CN106959770A - 3D instruction devices and the method for the rotation of compensation 3D instruction devices - Google Patents

3D instruction devices and the method for the rotation of compensation 3D instruction devices Download PDF

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Publication number
CN106959770A
CN106959770A CN201710093370.8A CN201710093370A CN106959770A CN 106959770 A CN106959770 A CN 106959770A CN 201710093370 A CN201710093370 A CN 201710093370A CN 106959770 A CN106959770 A CN 106959770A
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China
Prior art keywords
orientation
angle
state
rotation
reference coordinate
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Inventor
叶舟
李金龙
刘顺男
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Xi En Somatosensory Polytron Technologies Inc
Cywee Group Ltd
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Xi En Somatosensory Polytron Technologies Inc
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Priority claimed from US13/072,794 external-priority patent/US9760186B2/en
Priority claimed from US13/176,771 external-priority patent/US8552978B2/en
Application filed by Xi En Somatosensory Polytron Technologies Inc filed Critical Xi En Somatosensory Polytron Technologies Inc
Publication of CN106959770A publication Critical patent/CN106959770A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Input By Displaying (AREA)

Abstract

A kind of 3D instruction devices and the method for the rotation of compensation 3D instruction devices.3D instruction devices are using a rotation sensor and accurately by the rotation of 3D instruction devices and can move the Move Mode that be converted on the display plane of display device.3D instruction devices include an aspect sensor, a rotation sensor and a computing sensor.Aspect sensor produces an orientation associated with an orientation of 3D instruction devices and exported, and the 3D instruction devices orientation be a universal reference coordinate associated with the earth three axles it is associated.Rotation sensor produces associated with rotations of a 3D instruction devices rotation and exported, and 3D instruction devices rotation be a georeferencing coordinate associated with 3D instruction devices three axles it is associated.Arithmetic processor is exported using orientation and exported with rotating to export with producing a conversion, and conversion output is that a fixed reference coordinate associated with a display device is associated.

Description

3D instruction devices and the method for the rotation of compensation 3D instruction devices
The application is the applying date on March 27th, 2012, Application No. 201210084834.6, entitled " 3D refers to The divisional application of the application for a patent for invention of showing device and the method for the rotation of compensation 3D instruction devices ".
Technical field
The present invention is on a kind of 3D instruction devices, especially with regard to one kind is using an aspect sensor and is used in calculating The 3D instruction devices of machine, motion detection or navigation, and be also to be used for especially in regard to one kind when 3D instruction devices are moved and are rotated The method for compensating the signal of aspect sensor.
Background technology
Fig. 1 shows user using a portable electronic equipment 110, such as a 3D instruction devices or computer mouse, with The action of the portable electronic equipment is detected, and the action that this is detected is converted into a display highlighting (cursor Display), this display highlighting is, for example, the cursor indicated on the screen 122 of a 2D display devices 120.That is, work as portable type Electronic installation 110 projects a light, and the corresponding point touches the part of screen 122 for the light.For example, portable electronic equipment 110 can be the mouse of computer or the handle of holder for TV playing, and display device 120 can be the one of computer or holder for TV playing Part.Two reference coordinates are there are in figure, for example, space indicates reference coordinate and display coordinate, and it takes with this respectively Belt electronic installation 110 and display device 120 are associated.First reference coordinate associated with instruction device 110 or space refer to By three reference axis as shown in Figure 1, i.e., show reference coordinate is：XP、YPAnd ZP, define and form.It is related to display device 120 By three reference axis as shown in Figure 1, i.e., the second reference coordinate or display coordinate of connection be then：XD、YDAnd ZD, define and Into.The screen 122 of display device 120 is reference coordinate XDYDZDMiddle XDYDOne subset of plane, reference coordinate XDYDZDIt is then with showing Show that equipment 120 is associated.Therefore, XDYDPlane can be considered as the display plane of display device 120 again.
By the above-mentioned cursor on screen 122, the portable electronic equipment can be used to carry out manipulation to reach for user Specific purpose, this specific purpose, which is included on display device 120, plays the amusement such as video game.In order to be filled using portable electronic There is good interaction when putting, when user moves portable electronic equipment 110, the cursor on screen 122 should correspond to carry Orientation, direction and the distance that formula electronic installation 110 is moved are moved, and screen 122 should also show cursor with above-mentioned Movement and the new position on image to the screen 122 of display device 120.The orientation of portable electronic equipment 110 can be taken with this Belt electronic installation 110 is in reference coordinate XPYPZPOn three deviations angle represent that these three deviations angle are respectively yaw angle (yaw angle) 111, the angle of pitch (pitch angle) 112 and roll angle (roll angle) 113.Here, yaw angle 111, The angle of pitch 112 is to use and commercial traffic instrument, such as ship and aircraft, related solid angle with roll angle 113 The universal standard of (spatial angle) is defined.In general, yaw angle 111 refer to portable electronic equipment 110 relative to Axle ZPRotation, the angle of pitch 112 refers to portable electronic equipment 110 relative to axle YPRotation, and roll angle 113 then refers to take Belt electronic installation 110 is relative to axle XPRotation.
