CN106931960B - Attitude data acquisition method and device - Google Patents
Attitude data acquisition method and device Download PDFInfo
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- CN106931960B CN106931960B CN201710145454.1A CN201710145454A CN106931960B CN 106931960 B CN106931960 B CN 106931960B CN 201710145454 A CN201710145454 A CN 201710145454A CN 106931960 B CN106931960 B CN 106931960B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a method and a device for acquiring attitude data, wherein the method comprises the steps of acquiring first attitude data of an object to be measured, which is acquired by a sensor carried on the object to be measured, when the object to be measured rotates; and correcting the first attitude data according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured, and determining the corrected first attitude data as the first attitude data of the object to be measured. In the invention, the sensor can be arranged at any position on the object to be measured, and the acquired attitude data of the object to be measured meets the actual requirement by correcting the attitude data of the object to be measured acquired by the sensor.
Description
Technical Field
The invention relates to the technical field of motion sensing, in particular to a method and a device for acquiring attitude data.
Background
In the field of motion sensing technology, with the development of interactive games, virtual reality and head-mounted display technologies, it is increasingly important to measure the posture of an object (an object or a human body) in real time, and the posture data of the object is generally measured by a sensor.
In the prior art, when the attitude data of the object is measured by the sensor, the sensor is generally required to be mounted or worn on the object according to a specific position relationship, or a third-party sensing device is used for orienting the object beyond a certain distance.
However, in the prior art, the sensor is mounted or worn on the object according to a specific position relationship, so that the difficulty of production and assembly of the sensor is increased, the degree of freedom and convenience in use are reduced, and if the wearing position is deviated or the position of the sensor is deviated during production and assembly, the measured attitude data has errors, and the measured data does not meet the actual requirements; if a third-party sensing device is used, the third-party sensing device does not have good mobility, is sensitive to environmental influence and is easily interfered to cause attitude data errors, so that the measured data does not meet the actual requirements of users.
In summary, when the sensor is used to measure the posture data of the object in the prior art, the measured data may not meet the actual requirements of the user.
Disclosure of Invention
In view of the above, an object of the embodiments of the present invention is to provide a method and an apparatus for acquiring attitude data, so as to solve the technical problem in the prior art that when a sensor is used to measure attitude data of an object, accuracy of the measured attitude data is low.
In a first aspect, an embodiment of the present invention provides a method for acquiring pose data, where the method includes:
acquiring first attitude data of an object to be measured during rotation, which is acquired by a sensor carried on the object to be measured;
and correcting the first posture data according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured, and determining the corrected first posture data as the first posture data of the object to be measured.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system is determined according to the following steps:
creating an object model to be measured and a sensor model in a three-dimensional space;
acquiring second attitude data, which is acquired by the sensor and used for enabling the object to be measured to rotate downwards and downwards;
determining motion trajectory information generated when the sensor model rotates based on the second attitude data;
and determining the horizontal angle difference according to the motion track information generated when the sensor model rotates and the reference coordinate system.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the determining motion trajectory information generated when the sensor model rotates based on the second posture data includes:
determining motion trajectory information when the tail end of a cycloid taking the rotation central point of the sensor model as a starting point moves along with the sensor model;
and determining the motion track information of the tail end of the cycloid as the motion track information generated when the sensor model rotates.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the determining the horizontal angle difference according to the motion trajectory information generated when the sensor model rotates and the reference coordinate system includes:
determining connection line information between the end point of the motion track generated by the sensor model and the start point of the motion track according to the motion track information generated by the sensor model during rotation;
determining an included angle between a connecting line between the end point and the starting point of the motion track and a horizontal coordinate axis of the reference coordinate system according to the connecting line information;
and determining the horizontal angle difference according to the included angle.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the first posture data includes a three-axis rotation angle;
the correcting the first attitude data according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured includes:
and correcting the triaxial rotation angle according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system to obtain the triaxial rotation angle of the object to be measured.
With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the correcting the three-axis rotation angle according to a horizontal angle difference between a coordinate system of the sensor and the reference coordinate system includes:
calculating a sum of horizontal rotation angles of the three-axis rotation angles and a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system;
determining the sum, the pitch angle and the roll angle of the triaxial rotation angles as the triaxial rotation angles of the object to be measured.
