual Reality (VR) technology is a technology that uses a computer to generate a simulation environment, and uses professional equipment to allow a user to enter a Virtual space, sense and operate in real time, thereby obtaining an immersive real experience. At present, the VR industry is in a starting period, and with the realization of mass production of a large number of VR equipment in two years and the promotion to a consumer-grade market, the industry is about to enter a high-speed development period.
The most important feature of VR technology is its immersion, and a set of positioning systems with high precision and good real-time performance is an important ring for realizing the feature. The precision of the laser positioning scheme can reach mm level, and the method is one of the main technical means for realizing VR positioning at present. The basic principle of laser positioning is to utilize a positioning base station to emit laser which is scanned in the transverse direction and the vertical direction to a positioning space, place a plurality of laser induction receivers on an object to be positioned, measure the time of the laser reaching the receivers respectively, and then calculate the three-dimensional space position of a target according to the position difference of each laser induction receiver. Here, the three-dimensional space coordinates of the target obtained by the calculation are relative to the positioning base station, that is, the three-dimensional coordinates are in a coordinate system with the base station as a coordinate origin. In practical applications, in order to solve the problem of laser scanning shielding, a plurality of laser scanning base stations may work simultaneously. Since the coordinate system of each base station is different, the spatial positioning coordinate values of the same target under different base stations are different. At this time, if the same target is monitored by two different base stations in sequence, the positioning of the target will jump, resulting in poor positioning effect.
Disclosure of Invention
The embodiment of the invention provides a method for unifying a coordinate system of a positioning base station and a positioning calibration device, which are used for solving the problem of poor positioning effect caused by non-unification of the coordinate systems of a plurality of positioning base stations in the prior art.
The embodiment of the invention provides a method for uniformly positioning a base station coordinate system, which comprises the following steps:
the positioning calibration device acquires a first coordinate of at least three laser receiving modules under a coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules under a coordinate system of a second positioning base station at the same time, the coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals transmitted by N laser rotary scanning modules in the same positioning base station, and N is more than or equal to 3;
and by taking the first positioning base station as a reference, the positioning calibration device determines the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the first coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second coordinates of the at least three laser receiving modules in the second positioning base station coordinate system.
Optionally, the method further comprises:
the at least three laser receiving modules are located on one or more target objects.
Optionally, the determining the coordinates of any one of the at least three laser receiving modules by receiving laser signals transmitted by N laser rotation scanning modules in the positioning base station includes:
for any one of the at least three laser receiving modules, executing:
the laser receiving module receives and records the first time of a synchronization signal transmitted by a first laser rotary scanning module, the first laser rotary scanning module is any one of N laser rotary scanning modules in the positioning base station, laser surfaces transmitted by the N laser rotary scanning modules of the positioning base station can be intersected at one point, and the N laser rotary scanning modules are started in sequence;
the laser receiving module receives and records second time of the laser signal transmitted by the first laser rotary scanning module;
the laser receiving module determines the rotation angle of the first laser rotation scanning module according to the first time and the second time;
and the laser receiving module determines the coordinates of the laser receiving module according to the rotating angles of the N laser rotating and scanning modules.
Optionally, with the first positioning base station as a reference, after the positioning calibration device determines the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second positioning base station coordinate system, the positioning calibration device further includes:
the positioning calibration device acquires the coordinate of any one laser receiving module in a second positioning base station coordinate system;
the positioning calibration device determines the coordinates of the laser receiving module in the first positioning base station coordinate system according to the orientation attitude and the coordinates of the laser receiving module in the second positioning base station coordinate system;
and the positioning calibration device determines the coordinates of the laser receiving module in an inertial coordinate system according to the orientation attitude of the first positioning base station in the inertial coordinate system and the coordinates of the laser receiving module in the first positioning base station coordinate system.
Optionally, the orientation and posture of the first positioning base station in the inertial coordinate system are obtained by:
the positioning calibration device acquires coordinates of at least three laser receiving modules on a target object under the coordinate system of the first positioning base station;
the positioning calibration device determines a first azimuth attitude of the target object under the first positioning base station coordinate system according to the coordinates of at least three laser receiving modules on the target object;
the positioning calibration device acquires a second orientation posture of the target object, wherein the second orientation posture is the orientation posture of the target object in an inertial coordinate system, and the orientation posture is determined by an inertial sensor of the target object;
and the positioning calibration device determines a third azimuth attitude according to the first azimuth attitude and the second azimuth attitude, wherein the third azimuth attitude is the azimuth attitude of the first positioning base station in the inertial coordinate system.