It is above-mentioned to be located at screen when the yaw angle 111 of portable electronic equipment 110 changes in the known techniques shown in Fig. 1 Cursor on curtain 122 relatively must in the horizontal direction be moved with the change of yaw angle 111.Fig. 2, which is shown, works as user By portable electronic equipment 110 relative to axle XPSituation during 90 ° of rotate counterclockwise.In another known techniques shown in Fig. 2, When yaw angle 111 changes, the above-mentioned cursor on screen 122 will correspond to do the movement of vertical direction.Yaw angle 111 Change can be detected by a gyroscope, and this gyroscope senses portable electronic equipment 110 relative to axle XPAngular velocity omegax.Fig. 1 Show that the identical of yaw angle 111 changes possible image into the different actions of cursor on screen 122 from Fig. 2.Accordingly, it would be desirable to appropriate A compensation mechanism compensated come the orientation to portable electronic equipment 110, can correctly and desirably correspond to image Cursor to the screen 122 of display device 120.In U.S. Patent number 7,158,118,7,262,760 and 7,414,611 (inventor is all Liberty), " compensation " refers to being influenceed on by gravity or carrying out extra rotation relative to rotary shaft Signal be corrected and compensate.In addition, in the present invention, " comparison " is referred to：The signal generated by sensing device further, And reduce or eliminate after the noise associated with the sensing device further, to calculate and obtain portable electronic equipment 110 in the first ginseng Examine coordinate or space indicates coordinate XPYPZPThe upper actual deviation angle.In addition, " mapping " is referred to：Calculate and transformed space refers to Show coordinate XPYPZPOn the deviation angle to be located at the second reference coordinate or display coordinate XDYDZDOn 2D display devices 120 it is aobvious Show the cursor in plane.
To using there is five axle action sensor (measurable Ax, Ay, Az, ωYAnd ωZ) portable electronic equipment mended Repay be this area usual knowledge, such as U.S. Patent number 7, (inventor is all in 158,118,7,262,760 and 7,414,611 For Liberty) propose it is such a there is the portable electronic equipment of five axle action sensors, and also disclose a kind of compensation machine System, the compensation mechanism uses two gravity sensing device ωYAnd ωZGo to detect the rotation relative to Yp and the axles of Zp bis-, and the compensation Mechanism also removes detection portable electronic equipment along reference coordinate X using three acceleration transducers Ax, Ay and AzPYPZPThree Acceleration in individual reference axis.The use that above-mentioned Liberty is carried has the portable electronic equipment of five axle action sensors possible The deviation angle of the portable electronic equipment on 3D reference coordinates can not be exported.Stated differently, since adding in five axle action sensors The limitation of velocity sensor and gravity sensing device, the portable electronic equipment that above-mentioned Liberty is carried can not be exported immediately The deviation angle can only be exported to 2D reference coordinates on 3D reference coordinates, that is, the above-mentioned axle action sensor of use five The output of portable electronic equipment is only the plane mode on 2D reference coordinates.Moreover, when portable electronic equipment is obtaining dynamic By bad interference extraneous or internal in dynamic environment when making the signal produced by sensor, more particularly along on gravity direction When undergoing unexpected drift or acceleration, above-mentioned portable electronic equipment accurately or can not be calculated suitably with compensation mechanism Or obtain movement, angle and the direction of the portable electronic equipment.In other words, as application dynamic action (dynamic Actions) or extra acceleration is on the portable electronic equipment of the above-mentioned Liberty tool compensation mechanism provided, especially Be along or generally parallel with gravity direction on when, the portable electronic equipment that above-mentioned Liberty is provided can not be fitted When and be accurately output in georeferencing coordinate XPYPZPUpper actual yaw angle, the angle of pitch and roll angle, also therefore by solid angle When image is to 2D display reference coordinates, for example：Reference coordinate XDYDZD, its map program seriously will be affected and produce Raw mistake.More specifically, the five axle compensation ways provided by Liberty directly and can not accurately detect or compensate phase For axle XPRotation, compared with axle XPRotation must be pushed away from the acceleration of gravity that acceleration transducer is detected. Still further, due to the limitation of existing acceleration transducer, only when portable electronic equipment is static state, the acceleration Readings on sensor is only accurately, because these acceleration transducers can not be by acceleration of gravity from other kenels Caused by acceleration makes a distinction, the acceleration of these other kenels is, for example, that acceleration produced by centripetal force or user are applied Plus other kenels extra acceleration.