In a second aspect, an embodiment of the present invention provides an attitude data acquiring apparatus, where the apparatus includes:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring first attitude data of an object to be measured during rotation, which is acquired by a sensor carried on the object to be measured;
and the correction module is used for correcting the first posture data according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured, and determining the corrected first posture data as the first posture data of the object to be measured.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the apparatus further includes:
the device comprises a creating module, a calculating module and a calculating module, wherein the creating module is used for creating an object model to be measured and a sensor model in a three-dimensional space;
the second acquisition module is used for acquiring second attitude data, acquired by the sensor, of the object to be measured in a downward-bending rotation manner;
the first determination module is used for determining motion track information generated when the sensor model rotates based on the second attitude data;
and the second determining module is used for determining the horizontal angle difference according to the motion track information generated when the sensor model rotates and the reference coordinate system.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the first posture data includes three-axis rotation angles;
the correction module comprises:
and the correcting unit is used for correcting the triaxial rotating angle according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system to obtain the triaxial rotating angle of the object to be measured.
With reference to the second possible implementation manner of the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the modifying unit includes:
a calculating subunit, configured to calculate a sum of a horizontal rotation angle in the three-axis rotation angles and a horizontal angle difference between the coordinate system of the sensor and the reference coordinate system;
a determination subunit configured to determine the sum, and the pitch angle and the roll angle in the three-axis rotation angles as the three-axis rotation angles of the object to be measured.
In the attitude data acquisition method and apparatus provided by the embodiment of the invention, the sensor can be arranged at any position on the object to be measured, and the acquired attitude data of the object to be measured meets the actual requirement by correcting the attitude data of the object to be measured acquired by the sensor.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a method for acquiring object pose data according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the determination of the horizontal angle difference between the coordinate system of the sensor and the reference coordinate system in the object posture data acquisition method according to the embodiment of the present invention;
fig. 3 shows a schematic view of an initial state of a model of an object to be measured and a model of a sensor built in a three-dimensional space in an embodiment of the present invention;
fig. 4 shows a model of an object to be measured and a sensor model built in a three-dimensional space in an embodiment of the present invention, and a schematic rotated state of the sensor model;
fig. 5 is a schematic structural diagram of a posture acquiring apparatus provided in an embodiment of the present invention;
fig. 6 shows a second structural schematic diagram of the posture acquiring device provided by the embodiment of the invention.
Icon: 1-object model to be measured; 2-a sensor model; 3-cycloid in initial state; 3 "-cycloid in post-turn state; 4-line between the end point and the start point of the motion trajectory.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In consideration of the prior art, when measuring the posture data of the object, the sensor is generally mounted or worn on the object according to a specific position relationship, or a third-party sensing device is used, so that the measured posture data of the object may not meet the actual requirement. Based on this, the embodiment of the present invention provides a method and an apparatus for acquiring pose data, which are described below by way of embodiments.
The embodiment of the invention provides a method for acquiring attitude data, wherein when the method is adopted to acquire the attitude data of an object to be measured, a sensor can be arranged at any position of the object to be measured, and the attitude data of the object to be measured acquired by the sensor is corrected, so that the accuracy of the attitude data of the object to be measured meets the actual requirement.
Referring to fig. 1, a method for acquiring pose data according to an embodiment of the present invention includes steps S110 to S120, which are described as follows.
S110, acquiring first attitude data of the object to be measured when the object to be measured is rotated, wherein the first attitude data is acquired by a sensor carried on the object to be measured.
The object to be measured may be any part of a human body, such as a head, an arm, a leg, or the like, or may be a mobile phone or other object.
The sensor is carried on the object to be measured, and the sensor is mounted on the object to be measured or worn on the object to be measured, and the specific carrying mode can carry out measurement according to an actual application scene, for example, if the object to be measured is a human body, the sensor needs to be worn on the human body, and if the object to be measured is an object, the sensor can be mounted on the object, so that the sensor and the object are integrally formed.
And S120, correcting the first posture data according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured, and determining the corrected first posture data as the first posture data of the object to be measured.