Correspondingly, the embodiment of the invention also provides a positioning calibration device, which comprises:
the acquisition module is used for acquiring a first coordinate of at least three laser receiving modules under a coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules under a coordinate system of a second positioning base station at the same time, the coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals transmitted by N laser rotary scanning modules in the same positioning base station, and N is more than or equal to 3;
and the processing module is used for determining the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the first coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second coordinates of the at least three laser receiving modules in the second positioning base station coordinate system by taking the first positioning base station as a reference.
Optionally, the obtaining module is further configured to:
the at least three laser receiving modules are located on one or more target objects.
Optionally, the obtaining module is specifically configured to:
for any one of the at least three laser receiving modules, executing:
the laser receiving module receives and records the first time of a synchronization signal transmitted by a first laser rotary scanning module, the first laser rotary scanning module is any one of N laser rotary scanning modules in the positioning base station, laser surfaces transmitted by the N laser rotary scanning modules of the positioning base station can be intersected at one point, and the N laser rotary scanning modules are started in sequence;
the laser receiving module receives and records second time of the laser signal transmitted by the first laser rotary scanning module;
the laser receiving module determines the rotation angle of the first laser rotation scanning module according to the first time and the second time;
and the laser receiving module determines the coordinates of the laser receiving module according to the rotating angles of the N laser rotating and scanning modules.
Optionally, the processing module is further configured to:
after the position posture of the second positioning base station in the first positioning base station coordinate system is determined according to the coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second positioning base station coordinate system, the coordinate of any one laser receiving module in the second positioning base station coordinate system is obtained;
determining the coordinate of the laser receiving module in the coordinate system of the first positioning base station according to the orientation attitude and the coordinate of the laser receiving module in the coordinate system of the second positioning base station;
and determining the coordinates of the laser receiving module in an inertial coordinate system according to the azimuth attitude of the first positioning base station in the inertial coordinate system and the coordinates of the laser receiving module in the first positioning base station coordinate system.
Optionally, the processing module is further configured to:
determining the orientation attitude of the first positioning base station in an inertial coordinate system, specifically:
acquiring coordinates of at least three laser receiving modules on a target object under the coordinate system of the first positioning base station;
determining a first orientation posture of the target object under the first positioning base station coordinate system according to the coordinates of at least three laser receiving modules on the target object;
acquiring a second azimuth attitude of the target object, wherein the second azimuth attitude is the azimuth attitude of the target object in an inertial coordinate system, which is determined by an inertial sensor of the target object;
and determining a third azimuth attitude according to the first azimuth attitude and the second azimuth attitude, wherein the third azimuth attitude is the azimuth attitude of the first positioning base station in the inertial coordinate system.
The embodiment of the invention shows that: the positioning calibration device acquires a first coordinate of at least three laser receiving modules under a coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules under a coordinate system of a second positioning base station at the same time, the coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals transmitted by N laser rotary scanning modules in the same positioning base station, and N is more than or equal to 3; then, with the first positioning base station as a reference, the positioning calibration device determines the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the first coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second coordinates of the at least three laser receiving modules in the second positioning base station coordinate system. According to the embodiment of the invention, the relation among the positioning base stations is determined according to the coordinates of the at least three laser receiving modules in the coordinate systems of the positioning base stations, so that when a plurality of positioning base stations are used for positioning the same target object, the coordinates of the target object under the coordinate systems of the positioning base stations can be unified into the coordinate system of one positioning base station according to the relation among the positioning base stations, so that the influence on user experience caused by the jump of the positioning of the target when the same target is sequentially monitored by two different positioning base stations is avoided on one hand, and on the other hand, an inertial sensor is not required to be additionally added into the positioning base stations, and the hardware cost is saved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below.
Fig. 1 is a schematic flowchart of a method for unifying the coordinate systems of the positioning base stations according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a process for determining coordinates of a laser receiving module according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a specific application scenario provided in the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a positioning calibration apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 illustrates a flow of a method for unifying the coordinate systems of the positioning base stations according to an embodiment of the present invention, which may be performed by a positioning calibration apparatus.
As shown in fig. 1, the specific steps of the process include:
step S101, a positioning calibration device acquires a first coordinate of at least three laser receiving modules under a coordinate system of a first positioning base station and a second coordinate under a coordinate system of a second positioning base station at the same time;
step S102, with the first positioning base station as a reference, the positioning calibration device determines the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the first coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second coordinates of the at least three laser receiving modules in the second positioning base station coordinate system.