Moreover, known techniques can only be sat according to as the result that the signal produced by action sensor is calculated in 2D references Put on one relative mobile model of output.For example, above-mentioned can only export 2D in an opposing fashion by the Liberty preceding cases proposed Mobile model, and in showing a cursor on a screen, model is relatively moved with the above-mentioned 2D of correspondence.More particularly, cursor The second place relative to the first position can only be moved to from a first position.As this one kind is over time from prior location Being moved to the relative movement of the next position can not be accurately determined and export the next position, be a mistake especially in prior location In the case of position, or it is the situation for being mistakenly decided to be the incorrect reference point of one of the next position in prior location Under, in this next position pushed away by the incorrect reference point and its relative move mode.Just to be intended to cursor Remove the border of display screen and cause mistake to be output as example, closed clearly to explain in known techniques by relative movement It is to obtain the defect of mobile model.Cursor in known techniques reaches the border of a display, then and beyond border or In the case of the extra distance in one section of edge, when cursor comes a new position, either in display or still on side The outside on boundary, vernier just can not show a correct or absolute pattern.In other words, it is known when reaching a new position The cursor of technology can't be taken into consideration by the above-mentioned additional distance beyond border in an absolute way, and this can be given up on the contrary and is exceeded The additional distance on border, also because the cursor uses the relative movement relation, so as to cause the next position of the mistake of output one.By Correct position can not be obtained in the border in display, along with being obtained using above-mentioned relative movement relation under cursor One position, therefore actual mobile model will be unable to be calculated and obtain.
Therefore, this area is in the urgent need to a kind of more advanced portable electronic equipment, to apply in action sensing, computer Or in navigation.The calculating of portable electronic equipment collocation improvement or comparison method, are referred to being precisely calculated and obtaining in space Show the deviation angle actual on coordinate.For navigation or computer including being integrated with the portable type communication device of display it Using portable electronic equipment may must include following function：In a dynamic environment and include the situation of bad external disturbance Under, by this actual angle image into the cursor on display reference coordinate, a pointer or a positional information.Except this it Outside, with 3D technology progress and its application also more and more extensively, the application be included in display, interaction systems and Application in terms of navigation, therefore the deviation on a 3D or georeferencing coordinate can be exported in real time and accurately for a kind of The demand of electronic installation is also more and more urgent, this electronic installation such as action sensing including being integrated with multiple action sensors Device, an electronic installation, a navigation equipment or a communication device.Moreover, the need of the comparison method or model for a kind of improvement Ask and be also cured shape urgent, the signal that the comparison method or model can be sent to action sensor is handled, to correct or go Except the erroneous signals or noise associated with the signal or signal assembly that the action sensor is sent.In addition, according to being applied Field, the deviation on 3D reference coordinates exported can further be mapped or be changed to can be used on 2D reference coordinates Pattern.
The content of the invention
The wherein purpose of the present invention is to provide a kind of electronic installation, and the electronic installation uses one or nine axle action sensing moulds Block, this electronic installation is, for example, to apply in computer, action sensing or navigation.This electronic installation includes an acceleration sensing Device, a magnetometer and a rotation sensor, acceleration transducer are to measure or detect axial acceleration Ax, Az, Ay, magnetic force Meter is to measure or detect magnetic force Mx, My, Mz, and rotation sensor is then to measure or detect angular velocity omegax、ωy、 ωz.Thereby, the result error (resulting deviation) including the deviation angle can be obtained, the deviation angle includes electronics When device is moved and rotated in a dynamic environment, its in a space indicate reference coordinate on yaw angle, the angle of pitch with Roll angle.Moreover, the above-mentioned result error including the deviation angle can be obtained and exported in an absolute way, it can also react The electronic installation of the present invention indicates movement and rotation actual on reference coordinate in space, and is excluded compared with Canon in dynamic environment Bad external disturbance.
The other purpose of the present invention is the comparison method or model for providing a kind of improvement, the comparison method can improve with Erroneous signals and noise that the time of wearing is accumulated, these erroneous signals and noise are the signals sent with multiple action sensors It is associated.The signal that these action sensors are sent is included in dynamic environment produced by acceleration transducer Ax, Az, Ay Signal, the signal produced by magnetometer Mx, My, Mz, and gyroscope ωx、ωy、ωzProduced signal.In other words, tire out Long-pending erroneous signals can be eliminated or correct, and the erroneous signals of wherein these accumulations are sent with an action sensing module Signal assembly is associated, and the action sensing module includes multiple action sensors, and these action sensors are to detect phase Corresponding to the out-of-alignment movement and rotation on reference coordinate.
A further object of the present invention is the comparison method for providing an improvement, correctly to calculate and export a result inclined Difference, the result error includes one group of deviation angle, and these deviations angle are then included in a space and indicate a yaw angle on coordinate, one The angle of pitch and a roll angle, the yaw angle, the angle of pitch and roll angle are to correspond to the space to indicate that three on coordinate hang down mutually Straight reference axis.Sent by the signal related to angular speed, acceleration transducer that are sent to rotation sensor with The signal related to magnetic force that the related signal of axial acceleration and magnetometer are sent is compared, and can accurately obtain and defeated Go out the above-mentioned deviation angle, and these deviations angle then can further map to another ginseng different from space instruction coordinate Examine on coordinate.