The coordinate system of the sensor refers to a coordinate system of the sensor, the origin of coordinates of the coordinate system of the sensor can be any position on the sensor, the X axis of the coordinate system of the sensor can be right in front of the sensor, the axis on the horizontal plane where the sensor is located and perpendicular to the X axis is used as the Y axis of the coordinate system of the sensor, and the vertical direction perpendicular to the horizontal plane where the sensor is located is used as the Z axis of the coordinate system of the sensor.
The X-axis, the Y-axis, and the Z-axis of the reference coordinate system may be established according to a specific object to be measured, for example, when the object to be measured is a human head, the sensor is worn at any position of the human head, and when the reference coordinate system corresponding to the human head is established, the sensor may use any position of the human head as an origin of the reference coordinate system, use a front side of the human head as an X-axis of the reference coordinate system, use a direction on a plane where the X-axis is located and perpendicular to the front side of the human head as the Y-axis, and use a direction vertically upward relative to the top of the head as the Z-axis.
For example, when the object to be measured is a rectangular parallelepiped object, the sensor is mounted on the object, and when a reference coordinate system corresponding to the object is established, an arbitrary position on the object may be taken as an origin of the reference coordinate system, a direction in which a width of the object is located may be taken as an X-axis of the reference coordinate system, a direction in which a length of the object is located may be taken as a Y-axis of the reference coordinate system, and a direction in which a height of the object is located may be taken as a Z-axis of the reference coordinate system.
The reference coordinate system corresponding to the object to be measured is described only by taking the head of the human body and the cuboid object as examples, and the reference coordinate system corresponding to the object to be measured can be established according to practical application.
Referring to fig. 2, in an embodiment of the present invention, the horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system may be determined according to the following steps:
s210, creating an object model to be measured and a sensor model in a three-dimensional space;
s220, acquiring second attitude data, collected by the sensor, of the object to be measured in a downward-downward rotation mode;
s230, determining motion track information generated when the sensor model rotates based on the second attitude data;
and S240, determining the horizontal angle difference according to the motion track information generated when the sensor model rotates and a reference coordinate system.
The second attitude data includes a three-axis rotation angle when the object to be measured bends downward, and specifically includes: horizontal rotation angle, pitch angle, and roll angle.
The model of the object to be measured is created from the object to be measured, for example, if the object to be measured is a human head, the model of the object to be measured created in the three-dimensional space is a human head model, that is, the model of the object to be measured created in the three-dimensional space and the shape of the object to be measured are consistent, and the sensor model is also created from a sensor.
The relative position between the model of the object to be measured and the model of the sensor created in the three-dimensional space is arbitrary, and an embodiment of the present invention determines the positional relationship between the object to be measured and the sensor carried by it from the model of the object to be measured and the model of the sensor created in the three-dimensional space.
As shown in fig. 3, as an initial schematic diagram of the model of the object to be measured and the sensor model created in the three-dimensional space, the horizontal plane in the three-dimensional space corresponds to the earth horizontal plane, that is, the positional relationship between the model of the object to be measured and the horizontal plane coincides with the positional relationship between the object to be measured and the earth horizontal plane, and therefore, the plane on which the X-axis and the Y-axis of the reference coordinate system corresponding to the model of the object to be measured lie is parallel to the horizontal plane of the three-dimensional space, and the X-axis, the Y-axis, and the Z-axis coincide with the X-axis, the Y-axis, and.
In the schematic diagram shown in fig. 3, the object to be measured is a square object, and only the back surface of the object can be seen after the object is horizontally placed on a three-dimensional space.
After the model of the object to be measured and the model of the sensor are created in the three-dimensional space, the determination of the position relationship between the sensor and the object to be measured is started, specifically, the following process is performed:
first, the object to be measured is held in the horizontal direction at the initial position, and a dive rotation is made with the angle of the dive rotation being non-zero. When the object to be measured rotates downwards and downwards, a sensor carried on the object to be measured can acquire second attitude data of the object to be measured when the object to be measured rotates downwards and downwards.
Specifically, when the object to be measured rotates in a downward and downward manner, if the object to be measured is perpendicular to a horizontal plane where the object to be measured is located, the object to be measured rotates in a downward and downward manner along an axis perpendicular to the horizontal plane; if the object to be measured is tilted to the left or right to some extent, the object to be measured is tilted downward along an axis in accordance with the tilt of the object to be measured, and in the embodiment of the present invention, the object to be measured is allowed to have some tilt when the object to be measured is tilted downward, but the tilt angle is less than 90 °.