The technical solution of the embodiment of the present invention is not limited to unifying the coordinate systems of the two positioning base stations of the first positioning base station and the second positioning base station, and the number of the positioning base stations may be three or more. In a specific implementation, the number of the laser receiving modules used for uniformly positioning the coordinate system of the base station may be three, four or more, but at least three should be satisfied. The at least three laser receiving modules may be located on one target object or may be located on a plurality of target objects. The target object may be a handle, helmet or other device equipped with a laser receiving module. The positioning calibration module is independent of the positioning base station and the target object. The coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals emitted by N laser rotary scanning modules in the same positioning base station, wherein N is more than or equal to 3. A specific process for determining the coordinates of any one of the at least three laser receiving modules is described in detail below, and as shown in fig. 2, the process includes:
step S201, a laser receiving module receives and records the first time of a synchronous signal transmitted by a first laser rotation scanning module;
step S202, the laser receiving module receives and records the second time of the laser signal emitted by the first laser rotary scanning module;
step S203, the laser receiving module determines the rotation angle of the first laser rotation scanning module according to the first time and the second time;
and step S204, the laser receiving module determines the coordinates of the laser receiving module according to the rotation angles of the N laser rotation scanning modules.
In the embodiment of the invention, the laser receiving module comprises a laser sensor device, such as a photosensitive diode or a triode, an operational amplifier and a positioning algorithm unit. The first laser rotary scanning module is any one of N laser rotary scanning modules in the positioning base station, laser planes emitted by the N laser rotary scanning modules of the positioning base station can intersect at one point, the N laser rotary scanning modules are started in sequence, and only one laser rotary scanning module scans a monitoring area at any time. The N laser rotation scanning modules in the positioning base station can be installed into an integral structure, or can be distributed independently, and N is larger than or equal to 3. When N laser rotation scanning modules in the positioning base station are of an integrated structure, all the laser rotation scanning modules are located at the same position, all the laser rotation scanning modules can be used as a whole to be seen, and each laser rotation scanning module can emit laser to scan a monitoring area. When N laser rotation scanning modules are independently distributed in a positioning base station, all the laser rotation scanning modules are not located at the same position and have a certain distance from each other, each laser rotation scanning module can emit laser to scan a monitoring area, and the laser surfaces emitted by at least three laser rotation scanning modules can intersect at one point. Any one of N laser rotary scanning modules in the positioning base station comprises a word line laser module, a mirror device, a coupler, a direct current brushless motor and a driver. A word line laser module is used for transmitting laser signal to the mirror surface device, the mirror surface device is used for reflecting the laser signal that a word line laser module launches to the mirror surface device to the monitoring area, and the shaft coupling is used for being fixed in DC brushless motor and driver with the mirror surface device, and DC brushless motor and driver can carry out at the uniform velocity and rotate to drive the rotation of mirror surface device, therefore can realize carrying out laser scanning to the monitoring area. In addition, the laser rotation scanning module also comprises a synchronization module and a multi-axis linkage control module, the synchronization module is used for transmitting a synchronization signal to the laser receiving module to realize initial angle synchronization with the laser receiving module, the laser receiving module starts timing after receiving the synchronization signal, the timing starting time is a first time, the laser receiving module stops timing after receiving the laser signal, and the timing stopping time is a second time. The multi-axis linkage control module controls the rotating speed of a direct current brushless motor and a driver in each laser rotation scanning module and is used for controlling the laser scanning sequence of all the laser rotation scanning modules. Therefore, the laser receiving module can determine the rotation angle of the laser rotating and scanning module according to the time difference between the first time and the second time and the rotation speed of the driver, and further, the laser receiving module determines the coordinates of the laser receiving module according to the rotation angles of the N laser rotating and scanning modules.
Optionally, after the positioning calibration device determines the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the first coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second coordinates of the second positioning base station coordinate system, the coordinates of the laser receiving modules in the second positioning base station coordinate system may be converted into the coordinates in the first base station coordinate system according to the orientation posture of the second positioning base station in the first positioning base station coordinate system. Further, the positioning calibration device determines the coordinates of the laser receiving module in the inertial coordinate system according to the orientation attitude of the first positioning base station in the inertial coordinate system and the coordinates of the laser receiving module in the first positioning base station coordinate system. If a certain laser receiving module can only receive the laser beam emitted by the second positioning base station but cannot receive the laser beam emitted by the first positioning base station, the positioning calibration device firstly converts the coordinate of the laser receiving module in the coordinate system of the second positioning base station into the coordinate under the coordinate system of the first positioning base station according to the orientation posture of the second positioning base station in the coordinate system of the first positioning base station, and then converts the coordinate of the laser receiving module in the coordinate system of the second positioning base station into the coordinate under the coordinate system of the inertia coordinate according to the orientation posture of the first positioning base station under the coordinate system of the inertia base station, so that the positioning of a target is prevented from jumping to affect user experience when the same target object is monitored by two different positioning base stations successively.
