CN106931960A - A kind of attitude data acquisition methods and device - Google Patents
A kind of attitude data acquisition methods and device Download PDFInfo
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- CN106931960A CN106931960A CN201710145454.1A CN201710145454A CN106931960A CN 106931960 A CN106931960 A CN 106931960A CN 201710145454 A CN201710145454 A CN 201710145454A CN 106931960 A CN106931960 A CN 106931960A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention provides a kind of attitude data acquisition methods and device, wherein, the method includes obtaining the object to be measured for carrying the sensor collection on object to be measured the first attitude data when rotated；The level angle of the corresponding reference frame of coordinate system object relatively to be measured according to sensor is poor, and the first attitude data is modified, and revised first attitude data is defined as the first attitude data of object to be measured.In the present invention, sensor can be arranged on the optional position on object to be measured, be modified by the attitude data of the measured object gathered to sensor, the attitude data of the measured object of acquisition is met actual demand.
Description
Technical field
The present invention relates to motion sensing field, in particular to a kind of attitude data acquisition methods and device.
Background technology
In motion sensing field, with interactive game, virtual reality and the development of Display Technique, in real time measurement are worn
The attitude of object (object or human body) seems more and more important, and the attitude data of object is typically measured by sensor.
In the prior art, in the attitude data by sensor measurement object, generally require sensor according to specific
Position relationship install or be worn on object, or object is carried out beyond certain distance using third party's sensing device
Orientation.
But, in the prior art, sensor is installed or be worn on object according to specific position relationship, increased
The difficulty of sensor production assembling, reduces the free degree and convenience when using, and if wearing position exist deviation or
There is deviation in the position of sensor during person's production assembling, and the attitude data of measurement can be caused to there is error, the data that measurement is obtained
And do not meet actual demand；Do not possess good mobility if third party's sensing device is used, and effect on environment is more
Sensitivity, is easily interfered and causes attitude data mistake, so that the data of measurement do not meet the actual demand of user.
To sum up, in the prior art in the attitude data using sensor measurement object, the data that measurement is obtained may be simultaneously
The actual demand of user is not met.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of attitude data acquisition methods and device, to solve
In the prior art in the attitude data using sensor measurement object, the technology that the accuracy of the attitude data of measurement is relatively low is asked
Topic.
In a first aspect, a kind of attitude data acquisition methods are the embodiment of the invention provides, wherein, methods described includes：
The object described to be measured of sensor collection of the acquisition carrying on object to be measured the first attitude when rotated
Data；
The level angle of the corresponding reference frame of the relatively described object to be measured of coordinate system according to the sensor is poor,
First attitude data is modified, revised first attitude data is defined as the first appearance of the object to be measured
State data.
With reference in a first aspect, present aspect embodiment provide above-mentioned first aspect the first possible implementation, its
In, determine that the level angle of the relatively described reference frame of the coordinate system of the sensor is poor according to following steps：
Object model to be measured and sensor model are created in three dimensions；
The object described to be measured for obtaining the sensor collection does the second attitude data of nutation rotation；
Determine that the sensor model is based on motion track information produced when second attitude data is rotated；
Produced motion track information and the reference frame when being rotated according to the sensor model, it is determined that described
Level angle is poor.
With reference to the first possible implementation of first aspect, the of above-mentioned first aspect is the embodiment of the invention provides
Two kinds of possible implementations, wherein, it is described to determine that the sensor model is based on being produced when second attitude data is rotated
Raw motion track information, including：
It is determined that the end of the cycloid with the rotary middle point of the sensor model as starting point is transported with the sensor model
Motion track information when dynamic；
The motion track information of the end of the cycloid is defined as motion produced when the sensor model is rotated
Trace information.
With reference to the first possible implementation of first aspect, the of above-mentioned first aspect is the embodiment of the invention provides
Three kinds of possible implementations, wherein, produced motion track information when being rotated according to the sensor model and institute
Reference frame is stated, determines that the level angle is poor, including：
Produced motion track information, determines produced by the sensor model when being rotated according to the sensor model
The terminal of movement locus and the starting point of the movement locus between link information；
According to the link information, the line and the reference coordinate between the terminal and starting point of the movement locus are determined
Angle between the horizontal axis of system；
According to the angle, determine that the level angle is poor.