In an alternative embodiment of the invention, in the case where there being interference, (this interference is the user by electronic installation Or introducing, e.g. external electromagnetic field from context), the present invention provides a unique more new procedures, and this updates program bag A data dependence model (data association model) is included, intelligently to handle what is received from an action sensing module Signal, to export a result error in 3D reference coordinates, and will disturb the negative effectiveness triggered to cut down or delete.
It is still another object of the present invention to provide a kind of mapping method, the above-mentioned space that is located at is indicated into reference coordinate On the deviation angle be mapped on a display coordinate, these deviations angle preferably correspond to the space and indicate reference coordinate respectively Three mutually perpendicular reference axis, that is,：Yaw angle, the angle of pitch and roll angle, and display coordinate can be located at electronic installation Outside is integrated with electronic installation., can be on the display coordinate for indicating reference coordinate different from space by above-mentioned mapping Obtain one and move model, will also belong to the deviation angle mapping of the result error or change to the movement model.
In one embodiment of this invention there is provided a kind of electronic installation, this electronic installation can produce the 3D deviations angle and such as It is to apply in computer, action sensing or navigation.Electronic installation uses one or nine axle action sensing modules, and by an improvement Comparison method indicates to join so as to obtain to delete the cumulative error signal produced by the nine axles action sensing module positioned at a space Examine the deviation angle of the movement and rotation on coordinate and corresponding to the electronic installation.Comparison method provided by the present invention compares mould Type, can be compared by the signal produced by above-mentioned nine axles action sensing module, and obtains and export in an absolute way The deviation angle of the result error of electronic installation, the nine axles action sensing module may detect that electronic installation corresponds to XPAxle, YPAxle with ZPThe velocity of rotation or angular speed of axle, also may detect that electronic installation along XPAxle, YPAxle and ZPThe axial acceleration of axle, and can Electronic installation is detected along XPAxle, YPAxle and ZPSurrounding's magnetic force (ambient magnetism) of axle, this magnetic force is e.g. Signal magnetic field or the magnetic field from other celestial bodies.Produced by other words, the present invention can be eliminated or reduced in a dynamic environment Cumulative error signal and noise, indicate the deviation angle on reference coordinate, this is inclined accurately to export electronic installation in a 3d space Include yaw angle, the angle of pitch and roll angle to angle.Above-mentioned dynamic environment includes continuous mobile, rotation, by external force of gravity Influence, magnetic field and acceleration extra in a plurality of directions, or including over time and change nonlinear moving and turn It is dynamic.Moreover, being indicated positioned at the 3d space on reference coordinate and through overcompensation and the deviation angle that accurately exports, can further by Map or be transformed into another reference coordinate, this reference coordinate is, for example, above-mentioned display coordinate, it is, for example, 2D ginsengs Examine coordinate.
In another embodiment of the invention there is provided a kind of electronic installation, this electronic installation uses one or nine axle action sensings Module.Wherein, nine axle action sensing modules of the electronic installation include an at least gyroscope, an at least acceleration transducer with extremely A few magnetometer.In the preferred embodiment of the present invention, nine axle action sensing modules include a rotation sensor, an acceleration Sensor and a magnetometer, this rotation sensor can be used for detection angular velocity omegax、ωy、ωzAnd corresponding signal is produced, plus Velocity sensor can be used for detection axial acceleration Ax, Ay, Az and produce corresponding signal, and magnetometer can be used for detection magnetic Power Mx, My, Mz simultaneously produce corresponding signal.Person of ordinary skill in the field, it is to be appreciated that in another embodiment, on State rotation sensor and potentially include three gyroscopes, it corresponds to angular speed of the electronic installation on 3d space reference coordinate respectively ωx、ωy、ωz；In addition, above-mentioned acceleration transducer may include three acceleration transducers, it corresponds to electronic installation and existed respectively Axial acceleration Ax, Ay, Az on 3d space reference coordinate；In addition, above-mentioned magnetometer may include three magnetometric sensors (magnetic sensors), it corresponds to magnetic force Mx, My, Mz of the electronic installation on 3d space reference coordinate respectively, above-mentioned Magnetometric sensor is, for example, magnetoimpedance (magneto-impedance) sensor or magnetic reactance (magneto-resistive) sensing Device.Rotation sensor is detected electronic installation and carried in the rotation on a reference coordinate associated with the electronic installation, and offer The output signal of one rotation rate or an angular velocity information.The above-mentioned output signal with angular velocity information includes three parts, It corresponds to the first axle of reference coordinate, the second axle and the 3rd axle respectively, that is, 3d space indicates Xp axles, Yp axles and the Zp of coordinate Axle.Acceleration transducer detects electronic installation in the axial acceleration on georeferencing coordinate, and provides one with acceleration letter The output signal of breath, the georeferencing coordinate is, for example, that a 3D indicates reference coordinate.The above-mentioned output with acceleration information Signal includes three parts, and it corresponds to the first axle of reference coordinate, the second axle and the 3rd axle respectively, that is, 3d space indicates to sit Target Xp axles, Yp axles and Zp axles.Magnetometer detects electronic installation in the magnetic force on georeferencing coordinate, and provides one with magnetic force The output signal of information, the georeferencing coordinate is, for example, a 3D reference coordinates.The above-mentioned output signal with geomagnetic force information Including three parts, it corresponds to the first axle of reference coordinate, the second axle and the 3rd axle respectively, that is, 3d space indicates coordinate Xp axles, Yp axles and Zp axles.Above-mentioned 3d space indicates that Xp axles, Yp axles and the Zp axles of coordinate also may be referred to simply as X-axis, Y-axis and Z Axle.