The above-mentioned motion trajectory information refers to coordinate values of respective positions passed through in the three-dimensional space by the sensor model when rotated based on the second posture data with respect to the reference coordinate system.
In the embodiment of the present invention, the motion trajectory information generated when the sensor model rotates based on the second attitude data is specifically determined by the following process:
determining motion track information when the tail end of a cycloid taking the rotating central point of the sensor model as a starting point moves along with the sensor model; and determining the motion trail information of the tail end of the cycloid as the motion trail information generated when the sensor model rotates.
The rotation center point of the sensor model may be any point at a certain height from the horizontal plane in the three-dimensional space, and preferably, may be any point at a certain distance above the sensor model.
The method includes the steps that a plumb line is made vertically downwards by taking a rotation center point of a sensor model as a starting point, the length of the plumb line is arbitrary, and the relationship between the plumb line and the sensor model is bound, namely the plumb line rotates along with the rotation of the sensor model, and the plumb line is a cycloid in an initial state.
When the sensor model is rotated based on the second attitude data, the cycloid rotates in accordance with the rotation of the sensor model, and the tip of the cycloid leaves a motion locus in a three-dimensional space, which is composed of a series of points through which the tip of the cycloid passes when the cycloid rotates.
In the embodiment of the present invention, in order to determine the motion trajectory information generated when the sensor model rotates, the motion trajectory information when the terminal of the cycloid rotates along with the sensor model may be determined first, and since the rotation of the sensor model and the cycloid is the same, the motion trajectory information of the terminal of the cycloid is determined as the motion trajectory information generated when the sensor model rotates.
Of course, in addition to using the motion trajectory of the tip of the cycloid curve to determine the motion trajectory information of the sensor model, the motion trajectory of any point on the cycloid curve may be used to determine the motion trajectory information of the sensor model.
After the motion track information generated when the sensor model rotates is determined, according to the motion track information and the reference coordinate system generated when the sensor model rotates, a horizontal angle difference between a coordinate system of the sensor and a reference coordinate system corresponding to the object to be measured is determined, and the method specifically comprises the following steps:
determining connection line information between the end point of the motion track generated by the sensor model and the start point of the motion track according to the motion track information generated by the sensor model when rotating; determining an included angle between a connecting line between the end point and the starting point of the motion trail generated by the sensor model and a horizontal coordinate axis of a reference coordinate system according to the connecting line information; according to the angle, a horizontal angle difference between the coordinate system of the sensor and the reference coordinate system is determined.
As shown in fig. 4, it is a state diagram of a cycloid rotating with a sensor model by a certain angle, where 1 is a model of an object to be measured, 2 is a sensor model, 3 "is a cycloid in a post-rotation state, i.e. a cycloid after rotation of the sensor model, 3 is a cycloid in an initial state, i.e. a cycloid before rotation of the sensor model, and 4 is a connecting line between an end point and a start point of a motion trajectory, i.e. a connecting line between a terminal of the cycloid after rotation of the sensor model and a terminal of the cycloid before rotation.
The above-mentioned link information may include a slope of a link between an end point of the motion trajectory and a start point of the motion trajectory, and an intercept on a horizontal axis on the reference coordinate system.
The horizontal coordinate axes of the above-mentioned reference coordinate system refer to two coordinate axes on a horizontal plane parallel to the three-dimensional space.
For example, if the object to be measured is a human head, the front of the human head is taken as an X-axis of a reference coordinate system, a direction on a plane where the X-axis is located and perpendicular to the front of the human head is taken as a Y-axis, and a horizontal angle difference to be finally determined is an included angle between a connecting line between an end point and a start point of a motion trajectory of the sensor model and the X-axis; if the determined angle is the angle between the connecting line and the Y axis, determining the horizontal angle difference between the coordinate system of the sensor and the reference coordinate system according to the angle between the X axis and the Y axis and the determined angle between the X axis and the Y axis.
In the embodiment of the invention, the horizontal angle difference between the coordinate system of the sensor to be determined and the reference coordinate system is the included angle between the straight line and the front of the object to be measured, and the front of the object to be measured can be determined according to an actual scene.