With reference in a first aspect, the embodiment of the invention provides the 4th kind of possible implementation of above-mentioned first aspect, its
In, first attitude data includes the three axle anglecs of rotation；
The level angle of the corresponding reference frame of the coordinate system according to sensor object relatively to be measured is poor,
First attitude data is modified, including：
The level angle of the relatively described reference frame of coordinate system according to the sensor is poor, to the three axles anglec of rotation
Degree is modified, and obtains the three axle anglecs of rotation of the object to be measured.
With reference to the 4th kind of possible implementation of first aspect, the of above-mentioned first aspect is the embodiment of the invention provides
Five kinds of possible implementations, wherein, the horizontal angle of the relatively described reference frame of the coordinate system according to the sensor
Degree is poor, and the three axles anglec of rotation is modified, including：
Calculate the relatively described reference of the coordinate system of horizontal rotation angle and the sensor in the three axles anglec of rotation
The level angle difference and value of coordinate system；
Luffing angle and roll angle in described and value, the three axles anglec of rotation is defined as the object to be measured
The three axle anglecs of rotation.
Second aspect, the embodiment of the invention provides a kind of attitude data acquisition device, wherein, described device includes：
First acquisition module, the object described to be measured that the sensor collection on object to be measured is carried for obtaining exists
The first attitude data during rotation；
Correcting module, for according to the corresponding reference frame of the relatively described object to be measured of the coordinate system of the sensor
Level angle it is poor, first attitude data is modified, revised first attitude data is defined as described to be measured
Measure the first attitude data of object.
With reference to second aspect, the first possible implementation of above-mentioned second aspect is the embodiment of the invention provides, its
In, described device also includes：
Creation module, for creating object model to be measured and sensor model in three dimensions；
Second acquisition module, the object described to be measured for obtaining the sensor collection does the second appearance of nutation rotation
State data；
First determining module, for determining that it is produced when second attitude data is rotated that the sensor model is based on
Motion track information；
Second determining module, produced motion track information and the ginseng during for being rotated according to the sensor model
Coordinate system is examined, determines that the level angle is poor.
With reference to second aspect, second possible implementation of above-mentioned first aspect is the embodiment of the invention provides, its
In, first attitude data includes the three axle anglecs of rotation；
The correcting module includes：
Amending unit, it is poor for the level angle according to the relatively described reference frame of the coordinate system of the sensor, it is right
The three axles anglec of rotation is modified, and obtains the three axle anglecs of rotation of the object to be measured.
With reference to second possible implementation of second aspect, the of above-mentioned second aspect is the embodiment of the invention provides
Three kinds of possible implementations, wherein, the amending unit includes：
Computation subunit, the coordinate for calculating horizontal rotation angle and the sensor in the three axles anglec of rotation
The level angle difference and value of the relatively described reference frame of system；
Determination subelement, for the luffing angle and roll angle in described and value, the three axles anglec of rotation to be determined
It is the three axle anglecs of rotation of the object to be measured.
In attitude data acquisition methods provided in an embodiment of the present invention and device, sensor can be arranged on to be measured right
As upper optional position, and attitude data by the measured object gathered to sensor is modified, and makes the quilt of acquisition
The attitude data of measurement object meets actual demand.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows the gestures of object data capture method flow chart that the embodiment of the present invention is provided；
Fig. 2 shown in the gestures of object data capture method that the embodiment of the present invention is provided, and determines the coordinate of sensor
The flow chart of the level angle difference of the relative reference frame of system；
Fig. 3 shows the object model to be measured set up in three dimensions in the embodiment of the present invention and sensor model
Original state schematic diagram；
Fig. 4 shows the object model to be measured and sensor model set up in three dimensions in the embodiment of the present invention,
View after sensor model rotation；
Fig. 5 shows the structural representation of the attitude acquisition device that the embodiment of the present invention is provided；
Fig. 6 shows second structural representation of the attitude acquisition device that the embodiment of the present invention is provided.