In another embodiment of the invention there is provided a kind of compensation method, the compensation method is to compensate above-mentioned nine axle The accumulated error for the signal that action sensing module is sent, this nine axles action sensing module is to be located to indicate with reference to seat with a space Mark related dynamic environment.In one embodiment, it is to perform or handle the compensation method by a hardware processor.By holding The comparing of row one, will also be used for measuring signal that the rotation sensor of angular speed sent, for measuring axial acceleration The signal that is sent of acceleration transducer compared with for measuring the signal that the magnetometer of magnetic force is sent pair, this hardware handles Device be can be used to compensate the cumulative errors related to result error, and this cumulative errors is derived from：Above-mentioned 3D instruction devices exist When space indicates to move and rotate under coordinate and dynamic environment, the signal that its nine axles action sensing module is sent.Also because This, under dynamic environment, the movement corresponding to the 3D instruction devices under indicating coordinate in 3d space can with the resultant error of rotation To be accurately obtained.
In another embodiment of the invention there is provided a kind of method for obtaining a result error, this result error includes 3D Instruction device is located at the deviation angle in a georeferencing coordinate, and one or nine axle action sensing modules are equiped with 3D instruction devices, And this 3D instruction device is moved and rotated in the dynamic environment in above-mentioned georeferencing coordinate.Above-mentioned acquirement The method of result error includes following steps：First, obtain an original state (previous state), this original state with Previous angular speed (previous angular velocities) ωx、ωy、ωzIt is associated, this previous angular velocity omegax、ωy、 ωzIt is action sensing signal (the motion sensor sent by the nine axle action sensing modules in previous period T-1 Signals obtained in)；Come again, angular velocity omega is measured by obtainingx、ωy、ωz, to obtain nine axle action sensing modules now State, this measures angular velocity omegax、ωy、ωzIt is by being obtained in one now period T action sensing signal；Afterwards, by taking Axial acceleration A x, Ay must be measured, Az is with measuring magnetic force Mx,My,Mz, to obtain a state quantity measurement of nine axle action sensing modules, This measures axial direction acceleration A x, Ay, Az with measuring magnetic force Mx,My,MzBe by the action sensing signal of period T now obtain, Simultaneously by the measurement angular velocity omega of today statex、ωy、ωzTo calculate estimated axial acceleration Ax ', Ay ', Az ' and it is expected that magnetic Power Mx’,My’,Mz’；Then, by the today state and state quantity measurement for comparing nine axle action sensing modules, to obtain the action of nine axles The more new state of the one of sensing module；Then, the more new state for calculating and changing nine axle action sensing modules is inclined to described result Difference, this result error includes 3D instruction devices the deviation angle in georeferencing coordinate.
In another embodiment of the invention there is provided a kind of mapping method, this mapping method to will be skewed towards angle change to On one display coordinate of one display, this display has a predetermined screen size, and the above-mentioned deviation angle is and a 3D Movement and rotation of the instruction device in a georeferencing coordinate are associated.In one embodiment, it is that will be sat in a georeferencing The deviation angle put on, including yaw angle, the angle of pitch and roll angle, mapping or conversion are on a display coordinate and preferably The denoted object moved on a 2D reference coordinates, this denoted object is, for example, pointer.This mapping method includes following The step of：By a calculating predetermined susceptibility associated with display coordinate to obtain the boundary information of display coordinate, and The conversion of the angle and distance on display coordinate is performed by the above-mentioned deviation angle and boundary information.
In another embodiment of the invention there is provided a kind of method for obtaining a result error, this result error includes 3D Instruction device is located at the deviation angle in a georeferencing coordinate, and one or nine axle action sensing modules are equiped with 3D instruction devices, And this 3D instruction device is moved and rotated in the dynamic environment in above-mentioned georeferencing coordinate.Above-mentioned acquirement The method of result error includes following steps：First, an original state of nine axle action sensing modules, this original state are obtained Including an initial value set (initial-value set), this initial value set is associated with previous angular speed, and this previous angular speed is Obtained in the action sensing signal sent by the nine axle action sensing modules in previous period T-1；Come again, by acquirement amount Angular velocity ωx、ωy、ωz, to obtain the today state of nine axle action sensing modules, this measures angular velocity omegax、ωy、ωzIt is By being obtained in one now period T action sensing signal；Afterwards, by measurement axial acceleration A x, Ay, Az is obtained, to take A state quantity measurement of nine axle action sensing modules is obtained, it is by nine in period T now that this, which measures axial direction acceleration A x, Ay, Az, Obtained in the action sensing signal that axle action sensing module is sent, while by the measurement angular velocity omega of today statex、ωy、 ωzTo calculate estimated axial acceleration Ax ', Ay ', Az '；Then, by compare nine axle action sensing modules today state with State quantity measurement, to obtain one first more new state of nine axle action sensing modules；Afterwards, measure and go off course by acquirement union one Angle to obtain a state quantity measurement of nine axle action sensing modules, this measure yaw angle be by nine axle action sensing modules one now Obtained in the action sensing signal that period T is sent, and the first more new state based on nine axle action sensing modules and computing one It is expected that yaw angle；Then, by the today state and state quantity measurement for comparing nine axle action sensing modules, to obtain nine axle senses of movement Survey one second more new state of module；Then, calculate and change the second more new state of nine axle action sensing modules to described Result error, this result error includes 3D instruction devices the deviation angle in georeferencing coordinate.