The first attitude data includes three-axis rotation angles.
Specifically, the three-axis rotation angle includes a horizontal rotation angle, a pitch angle, and a roll angle.
When the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured is determined, the first attitude data is corrected according to the horizontal angle difference, and the method specifically comprises the following steps:
and correcting the triaxial rotation angle according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system to obtain the triaxial rotation angle of the object to be measured.
Specifically, the correction of the three-axis rotation angle is implemented by the following steps:
calculating the sum of the horizontal rotation angle in the three-axis rotation angles and the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system; the sum, the pitch angle and the roll angle in the three-axis rotation angles are determined as the three-axis rotation angles of the object to be measured.
In the embodiment of the invention, only the horizontal rotation angle in the three-axis rotation angles needs to be corrected.
In addition, the first attitude data further includes a three-axis acceleration, and in the embodiment of the present invention, the three-axis acceleration acquired by the sensor is not corrected, that is, the three-axis acceleration acquired by the sensor is the three-axis acceleration of the object to be measured.
According to the attitude data acquisition method provided by the embodiment of the invention, the sensor can be arranged at any position on the object to be measured, and the acquired attitude data of the object to be measured meets the actual requirement by correcting the attitude data of the object to be measured, which is acquired by the sensor.
Referring to fig. 5, an embodiment of the present invention further provides an attitude data acquisition apparatus, configured to execute the attitude data acquisition method provided by the embodiment of the present invention, where the apparatus includes a first acquisition module 510 and a modification module 520;
the first acquiring module 510 is configured to acquire first attitude data of the object to be measured during rotation, which is acquired by a sensor carried on the object to be measured;
the correcting module 520 is configured to correct the first posture data according to a horizontal angle difference between the coordinate system of the sensor and the reference coordinate system of the object to be measured, and determine the corrected first posture data as the first posture data of the object to be measured.
The object to be measured may be any part of a human body, such as a head, an arm, a leg, or the like, or may be a mobile phone or other object.
The sensor is carried on the object to be measured, and the sensor is mounted on the object to be measured or worn on the object to be measured, and the specific carrying mode can carry out measurement according to an actual application scene, for example, if the object to be measured is a human body, the sensor needs to be worn on the human body, and if the object to be measured is an object, the sensor can be mounted on the object, so that the sensor and the object are integrally formed.
Referring to fig. 6, the attitude data acquiring apparatus according to the embodiment of the present invention further includes a creating module 530, a second acquiring module 540, a first determining module 550, and a second determining module 560, and in the embodiment of the present invention, a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system may be determined by the creating module 530, the second acquiring module 540, the first determining module 550, and the second determining module 560, which are as follows:
the creating module 530 is configured to create a model of the object to be measured and a model of the sensor in a three-dimensional space;
the second obtaining module 540 is configured to obtain second attitude data of the object to be measured, which is acquired by the sensor and rotates downward and downward;
the first determining module 550 is configured to determine motion trajectory information generated when the sensor model rotates based on the second posture data;
the second determining module 560 is configured to determine the horizontal angle difference according to the motion trajectory information generated when the sensor model rotates and a reference coordinate system.
In an embodiment of the present invention, the first posture data includes three-axis rotation angles;
therefore, the correcting module 520 corrects the first posture data according to the horizontal angle difference between the coordinate system of the sensor and the reference coordinate system of the object to be measured, determines the corrected first posture data as the first posture data of the object to be measured, and is implemented by a correcting unit, which specifically includes:
the correction unit is used for correcting the triaxial rotation angle according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system to obtain the triaxial rotation angle of the object to be measured.
The correction of the three-axis rotation angle by the correction unit is realized by the calculation subunit and the determination subunit, and specifically includes:
the calculating subunit is configured to calculate a sum of a horizontal rotation angle in the three-axis rotation angles and a horizontal angle difference between the coordinate system of the sensor and the reference coordinate system; the above-mentioned determination subunit is configured to determine the above-mentioned sum, the pitch angle and the roll angle in the three-axis rotation angles as the three-axis rotation angles of the object to be measured.