Icon：1- object models to be measured；2- sensor models；3- is in cycloid during original state；3 "-in rotation
Cycloid during state afterwards；Line between the terminal and starting point of 4- movement locus.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
It is a part of embodiment of the invention, rather than whole embodiments.The present invention generally described and illustrated in accompanying drawing herein is real
The component for applying example can be arranged and designed with a variety of configurations.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
In view of in the prior art, in the attitude data of measurement object, typically all by sensor according to specific position
Put relation to install or be worn on object, or use third party's sensing device so that the attitude data of the object of measurement
Actual demand and may not be met.Based on this, a kind of attitude data acquisition methods and device are the embodiment of the invention provides, below
It is described by embodiment.
A kind of attitude data acquisition methods are the embodiment of the invention provides, the appearance of object to be measured is being obtained using the method
During state data, sensor can be arranged on the optional position of object to be measured, and measured right by what is gathered to sensor
The attitude data of elephant is modified so that the attitude data accuracy of measured object meets actual demand.
With reference to shown in Fig. 1, attitude data acquisition methods provided in an embodiment of the present invention, including step S110-S120, specifically
It is as follows.
S110, the object to be measured that sensor of the acquisition carrying on object to be measured is gathered the first attitude when rotated
Data.
Above-mentioned object to be measured can be human body any part, such as, head, arm, leg etc. can also be mobile phone
Or other objects etc..
The sensor is carried includes that sensor is arranged on object to be measured or will sense on object to be measured
Device is worn on object to be measured, and above-mentioned specific carrying mode can be measured according to practical application scene, such as, if
Above-mentioned object to be measured is human body, then need to be worn on sensor on human body, if above-mentioned measured object is object, can
It is arranged on object with by sensor, is integrally formed sensor and object.
S120, the level angle of the corresponding reference frame of coordinate system object relatively to be measured according to sensor is poor, right
Above-mentioned first attitude data is modified, and revised first attitude data is defined as the first attitude number of object to be measured
According to.
The coordinate system of the sensor refers to sensor local Coordinate System, and the origin of coordinates of sensor local Coordinate System can
To be any one position on sensor, the X-axis of sensor local Coordinate System can be the front of sensor, with sensor institute
Horizontal plane on and perpendicular to X-axis axis as sensor local Coordinate System Y-axis, with the level where the sensor
The vertical direction in face is the Z axis as sensor local Coordinate System.
The X-axis of above-mentioned reference frame, Y-axis and Z axis can be set up according to specific object to be measured, such as,
When above-mentioned object to be measured is human body head, then sensor is worn on human body head optional position, sets up human body head
During corresponding reference frame, origin that can be with the optional position of human body head as reference frame, with human body head just
Front as reference frame X-axis, with X-axis direction in the plane and immediately ahead of human body head as Y-axis, with phase
It is Z axis for crown direction straight up.
Such as, when object of the above-mentioned object to be measured for rectangular-shape, sensor is arranged on object, setting up
During the corresponding reference frame of object, can using any one position on the object as reference frame origin, with this
Direction where the width of object as reference frame X-axis, the Y of direction using where the length of the object as reference frame
Axle, using the object height where direction as reference frame Z axis.
It is above-mentioned that the corresponding reference frame of object to be measured is simply introduced by taking human body head and cuboid object as an example, specifically
The corresponding reference frame of object to be measured can be set up according to practical application, and the embodiment of the present invention is limited not to this
It is fixed.
With reference to shown in Fig. 2, in embodiments of the present invention, the coordinate system phase of the sensor can be determined according to following steps
Level angle to reference frame is poor：
S210, creates object model to be measured and sensor model in three dimensions；
S220, the object to be measured for obtaining the sensor collection does the second attitude data of nutation rotation；
S230, determines that the sensor model is based on motion track information produced when the second attitude data is rotated；
S240, produced motion track information and reference frame during according to the sensor model rotation, it is determined that on
State level angle poor.
Three axle anglecs of rotation when above-mentioned second attitude data includes that object nutation to be measured is rotated, specifically include：Level
The anglec of rotation, luffing angle and roll angle.
Above-mentioned object model to be measured is then created according to object to be measured, such as, if above-mentioned to be measured right
As being human body head, then the object model to be measured for creating in three dimensions is human head model, i.e., in three dimensions
The object model to be measured and the shape of object to be measured for creating are consistent, and equally, the sensor model is also according to biography
Sensor and create.
Relative position between the object model to be measured and sensor model that create in three dimensions be it is arbitrary,
The embodiment of the present invention is exactly to be measured right to determine according to the object model to be measured and sensor model created in three dimensions
As and its carry sensor between position relationship.