In another embodiment of the invention there is provided a kind of 3D instruction devices, it includes an aspect sensor, a rotation and passed Sensor and a computing sensor.Aspect sensor produces the orientation output associated with an orientation of 3D instruction devices, and should The orientation of 3D instruction devices is that three axles of a universal reference coordinate associated with the earth are associated.Rotation sensor is produced and 3D The one of instruction device rotates associated one and rotates output, and the rotation of 3D instruction devices is one associated with 3D instruction devices Three axles of georeferencing coordinate are associated.Arithmetic processor is exported using orientation and exported with rotating to export with producing a conversion, should Conversion output is that a fixed reference coordinate associated with a display device is associated.
In another embodiment of the invention there is provided a kind of method of the rotation of compensation 3D instruction devices, the method may Comprise the steps.Produce the orientation output associated with an orientation of 3D instruction devices, and the orientation of the 3D instruction devices Be a universal reference coordinate associated with the earth three axles be associated.Produce one associated with a rotation of 3D instruction devices Output is rotated, and the orientation of 3D instruction devices is related to three axles of the georeferencing coordinate that the 3D instruction devices are associated Connection.
For the above-mentioned objects, features and advantages of the present invention can more be become apparent, hereafter with embodiment and it will coordinate appended Diagram, is described in detail below.
Brief description of the drawings
Fig. 1 depicted is in 2D reference coordinates and the known techniques with First Five-Year Plan axle action sensor.
The known techniques with five axle action sensors that it is Fig. 1 that Fig. 2 is depicted, it is rotated around Xp axles, and by To further dynamic interaction.
The explosive view of the depicted electronic installations for one embodiment of the invention of Fig. 3, this electronic installation is, for example, a finger Showing device and with one or nine axle action sensing modules.
The block diagram of the depicted electronic installations for one embodiment of the invention of Fig. 4, it shows the hard of electronic installation Part part.
The depicted electronic installations for another embodiment of the present invention of Fig. 5, this electronic installation is, for example, an instruction device And with one or nine axle action sensing modules and a ppu.
The explosive view of the depicted electronic installations for another embodiment of the present invention of Fig. 6, this electronic installation is, for example, one Intelligent mobile phone or navigation equipment, and with one or nine axle action sensing modules.
The depicted flow charts for one of the present invention method of the result error of the electronic installation of acquirement one of embodiment of Fig. 7, This electronic installation can be moved and rotated in a georeferencing coordinate.
The flow chart of the method for the acquirement result error of the depicted another embodiments for the present invention of Fig. 8, the method includes By on a display of result error image a to electronic installation.
Fig. 9 depicted is the embodiment for being mapped the deviation angle of the result error of the 3D instruction devices of the present invention.
Figure 10 depicted is an illustrative flow chart, and it shows the acquirement electronic installation of another embodiment of the present invention Result error method.
Figure 11 depicted is an illustrative flow chart, and it shows the acquirement electronic installation of another embodiment of the present invention Result error method, the method include by a display of result error image a to electronic installation.
Figure 12 depicted is an illustrative flow chart, and it shows the acquirement electronic installation of another embodiment of the present invention Result error method.
Figure 13 depicted is a flow chart, and it shows the rotation of the compensation 3D instruction devices of one of present invention embodiment Method.
Figure 14, Figure 15, the signal for showing with Figure 16 three kinds of present invention 3D instruction devices not in be the same as Example respectively Figure.
Embodiment
The depicted electronic installations 300 for one of present invention embodiment of Fig. 3 are (for example：Instruction device) explosive view, this electricity Sub-device 300 can indicate reference coordinate (for example in a space：3D reference coordinates) and a dynamic environment in move and rotate. This space indicates that reference coordinate is similar to the reference coordinate X depicted in Fig. 1 and Fig. 2PYPZP.Relative to time shaft, electronic installation 300 indicate that reference coordinate can be for continuously and non-linearly with the movement and rotation conducted in dynamic environment in above-mentioned space. Here, " dynamic " refers to mobile or general signified motion (motion).