Optionally, the method for determining the orientation and posture of the first positioning base station in the inertial coordinate system specifically includes:
the positioning calibration device acquires coordinates of at least three laser receiving modules on a target object under a first positioning base station coordinate system; the positioning calibration device determines a first azimuth attitude of the target object under a first positioning base station coordinate system according to the coordinates of at least three laser receiving modules on the target object; the positioning calibration device acquires a second azimuth attitude of the target object, wherein the second azimuth attitude is the azimuth attitude of the target object in an inertial coordinate system, which is determined by an inertial sensor of the target object; and the positioning calibration device determines a third azimuth attitude according to the first azimuth attitude and the second azimuth attitude, wherein the third azimuth attitude is the azimuth attitude of the first positioning base station in an inertial coordinate system. In a specific implementation, when determining the orientation and posture of the first positioning base station in the inertial coordinate system, the laser receiving modules used for calibration and positioning must be located on one target object, and all the laser receiving modules must be capable of receiving the laser beam emitted by the first positioning base station. The positioning calibration device determines the orientation posture of the same target object under the positioning base station and the inertial coordinate system, and then unifies the positioning base station coordinate system and the inertial coordinate system according to the orientation posture of the same target object under the positioning base station coordinate system and the orientation posture under the inertial coordinate system, so that the coordinates of the target object under the positioning base station coordinate system can be converted into the coordinates under the inertial coordinate system, on one hand, good positioning effect can be achieved when the positioning base station is placed with deviation, the immersion of a user is improved, on the other hand, an inertial sensor does not need to be additionally added into the positioning base station, and the hardware cost is saved.
For better explaining the embodiment of the present invention, a flow of the method for unifying the coordinate systems of the positioning base stations provided by the embodiment of the present invention is described below through a specific implementation scenario, and the specific implementation scenario is shown in fig. 3.
Taking an example of unifying coordinate systems of two positioning base stations, the three-dimensional space shown in fig. 3 includes two positioning base stations, namely a positioning base station a and a positioning base station B, and the coordinate system of the positioning base station a is OACoordinate system of positioning base station B is OBThe coordinate of the inertial coordinate system is OI. The positioning base station A and the positioning base station B respectively comprise three laser rotation scanning modules with numbers of I, II and III. The three laser rotation scanning modules sequentially emit laser beams to scan in a three-dimensional space, wherein the laser rotation scanning modules numbered I and III scan in the horizontal direction, the laser rotation scanning modules numbered II scan in the vertical direction, and the laser rotation scanning modules scan at any timeOnly one laser rotation scanning module is in a scanning working state, and the scanning sequence can be determined according to specific conditions. Also included in the three-dimensional space are two handles, handle 301 and handle 302 respectively. The handle 301 and the handle 302 are respectively provided with three laser receiving modules, and only three laser receiving modules on the handle 301 and the handle 302 are set to be capable of simultaneously receiving laser beams emitted by the positioning base station a and the positioning base station B. One of the laser light receiving modules 3011 is located on the handle 301, and the other two laser light receiving modules 3021 and 3022 are located on the handle 302. The three laser receiving modules determine the laser receiving modules to be in a coordinate system OAAnd in a coordinate system OBThe method of coordinates of (2) is the same. To determine the laser receiving module 3011 in the coordinate system OATaking the coordinates below as an example, the laser receiving module 3011 sequentially receives the synchronization signal and the laser signal transmitted by the three laser rotation scanning modules in the positioning base station a, determines the rotation angles of the three laser rotation scanning modules in the positioning base station a according to the time difference between the received synchronization signal and the received laser signal, and further calculates the rotation angle of the laser receiving module 3011 in the coordinate system O according to the rotation angles of the three laser rotation scanning modules in the positioning base station aAThe coordinates of the following. Determining the laser receiving module 3011 in the coordinate system OBCoordinates of lower part and the laser light receiving module 3021 and the laser light receiving module 3022 in the coordinate system OAAnd a coordinate system OBThe following coordinate method is the same as the above method, and is not described herein again. The handle 301 acquires the laser receiving module 3011 in the coordinate system OAAnd a coordinate system OBAfter the coordinates are obtained, the two obtained coordinates are sent to a positioning calibration device, and similarly, the handle 302 enables the laser receiving module 3021 and the laser receiving module 3022 to be located in the coordinate system OAAnd a coordinate system OBAnd sending the lower coordinates to a positioning calibration module. In a coordinate system OAFor reference, the positioning calibration module is receiving the laser receiving module 3011, the laser receiving module 3021 and the laser receiving module 3022 in a coordinate system OAAnd a coordinate system OBAfter the coordinates are obtained, the three laser receiving modules are received in a coordinate system OAAnd a coordinate system OBDetermining the coordinates of the positioning base station B in the coordinate system OAThe azimuth attitude in (1).