As shown in figure 3, be the initial schematic diagram of the object model to be measured of establishment and sensor model in three dimensions,
Horizontal plane in three dimensions position relationship between object model that is, to be measured and horizontal plane and is treated equivalent to the earth horizontal plane
Position relationship between measurement object and the earth horizontal plane is consistent, therefore, the X of the corresponding reference frame of object model to be measured
Plane where axle and Y-axis parallel to three dimensions horizontal plane, and X-axis, Y-axis and Z axis reference corresponding with object to be measured
The X-axis of coordinate system, Y-axis are consistent with Z axis.
In schematic diagram illustrated in fig. 3, object to be measured is square object, and the object is lain in a horizontal plane in into three-dimensional space
Between it is upper after, can only see the back side of the object.
After object model to be measured and sensor model is created in three dimensions, then start to determine sensor and treat
Position relationship between measurement object, specifically, being realized by following process：
First, make object to be measured keep horizontal direction constant in initial position, do nutation and rotate, and nutation rotation
Angle is non-zero.When object nutation to be measured is rotated, the sensor carried on object to be measured can gather to be measured right
The second attitude data when being rotated as nutation, the attitude data acquisition device in the embodiment of the present invention can obtain sensor collection
Second attitude data, then controls the sensor model in three dimensions to carry out nutation rotation according to the second attitude data, is passing
When sensor model does nutation rotation in three dimensions, movement locus letter when determining that sensor model is rotated based on nutation
Breath.
Specifically, when object to be measured is when nutation rotation is done, if object to be measured is perpendicular to object institute to be measured
Horizontal plane, then object to be measured do nutation along axle perpendicular to horizontal plane and rotate；If object to be measured to the left or
Person has to the right a certain degree of inclination, then doing nutation along the axle consistent with the inclination of object to be measured rotates, and in the present invention
In embodiment, object to be measured can allow object to be measured to have certain inclination when doing nutation and rotating, but inclined angle
Degree need to be less than 90 °.
Above-mentioned motion track information refers to sensor model when being rotated based on the second attitude data in three dimensions
Coordinate value of each position relative to reference frame for passing through.
In embodiments of the present invention, determine that sensor model is rotated based on the second attitude data particular by following process
When produced motion track information：
It is determined that the fortune when end of the cycloid with the rotary middle point of sensor model as starting point is moved with sensor model
Dynamic trace information；The motion track information of the end of cycloid is defined as movement locus letter produced when sensor model is rotated
Breath.
The rotary middle point of the sensor model can be any one at horizontal plane certain altitude three dimensions
Point, it is preferred that can be any point for being located at sensor model top certain distance.
Rotary middle point with sensor model makes plumb line straight down as starting point, and the length of the plumb line is to appoint
Meaning, and the relation binding between the plumb line and sensor model, i.e., plumb line turns with the rotation of sensor model
Dynamic, the cycloid when plumb line is exactly original state, the embodiment of the present invention is not defined to the specific length of above-mentioned cycloid.
When sensor model is rotated based on the second attitude data, above-mentioned cycloid is with the rotation of sensor model
Rotate, and cycloid rotate when, the end of cycloid can leave movement locus in three dimensions, and the movement locus is existed by cycloid
During rotation, a series of point composition that the end of cycloid is passed through.
In embodiments of the present invention, for produced motion track information when determining that sensor model rotates, can be with
Cycloid end is first determined with motion track information when sensor model is rotated, due to the rotation of sensor model and cycloid
It is the same, therefore the motion track information of the end of cycloid is defined as movement locus produced when sensor model is rotated
Information.
Certainly, in addition to the motion track information for determining sensor model except the movement locus of the end using cycloid,
The motion track information of sensor model can also be determined using the movement locus at any point on cycloid.
When sensor model being determined and rotating after produced motion track information, then when being rotated according to sensor model
Produced motion track information and reference frame, determine the coordinate system and the corresponding reference coordinate of object to be measured of sensor
Level angle between system is poor, specifically includes：
Produced motion track information when being rotated according to sensor model, determines the motion rail produced by sensor model
Link information between the terminal of mark and the starting point of movement locus；According to above-mentioned link information, determine produced by sensor model
Movement locus terminal and starting point between line and the horizontal axis of reference frame between angle；According to above-mentioned folder
Angle, determines that the level angle between the coordinate system of sensor and reference frame is poor.