Electronic installation includes lid 310, the rotation sensor 342 of a printed circuit board (PCB) (PCB) 340, one, an acceleration on one and passed Sensor 344, a magnetometer 345, a data transmission unit 346, an arithmetic processor 348, a lower cover 320 and a battery pack 322. Upper lid 310 includes several control knobs 312, so that user sends predetermined instruction when remote control.In one embodiment, housing 330 include upper lid 310 and lower cover 320.In above-mentioned dynamic environment, housing 330 is in the manipulation by user or is taken office Where to external force in the case of, housing 330 can in space indicate reference coordinate in move and rotate.As shown in figure 3, In one embodiment, rotation sensor 342, acceleration transducer 344, magnetometer 345, data transmission unit 346 and calculation process Device 348 can be all attached on printed circuit board (PCB) 340.Printed circuit board (PCB) 340 is coated by housing 330, this printed circuit board (PCB) 340 Including an at least substrate, this substrate has a long side, and this long side is generally parallel to the long side surface of housing 330.In addition, outer Plus battery pack 322 supply electrical power to whole electronic installation 300.
Moreover, in one embodiment, above-mentioned dynamic environment is the environment residing for the electronic installation 300 of the present invention, it is wrapped Include to the bad external disturbance produced by the electronic installation 300 of the present invention.In wherein one, bad external disturbance includes bad Axial acceleration, this bad axial acceleration is as caused by the bad external force beyond gravity.It is bad outer in other examples Portion's interference is included as the bad magnetic force produced by bad electromagnetic field.
The block diagram of the depicted electronic installations 300 for one embodiment of the invention of Fig. 4, it shows electronic installation 300 Hardware component.This electronic installation 300 includes one or nine axle action sensing modules 302 and a processing and transport module 304, this nine axle Action sensing module 302 includes rotation sensor 342, acceleration transducer 344 and magnetometer 345, and handles and transport module 304 include data transmission unit 346 and arithmetic processor 348.
Here, " nine axles " refers to three acceleration ωx,ωy,ωz, three axial acceleration Ax, Ay, Az, three magnetic Field Mx, My, Mz.Action sensor 342 in nine axle action sensing modules 302 is to detect and produce the first signal group, and this One signal group includes angular velocity omegax,ωy,ωz, angular velocity omegax,ωy,ωzRefer to electronic installation 300 when movement and rotation, phase For three mutually perpendicular reference axis X of georeferencing coordinateP,YP,ZPAngular speed.Above-mentioned angular velocity omegax,ωy,ωz It is to correspond to three reference axis X respectivelyP,YP,ZP.Acceleration transducer 344 is to detect and produce the second signal group, and this second Signal group includes axial acceleration Ax, Ay, Az, and axial acceleration Ax, Ay, Az refer to electronic installation 300 when movement and rotation, Along three mutually perpendicular reference axis X of georeferencing coordinateP,YP,ZPAxial acceleration.Above-mentioned axial acceleration Ax, Ay, Az are to correspond to three reference axis X respectivelyP,YP,ZP.Magnetometer 345 is to detect and produce the 3rd signal group, this 3rd news Number group includes magnetic field Mx, My, Mz, and magnetic field Mx, My, Mz refers to that electronic installation 300 when movement and rotation, is sat along georeferencing The mutually perpendicular reference axis X of target threeP,YP,ZPThe magnetic field born.Above-mentioned magnetic field Mx, My, Mz is to represent electronic installation 300 surrounding magnetic field (ambient magnetic field, for example：Magnetic field of the earth) direction and intensity, above-mentioned magnetic field Mx, My, Mz correspond to three reference axis X respectivelyP,YP,ZP.Person of ordinary skill in the field is it should be appreciated that above-mentioned " nine axles " Not necessarily need to be in particular orientation into vertical, it can also rotate in different orientation.Disclosed herein above-mentioned coordinate system System is only for explanation, and other reference axis for being located at different orientation and/or having different labels are readily adaptable for use in the present invention.
Moreover, in one embodiment of this invention, nine axle action sensing modules of action sensing module or electronic installation 300 302 can be micro electronmechanical (MEMS) formula sensor.In the present embodiment, the rotation sensor of above-mentioned nine axles action sensing module 302 342 further include an at least resonating body (resonating mass) so that rotation sensor can using the effect of coriolis acceleration come That detects and measure that a reference axis of the resonating body along georeferencing coordinate carried out moves, so as to produce including positioned at space The angular velocity omega of reference coordinatex,ωy,ωzThe first signal group.Person of ordinary skill in the field, which should be appreciated that, belongs to microcomputer In one or the three axle rotation sensors (three-axis rotation sensor) of electric-type sensor, along georeferencing coordinate X-axis, Y-axis and Z axis be provided with three resonating body, to produce and obtain the amount of movement of three resonating body.Art Technical staff should be appreciated that the nine axle action sensors 302 of the present invention include a 3-axis acceleration sensor of micro electromechanical, one Three axle rotation sensors and a three axle magnetometer.