Further, setting the positioning base station A in an inertial coordinate system OIIf the laser receiving module 3012 on the handle 301 only receives the laser beam emitted from the positioning base station B and cannot receive the laser beam emitted from the base station a, the orientation attitude of the laser receiving module 3012 in the inertial coordinate system O is determinedIThe positioning calibration device firstly locates the base station B according to the coordinate system OAThe orientation posture of (1) is to make the laser receiving module 3012 in the coordinate system OBIs converted into a coordinate system OAThen according to the positioning base station A in the inertial coordinate system OIThe orientation posture determining laser receiving module 3012 in the inertial coordinate system OICoordinates of (2).
The embodiment of the invention shows that: the positioning calibration device acquires a first coordinate of at least three laser receiving modules under a coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules under a coordinate system of a second positioning base station at the same time, the coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals transmitted by N laser rotary scanning modules in the same positioning base station, and N is more than or equal to 3; then, with the first positioning base station as a reference, the positioning calibration device determines the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the first coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second coordinates of the at least three laser receiving modules in the second positioning base station coordinate system. According to the embodiment of the invention, the relation among the positioning base stations is determined according to the coordinates of the at least three laser receiving modules in the coordinate systems of the positioning base stations, so that when a plurality of positioning base stations are used for positioning the same target object, the coordinates of the target object under the coordinate systems of the positioning base stations can be unified into the coordinate system of one positioning base station according to the relation among the positioning base stations, so that the influence on user experience caused by the jump of the positioning of the target when the same target is sequentially monitored by two different positioning base stations is avoided on one hand, and on the other hand, an inertial sensor is not required to be additionally added into the positioning base stations, and the hardware cost is saved.
Based on the same conception, fig. 4 exemplarily shows a structure of a positioning calibration apparatus provided by the embodiment of the present invention, and the apparatus can execute a flow of a method for calibrating a coordinate system of a positioning base station.
As shown in fig. 4, the positioning calibration apparatus 400 includes:
an obtaining module 401, configured to obtain a first coordinate of at least three laser receiving modules in a coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules in a coordinate system of a second positioning base station at the same time, where a coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals transmitted by N laser rotation scanning modules in the same positioning base station, and N is greater than or equal to 3;
a processing module 402, configured to determine, with the first positioning base station as a reference, an orientation posture of the second positioning base station in the first positioning base station coordinate system according to a first coordinate of the at least three laser receiving modules in the first positioning base station coordinate system and a second coordinate of the at least three laser receiving modules in the second positioning base station coordinate system.
Optionally, the obtaining module 401 is further configured to:
the at least three laser receiving modules are located on one or more target objects.
Optionally, the obtaining module 401 is specifically configured to:
for any one of the at least three laser receiving modules, executing:
the laser receiving module receives and records the first time of a synchronization signal transmitted by a first laser rotary scanning module, the first laser rotary scanning module is any one of N laser rotary scanning modules in the positioning base station, laser surfaces transmitted by the N laser rotary scanning modules of the positioning base station can be intersected at one point, and the N laser rotary scanning modules are started in sequence;
the laser receiving module receives and records second time of the laser signal transmitted by the first laser rotary scanning module;
the laser receiving module determines the rotation angle of the first laser rotation scanning module according to the first time and the second time;
and the laser receiving module determines the coordinates of the laser receiving module according to the rotating angles of the N laser rotating and scanning modules.