As shown in figure 4, the state diagram after being turned an angle with sensor model for cycloid, wherein, 1 is object to be measured
Model, it " is the cycloid after cycloid when turning operated condition, i.e. sensor model rotation, 3 is place that 2 is sensor model, 3
Cycloid before the rotation of cycloid when original state, i.e. sensor model, 4 is the company between the terminal and starting point of movement locus
Line between the end of the cycloid before the end of the cycloid after the rotation of line, i.e. sensor model and rotation, implements in the present invention
In example, according to the angle between above-mentioned line and the horizontal axis of reference frame, coordinate system and the reference of sensor are determined
Level angle between coordinate system is poor.
Above-mentioned link information includes including the oblique of the line between the terminal and the starting point of movement locus of movement locus
Rate, and the intercept on the trunnion axis that reference coordinate is fastened.
The horizontal axis of above-mentioned reference frame refer to two reference axis on the horizontal plane parallel to three dimensions.
Such as, object to be measured is human body head, then using the front of human body head as the X-axis of reference frame,
With X-axis direction in the plane and immediately ahead of human body head as Y-axis, it is final it needs to be determined that level angle difference be then
The angle between line and X-axis between the terminal and starting point of the movement locus of sensor model, if, it is above-mentioned it is confirmed that on
The angle between line and X-axis is stated, then the angle is directly defined as the water of the coordinate system relative to reference frame of sensor
Flat differential seat angle；If above-mentioned it is confirmed that angle between above-mentioned line and Y-axis, according to the angle between X-axis and Y-axis and
Angle between above-mentioned determination and X-axis between, determines the level angle between the coordinate system of sensor and reference frame
Difference.
In the embodiment of the present invention, it is thus necessary to determine that sensor coordinate system and reference frame between level angle it is poor,
Be exactly above-mentioned straight line and object to be measured front between angle, and the front of object to be measured can be according to actual field
Scape is determined.
Above-mentioned first attitude data includes the three axle anglecs of rotation.
Specifically, the above-mentioned three axles anglec of rotation includes horizontal rotation angle, luffing angle and roll angle.
After the level angle difference of the coordinate system for determining sensor object relatively to be measured corresponding reference frame, then
The first attitude data is modified according to above-mentioned level angle difference, is specifically included：
Coordinate system according to sensor is poor with respect to the level angle of reference frame, and the three axle anglecs of rotation are modified,
Obtain the three axle anglecs of rotation of object to be measured.
Specifically, above-mentioned be modified to the three axle anglecs of rotation, it is achieved by the steps of：
Calculate the level of the coordinate system with respect to reference frame of the horizontal rotation angle and sensor in the three axle anglecs of rotation
Differential seat angle and value；Luffing angle and roll angle in above-mentioned and value, the three axle anglecs of rotation is defined as object to be measured
The three axle anglecs of rotation.
In embodiments of the present invention, it is only necessary to which the horizontal rotation angle in the three axle anglecs of rotation is modified.
In addition, above-mentioned first attitude data also includes 3-axis acceleration, in embodiments of the present invention, not to sensing
The 3-axis acceleration of device collection is modified, i.e. the 3-axis acceleration of sensor collection is exactly the three axles acceleration of object to be measured
Degree.
Attitude data acquisition methods provided in an embodiment of the present invention, sensor can be arranged on any on object to be measured
Position, and attitude data by the measured object gathered to sensor is modified, and makes the measured object of acquisition
Attitude data meets actual demand.
With reference to shown in Fig. 5, the embodiment of the present invention additionally provides a kind of attitude data acquisition device, and the device is used to perform sheet
The attitude data acquisition methods that inventive embodiments are provided, the device includes the first acquisition module 510 and correcting module 520；
Above-mentioned first acquisition module 510, for obtaining the to be measured right of sensor collection of the carrying on object to be measured
As the first attitude data when rotated；
Above-mentioned correcting module 520, for the reference frame according to the coordinate system of the sensor object relatively to be measured
Level angle it is poor, the first attitude data is modified, revised first attitude data is defined as object to be measured
First attitude data.