According to the attitude data acquisition device provided by the embodiment of the invention, the sensor can be arranged at any position on the object to be measured, and the acquired attitude data of the object to be measured meets the actual requirement by correcting the attitude data of the object to be measured, which is acquired by the sensor.
The attitude data acquisition device provided by the embodiment of the invention can be specific hardware on equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A method of attitude data acquisition, the method comprising:
acquiring first attitude data of an object to be measured during rotation, which is acquired by a sensor carried on the object to be measured;
correcting the first posture data according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured, and determining the corrected first posture data as the first posture data of the object to be measured;
wherein the first pose data comprises three-axis rotation angles;
the correcting the first attitude data according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured includes:
correcting the triaxial rotation angle according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system to obtain the triaxial rotation angle of the object to be measured;
determining a horizontal angular difference of the coordinate system of the sensor with respect to the reference coordinate system according to the following steps:
creating an object model to be measured and a sensor model in a three-dimensional space;
acquiring second attitude data, which is acquired by the sensor and used for enabling the object to be measured to rotate downwards and downwards;
determining motion trajectory information generated when the sensor model rotates based on the second attitude data;
and determining the horizontal angle difference according to the motion track information generated when the sensor model rotates and the reference coordinate system.
2. The method of claim 1, wherein the determining motion trajectory information generated by the sensor model when rotated based on the second pose data comprises:
determining motion trajectory information when the tail end of a cycloid taking the rotation central point of the sensor model as a starting point moves along with the sensor model;
and determining the motion track information of the tail end of the cycloid as the motion track information generated when the sensor model rotates.
3. The method of claim 1, wherein determining the horizontal angle difference according to the motion trajectory information generated when the sensor model rotates and the reference coordinate system comprises:
determining connection line information between the end point of the motion track generated by the sensor model and the start point of the motion track according to the motion track information generated by the sensor model during rotation;
determining an included angle between a connecting line between the end point and the starting point of the motion track and a horizontal coordinate axis of the reference coordinate system according to the connecting line information;
and determining the horizontal angle difference according to the included angle.
4. The method of claim 1, wherein said correcting the three-axis rotation angle based on the horizontal angular difference of the sensor's coordinate system relative to the reference coordinate system comprises:
calculating a sum of horizontal rotation angles of the three-axis rotation angles and a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system;
determining the sum, the pitch angle and the roll angle of the triaxial rotation angles as the triaxial rotation angles of the object to be measured.
5. An attitude data acquisition apparatus, characterized in that the apparatus comprises:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring first attitude data of an object to be measured during rotation, which is acquired by a sensor carried on the object to be measured;
the correction module is used for correcting the first posture data according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system corresponding to the object to be measured, and determining the corrected first posture data as the first posture data of the object to be measured;
wherein the first pose data comprises three-axis rotation angles;
the correction module comprises:
the correction unit is used for correcting the three-axis rotation angle according to the horizontal angle difference of the coordinate system of the sensor relative to the reference coordinate system to obtain the three-axis rotation angle of the object to be measured;
the device further comprises:
the device comprises a creating module, a calculating module and a calculating module, wherein the creating module is used for creating an object model to be measured and a sensor model in a three-dimensional space;
the second acquisition module is used for acquiring second attitude data, acquired by the sensor, of the object to be measured in a downward-bending rotation manner;
the first determination module is used for determining motion track information generated when the sensor model rotates based on the second attitude data;
and the second determining module is used for determining the horizontal angle difference according to the motion track information generated when the sensor model rotates and the reference coordinate system.
6. The apparatus of claim 5, wherein the correction unit comprises:
a calculating subunit, configured to calculate a sum of a horizontal rotation angle in the three-axis rotation angles and a horizontal angle difference between the coordinate system of the sensor and the reference coordinate system;
a determination subunit configured to determine the sum, and the pitch angle and the roll angle in the three-axis rotation angles as the three-axis rotation angles of the object to be measured.
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| CN108245893B (en) * | 2018-02-09 | 2021-06-29 | 腾讯科技（深圳）有限公司 | Method, device and medium for determining posture of virtual object in three-dimensional virtual environment |
| CN110213718A (en) | 2019-05-24 | 2019-09-06 | 北京小米移动软件有限公司 | The method and device of perception terminal behavior |
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