Optionally, the processing module 402 is further configured to:
after the position posture of the second positioning base station in the first positioning base station coordinate system is determined according to the coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second positioning base station coordinate system, the coordinate of any one laser receiving module in the second positioning base station coordinate system is obtained;
determining the coordinate of the laser receiving module in the coordinate system of the first positioning base station according to the orientation attitude and the coordinate of the laser receiving module in the coordinate system of the second positioning base station;
and determining the coordinates of the laser receiving module in an inertial coordinate system according to the azimuth attitude of the first positioning base station in the inertial coordinate system and the coordinates of the laser receiving module in the first positioning base station coordinate system.
Optionally, the processing module 402 is further configured to:
determining the orientation attitude of the first positioning base station in an inertial coordinate system, specifically:
acquiring coordinates of at least three laser receiving modules on a target object under the coordinate system of the first positioning base station;
determining a first orientation posture of the target object under the first positioning base station coordinate system according to the coordinates of at least three laser receiving modules on the target object;
acquiring a second azimuth attitude of the target object, wherein the second azimuth attitude is the azimuth attitude of the target object in an inertial coordinate system, which is determined by an inertial sensor of the target object;
and determining a third azimuth attitude according to the first azimuth attitude and the second azimuth attitude, wherein the third azimuth attitude is the azimuth attitude of the first positioning base station in the inertial coordinate system.
The embodiment of the invention shows that: the positioning calibration device acquires a first coordinate of at least three laser receiving modules under a coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules under a coordinate system of a second positioning base station at the same time, the coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals transmitted by N laser rotary scanning modules in the same positioning base station, and N is more than or equal to 3; then, with the first positioning base station as a reference, the positioning calibration device determines the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the first coordinates of the at least three laser receiving modules in the first positioning base station coordinate system and the second coordinates of the at least three laser receiving modules in the second positioning base station coordinate system. According to the embodiment of the invention, the relation among the positioning base stations is determined according to the coordinates of the at least three laser receiving modules in the coordinate systems of the positioning base stations, so that when a plurality of positioning base stations are used for positioning the same target object, the coordinates of the target object under the coordinate systems of the positioning base stations can be unified into the coordinate system of one positioning base station according to the relation among the positioning base stations, so that the influence on user experience caused by the jump of the positioning of the target when the same target is sequentially monitored by two different positioning base stations is avoided on one hand, and on the other hand, an inertial sensor is not required to be additionally added into the positioning base stations, and the hardware cost is saved.
It should be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A method for uniformly positioning a base station coordinate system is applied to the technical field of virtual reality and comprises the following steps:
the positioning calibration device acquires a first coordinate of at least three laser receiving modules under a coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules under a coordinate system of a second positioning base station at the same time, the coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals transmitted by N laser rotary scanning modules in the same positioning base station, and N is more than or equal to 3;
the positioning calibration device determines the orientation posture of the second positioning base station in the first positioning base station coordinate system according to the first coordinate of the at least three laser receiving modules in the first positioning base station coordinate system and the second coordinate of the at least three laser receiving modules in the second positioning base station coordinate system by taking the first positioning base station as a reference;
the positioning calibration device acquires the coordinate of any one laser receiving module in a second positioning base station coordinate system;
the positioning calibration device determines the coordinates of the laser receiving module in the first positioning base station coordinate system according to the orientation attitude and the coordinates of the laser receiving module in the second positioning base station coordinate system;
and the positioning calibration device determines the coordinates of the laser receiving module in an inertial coordinate system according to the orientation attitude of the first positioning base station in the inertial coordinate system and the coordinates of the laser receiving module in the first positioning base station coordinate system.
2. The method of claim 1, further comprising:
the at least three laser receiving modules are located on one or more target objects.
3. The method of claim 1, wherein determining the coordinates of any one of the at least three laser receiver modules by receiving laser signals transmitted by N laser rotation scanning modules in the positioning base station comprises:
for any one of the at least three laser receiving modules, executing:
the laser receiving module receives and records the first time of a synchronization signal transmitted by a first laser rotary scanning module, the first laser rotary scanning module is any one of N laser rotary scanning modules in the positioning base station, laser surfaces transmitted by the N laser rotary scanning modules of the positioning base station can be intersected at one point, and the N laser rotary scanning modules are started in sequence;
the laser receiving module receives and records second time of the laser signal transmitted by the first laser rotary scanning module;
the laser receiving module determines the rotation angle of the first laser rotation scanning module according to the first time and the second time;
and the laser receiving module determines the coordinates of the laser receiving module according to the rotating angles of the N laser rotating and scanning modules.