Above-mentioned object to be measured can be human body any part, such as, head, arm, leg etc. can also be mobile phone
Or other objects etc..
The sensor is carried includes that sensor is arranged on object to be measured or will sense on object to be measured
Device is worn on object to be measured, and above-mentioned specific carrying mode can be measured according to practical application scene, such as, if
Above-mentioned object to be measured is human body, then need to be worn on sensor on human body, if above-mentioned measured object is object, can
It is arranged on object with by sensor, is integrally formed sensor and object.
With reference to shown in Fig. 6, attitude data acquisition device provided in an embodiment of the present invention also includes creation module 530, second
Acquisition module 540, the first determining module 550 and the second determining module 560, in embodiments of the present invention can be by creation module
530th, the second acquisition module 540, the first determining module 550 and the second determining module 560 determine the relative ginseng of the coordinate system of sensor
The level angle for examining coordinate system is poor, specific as follows：
Above-mentioned creation module 530, for creating object model to be measured and sensor model in three dimensions；
Above-mentioned second acquisition module 540, the object to be measured for obtaining sensor collection does the second appearance of nutation rotation
State data；
Above-mentioned first determining module 550, for determining that the sensor model is based on being produced when the second attitude data is rotated
Raw motion track information；
Above-mentioned second determining module 560, produced motion track information during for according to the sensor model rotation
And reference frame, determine that above-mentioned level angle is poor.
In embodiments of the present invention, above-mentioned first attitude data includes the three axle anglecs of rotation；
Therefore, reference frame of the above-mentioned correcting module 520 according to the coordinate system object relatively to be measured of the sensor
Level angle it is poor, the first attitude data is modified, revised first attitude data is defined as object to be measured
First attitude data, is realized by amending unit, is specifically included：
Above-mentioned amending unit, it is poor with respect to the level angle of reference frame for the coordinate system according to sensor, to three axles
The anglec of rotation is modified, and obtains the three axle anglecs of rotation of object to be measured.
Above-mentioned amending unit is modified to the three axle anglecs of rotation to be realized by computation subunit and determination subelement,
Specifically include：
Above-mentioned computation subunit, the coordinate system phase for calculating horizontal rotation angle and sensor in the three axle anglecs of rotation
To the level angle difference and value of reference frame；Above-mentioned determination subelement, for by above-mentioned and value, the three axle anglecs of rotation
Luffing angle and roll angle are defined as the three axle anglecs of rotation of object to be measured.
Attitude data acquisition device provided in an embodiment of the present invention, sensor can be arranged on any on object to be measured
Position, and attitude data by the measured object gathered to sensor is modified, and makes the measured object of acquisition
Attitude data meets actual demand.
The attitude data acquisition device that the embodiment of the present invention is provided can be equipment on specific hardware or be installed on
Software or firmware in equipment etc..The technique effect of the device that the embodiment of the present invention is provided, its realization principle and generation and preceding
State embodiment of the method identical, to briefly describe, device embodiment part does not refer to part, refers to phase in preceding method embodiment
Answer content.It is apparent to those skilled in the art that, for convenience and simplicity of description, system described above,
The specific work process of device and unit, may be referred to the corresponding process in above method embodiment, will not be repeated here.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can be by other sides
Formula is realized.Device embodiment described above is only schematical, for example, the division of the unit, only one kind are patrolled
Collect function to divide, there can be other dividing mode when actually realizing, but for example, multiple units or component can combine or can
To be integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed each other
Coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of device or unit by some communication interfaces
Connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in the embodiment that the present invention is provided can be integrated in a processing unit, also may be used
Being that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.
If the function is to realize in the form of SFU software functional unit and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing, additionally, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or implying relative importance.
Finally it should be noted that：Embodiment described above, specific embodiment only of the invention, is used to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of embodiment of the present invention technical scheme.Should all cover in protection of the invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of attitude data acquisition methods, it is characterised in that methods described includes：
The object described to be measured of sensor collection of the acquisition carrying on object to be measured the first attitude data when rotated；
The level angle of the corresponding reference frame of the relatively described object to be measured of coordinate system according to the sensor is poor, to institute
State the first attitude data to be modified, revised first attitude data is defined as the first attitude number of the object to be measured
According to.