4. The method of claim 1, wherein the orientation attitude of the first positioning base station in the inertial coordinate system is obtained by:
the positioning calibration device acquires coordinates of at least three laser receiving modules on a target object under the coordinate system of the first positioning base station;
the positioning calibration device determines a first azimuth attitude of the target object under the first positioning base station coordinate system according to the coordinates of at least three laser receiving modules on the target object;
the positioning calibration device acquires a second orientation posture of the target object, wherein the second orientation posture is the orientation posture of the target object in an inertial coordinate system, and the orientation posture is determined by an inertial sensor of the target object;
and the positioning calibration device determines a third azimuth attitude according to the first azimuth attitude and the second azimuth attitude, wherein the third azimuth attitude is the azimuth attitude of the first positioning base station in the inertial coordinate system.
5. The utility model provides a location calibrating device which characterized in that is applied to virtual reality technical field, includes:
the acquisition module is used for acquiring a first coordinate of at least three laser receiving modules under a coordinate system of a first positioning base station and a second coordinate of at least three laser receiving modules under a coordinate system of a second positioning base station at the same time, the coordinate of any one of the at least three laser receiving modules is determined by receiving laser signals transmitted by N laser rotary scanning modules in the same positioning base station, and N is more than or equal to 3;
the processing module is used for determining the orientation posture of the second positioning base station in the first positioning base station coordinate system according to a first coordinate of the at least three laser receiving modules in the first positioning base station coordinate system and a second coordinate of the at least three laser receiving modules in the second positioning base station coordinate system by taking the first positioning base station as a reference; acquiring the coordinate of any laser receiving module in a second positioning base station coordinate system; determining the coordinate of the laser receiving module in the coordinate system of the first positioning base station according to the orientation attitude and the coordinate of the laser receiving module in the coordinate system of the second positioning base station; and determining the coordinates of the laser receiving module in an inertial coordinate system according to the azimuth attitude of the first positioning base station in the inertial coordinate system and the coordinates of the laser receiving module in the first positioning base station coordinate system.
6. The positioning calibration device of claim 5, wherein the acquisition module is further configured to:
the at least three laser receiving modules are located on one or more target objects.
7. The positioning calibration apparatus of claim 5, wherein the acquisition module is specifically configured to:
for any one of the at least three laser receiving modules, executing:
the laser receiving module receives and records the first time of a synchronization signal transmitted by a first laser rotary scanning module, the first laser rotary scanning module is any one of N laser rotary scanning modules in the positioning base station, laser surfaces transmitted by the N laser rotary scanning modules of the positioning base station can be intersected at one point, and the N laser rotary scanning modules are started in sequence;
the laser receiving module receives and records second time of the laser signal transmitted by the first laser rotary scanning module;
the laser receiving module determines the rotation angle of the first laser rotation scanning module according to the first time and the second time;
and the laser receiving module determines the coordinates of the laser receiving module according to the rotating angles of the N laser rotating and scanning modules.
8. The positioning calibration device of claim 5, wherein the processing module is further configured to:
determining the orientation attitude of the first positioning base station in an inertial coordinate system, specifically:
acquiring coordinates of at least three laser receiving modules on a target object under the coordinate system of the first positioning base station;
determining a first orientation posture of the target object under the first positioning base station coordinate system according to the coordinates of at least three laser receiving modules on the target object;
acquiring a second azimuth attitude of the target object, wherein the second azimuth attitude is the azimuth attitude of the target object in an inertial coordinate system, which is determined by an inertial sensor of the target object;
and determining a third azimuth attitude according to the first azimuth attitude and the second azimuth attitude, wherein the third azimuth attitude is the azimuth attitude of the first positioning base station in the inertial coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710053790.3A CN106851575B (en) | 2017-01-22 | 2017-01-22 | Method for uniformly positioning base station coordinate system and positioning calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710053790.3A CN106851575B (en) | 2017-01-22 | 2017-01-22 | Method for uniformly positioning base station coordinate system and positioning calibration device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106851575A CN106851575A (en) | 2017-06-13 |
| CN106851575B true CN106851575B (en) | 2020-04-24 |
Family
ID=59120383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710053790.3A Active CN106851575B (en) | 2017-01-22 | 2017-01-22 | Method for uniformly positioning base station coordinate system and positioning calibration device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106851575B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108872937B (en) * | 2018-06-27 | 2020-11-13 | 上海乐相科技有限公司 | Method and device for calibrating and positioning base station coordinate system |
| CN109143214B (en) * | 2018-07-26 | 2021-01-08 | 上海乐相科技有限公司 | Target positioning method and device adopting laser scanning |
| CN108882156B (en) * | 2018-07-26 | 2020-08-07 | 上海乐相科技有限公司 | Method and device for calibrating and positioning base station coordinate system |
| CN110007275A (en) * | 2019-01-25 | 2019-07-12 | 广州市慧建科技有限公司 | A kind of Multi objective Planar position coordinates localization method and system |
| CN110109056B (en) * | 2019-04-24 | 2021-04-20 | 广州市慧建科技有限公司 | Multi-target laser positioning system |
| CN113763464B (en) * | 2020-06-01 | 2023-09-15 | 北京凌宇智控科技有限公司 | Course angle calibration method, positioning equipment and positioning system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201404732D0 (en) * | 2014-03-17 | 2014-04-30 | Sony Comp Entertainment Europe | Virtual Reality |
| CN105183166B (en) * | 2015-09-15 | 2018-05-22 | 北京国承万通信息科技有限公司 | Virtual reality system |
| CN105138135B (en) * | 2015-09-15 | 2018-08-28 | 北京国承万通信息科技有限公司 | Wear-type virtual reality device and virtual reality system |
| CN105911576B (en) * | 2016-04-08 | 2018-09-07 | 北京无线电计量测试研究所 | Determine the method and device of the location information of secondary subsystem in distributed collaboration system |
| CN105898864A (en) * | 2016-05-30 | 2016-08-24 | 成都理想境界科技有限公司 | Positioning base station, positioning terminal and spatial positioning system |
| CN106199517A (en) * | 2016-06-30 | 2016-12-07 | 成都理想境界科技有限公司 | A kind of location equipment, locating base station, space positioning system and method |
| CN106546950A (en) * | 2016-06-30 | 2017-03-29 | 成都理想境界科技有限公司 | A kind of locating base station |
-
2017
- 2017-01-22 CN CN201710053790.3A patent/CN106851575B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106851575A (en) | 2017-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106851575B (en) | Method for uniformly positioning base station coordinate system and positioning calibration device | |
| CN106878944B (en) | Method for calibrating coordinate system of positioning base station and positioning calibration device | |
| US11740690B2 (en) | Systems and methods for tracking a controller | |
| KR102133105B1 (en) | 3D spatial detection system, positioning method and system | |
| US20190202067A1 (en) | Method and device for localizing robot and robot | |
| CN105824004A (en) | Method and system for positioning interactive space | |
| JP2020533721A5 (en) | ||
| CN110879400A (en) | Method, equipment and storage medium for fusion positioning of laser radar and IMU | |
| CN1308505A (en) | Motion tracking system | |
| CN101504275A (en) | Hand-hold line laser three-dimensional measuring system based on spacing wireless location | |
| US20230012240A1 (en) | Data acquisition device, data correction method and apparatus, and electronic device | |
| CN107024677B (en) | Virtual reality positioning system | |
| CN109143214B (en) | Target positioning method and device adopting laser scanning | |
| CN107346013B (en) | A kind of method and device for calibrating locating base station coordinate system | |
| CN110262667B (en) | Virtual reality equipment and positioning method | |
| WO2020052667A1 (en) | Visual repositioning method and apparatus for intelligent device | |
| CN110672097A (en) | Indoor positioning and tracking method, device and system based on laser radar | |
| US20220088783A1 (en) | Method and Apparatus for Manufacturing Line Simulation | |
| CN106767737A (en) | Target attitude measurement system and its measuring method based on virtual reality technology | |
| CN108226865A (en) | A kind of object localization method and device using laser scanning | |
| CN107229055B (en) | Mobile equipment positioning method and mobile equipment positioning device | |
| CN210952856U (en) | Indoor positioning and tracking device and system based on laser radar | |
| US11620846B2 (en) | Data processing method for multi-sensor fusion, positioning apparatus and virtual reality device | |
| US20210333384A1 (en) | Three-dimensional reconstruction device, three-dimensional reconstruction system, three-dimensional reconstruction method, and storage medium storing three-dimensional reconstruction program | |
| CN103076591A (en) | Ultrasonic technology-based industrial robot movement locating method and system |
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 | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 322103 Room 201, East Building, building C, headquarters center, No. 23, Guangfu East Street, houtang community, Jiangbei street, Dongyang City, Jinhua City, Zhejiang Province (self declaration) Patentee after: Lexiang Technology Co.,Ltd. Address before: 200125 6th floor, building 8, honghuiyinyuewan, No.1 yanjiaqiao, Pudong New Area, Shanghai Patentee before: SHANGHAI LEXIANG TECHNOLOGY Co.,Ltd. |