2. method according to claim 1, it is characterised in that the coordinate system phase of the sensor is determined according to following steps
Level angle to the reference frame is poor：
Object model to be measured and sensor model are created in three dimensions；
The object described to be measured for obtaining the sensor collection does the second attitude data of nutation rotation；
Determine that the sensor model is based on motion track information produced when second attitude data is rotated；
Produced motion track information and the reference frame, determine the level when being rotated according to the sensor model
Differential seat angle.
3. method according to claim 2, it is characterised in that the determination sensor model is based on second appearance
Produced motion track information during state data rotation, including：
It is determined that when the end of the cycloid with the rotary middle point of the sensor model as starting point is moved with the sensor model
Motion track information；
The motion track information of the end of the cycloid is defined as movement locus produced when the sensor model is rotated
Information.
4. method according to claim 2, it is characterised in that described produced when being rotated according to the sensor model
Motion track information and the reference frame, determine that the level angle is poor, including：
Produced motion track information, determines the fortune produced by the sensor model when being rotated according to the sensor model
Link information between the starting point of the terminal of dynamic rail mark and the movement locus；
According to the link information, the line and the reference frame between the terminal and starting point of the movement locus are determined
Angle between horizontal axis；
According to the angle, determine that the level angle is poor.
5. method according to claim 1, it is characterised in that first attitude data includes the three axle anglecs of rotation；
The level angle of the corresponding reference frame of the coordinate system according to sensor object relatively to be measured is poor, to institute
The first attitude data is stated to be modified, including：
The level angle of the relatively described reference frame of coordinate system according to the sensor is poor, and the three axles anglec of rotation is entered
Row amendment, obtains the three axle anglecs of rotation of the object to be measured.
6. method according to claim 5, it is characterised in that the relatively described ginseng of the coordinate system according to the sensor
The level angle for examining coordinate system is poor, and the three axles anglec of rotation is modified, including：
Calculate the relatively described reference coordinate of the coordinate system of horizontal rotation angle and the sensor in the three axles anglec of rotation
The level angle difference and value of system；
Luffing angle and roll angle in described and value, the three axles anglec of rotation is defined as the three of the object to be measured
The axle anglec of rotation.
7. a kind of attitude data acquisition device, it is characterised in that described device includes：
First acquisition module, the object described to be measured of the sensor collection on object to be measured is carried for obtaining in rotation
When the first attitude data；
Correcting module, for the water according to the corresponding reference frame of the relatively described object to be measured of the coordinate system of the sensor
Flat differential seat angle, is modified to first attitude data, and it is described to be measured right that revised first attitude data is defined as
First attitude data of elephant.
8. device according to claim 7, it is characterised in that described device also includes：
Creation module, for creating object model to be measured and sensor model in three dimensions；
Second acquisition module, the object described to be measured for obtaining the sensor collection does the second attitude number of nutation rotation
According to；
First determining module, for determining that the sensor model is based on motion produced when second attitude data is rotated
Trace information；
Second determining module, produced motion track information and the reference are sat during for being rotated according to the sensor model
Mark system, determines that the level angle is poor.
9. device according to claim 7, it is characterised in that first attitude data includes the three axle anglecs of rotation；
The correcting module includes：
Amending unit, it is poor for the level angle according to the relatively described reference frame of the coordinate system of the sensor, to described
The three axle anglecs of rotation are modified, and obtain the three axle anglecs of rotation of the object to be measured.
10. device according to claim 9, it is characterised in that the amending unit includes：
Computation subunit, the coordinate system phase for calculating horizontal rotation angle and the sensor in the three axles anglec of rotation
To the level angle difference and value of the reference frame；
Determination subelement, for the luffing angle and roll angle in described and value, the three axles anglec of rotation to be defined as into institute
State the three axle anglecs of rotation of object to be measured.
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| CN201710145454.1A CN106931960B (en) | 2017-03-13 | 2017-03-13 | Attitude data acquisition method and device |
| PCT/CN2017/083030 WO2018166051A1 (en) | 2017-03-13 | 2017-05-04 | Method and device for obtaining attitude data |
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| CN201710145454.1A CN106931960B (en) | 2017-03-13 | 2017-03-13 | Attitude data acquisition method and device |
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| CN106931960B (en) | 2020-05-05 |
| WO2018166051A1 (en) | 2018-09-20 |
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