Data transmission unit 346 is to be electrically connected to nine axle action sensing modules 302, to transmit the first signal group, second Signal group and the 3rd signal group.In the preferred embodiment, by the electric connection on printed circuit board (PCB) 340, data transmission unit 346 nine axle action sensing modules 302 of transmission sent first, second and the 3rd signal group to arithmetic processor 348.At computing Reason device 348 receive and calculate by data transmission unit 346 first, second and the 3rd signal group.By with nine axle senses of movement Survey module 302 to be summoned, arithmetic processor 348 can calculate the result error of electronic installation 300, this result error includes three The individual deviation angle, it preferably corresponds to three reference axis of georeferencing coordinate respectively.The above-mentioned deviation angle is included such as Fig. 1 and figure Yaw angle 111, the angle of pitch 112 and roll angle 113 shown in 2.For result of calculation deviation, arithmetic processor 348 is to use one Comparison mechanism or algorithm go elimination to be produced from nine axle action sensing modules 302 are sent first, second with the 3rd signal group Raw accumulated error；Thereby, in above-mentioned dynamic environment, electronics can be obtained in the case where excluding above-mentioned bad external disturbance The result error of nine axle action sensing modules 302 of device 300, this result error is included in the deviation in georeferencing coordinate Angle, this deviation angle is preferably the three orthogonal reference axis corresponded in georeferencing coordinate.Also it is therefore advantageous to be with exhausted Mode is obtained and exported and is reflected in georeferencing coordinate or the reality of electronic installation 300 of the corresponding present invention is moved Dynamic and rotation, electronic installation 300 is for example including an instruction device.In addition, described arithmetic processor 348 comparison mechanism used Further include a more new procedures.It is by an original state related to the first signal group and with second, in this more new procedures The related state quantity measurement of three signal groups, to obtain a more new state of nine axle action sensing modules, this first signal group be with Angular velocity omegax、ωy、ωzCorrelation, the second signal group be with axial acceleration Ax, Ay, Az is related, and the 3rd signal group be then with Magnetic field Mx, My, Mz are related.Above-mentioned state quantity measurement includes axially accelerating obtained by the measurement of doing the second signal group or measurement Ax, Ay, Az are spent, and to axial acceleration Ax ', Ay ', Az ' the estimated measurement (predicted measurement) done, This axial acceleration Ax ', Ay ', Az ' it is today state institute's computing based on or by action sensing module 302 and obtains.In addition, Above-mentioned state quantity measurement includes magnetic field Mx, My, Mz obtained by the measurement done to the 3rd signal group or measurement, and to magnetic field Mx ', My ', the estimated measurement (predicted measurement) that Mz ' is done, this magnetic field Mx ', My ', Mz ' be based on or by Today state institute's computing of action sensing module 302 and obtain.Nine axle action sensing modules in the electronic installation of the present invention it is each The state of kind will be described in detail after.
In the present embodiment, the arithmetic processor 348 of processing and transport module 304 further includes a map program, by position The movement model that the deviation angle of the result error in reference coordinate is converted into a display reference coordinate is indicated in space. This display reference coordinate is to be different from space to indicate reference coordinate, but similar to the reference coordinate X in Fig. 1 and Fig. 2DYDZD.On The mobile model stated can be shown on a screen of a 2D display devices, and this 2D display device is similar to as shown in Figures 1 and 2 Display device 120.It is mutually related susceptibility input according to display reference coordinate, above-mentioned map program conversion is inclined To angle, it preferably will be skewed towards angle and be converted to three mutually perpendicular reference axis that reference coordinate is indicated corresponding to space.
The electronic installation 500 of the depicted another embodiments for the present invention of Fig. 5, this electronic installation 500 is moved using one or nine axles Make sensing module and indicated positioned at a 3d space in reference coordinate.As shown in figure 5, electronic installation 500 includes two parts, i.e.,： 560 and 570, it can carry out the communication of data each other.In one embodiment, Part I 560 includes lid (not illustrating), one on one Printed circuit board (PCB) 540, one or nine axle action sensing modules 502, a data transmission unit 546, a lower cover 520 and a battery pack 522, Wherein nine axle action sensing modules 502 include a rotation sensor 542, an acceleration transducer 544 and a magnetometer 545.By By radio communication, such as WLAN or wireless Bluetooth standard based on the standards of IEEE 802.11 are wirelessly transferred, data transfer Unit 546 is by the first signal group (ω produced by the rotation sensor 542 of nine axle action sensing modules 502x,ωy,ωz) plus Produced by the second signal group (Ax, Ay, Az) and magnetometer 545 produced by velocity sensor 544 the 3rd signal group (Mx, My, Mz), it is transferred to the data receipt unit 552 of Part II 570.Person of ordinary skill in the field should be understood that, at other Embodiment in, Part I 560 and Part II 570 by wire communication or can be connected, for example：Cable or electric wire, to enter The transmission of row data.In one embodiment of this invention, action sensing module or nine axle action sensing modules of electronic installation 500 502 can be micro electronmechanical (MEMS) formula sensor.In the present embodiment, the rotation sensor of above-mentioned nine axles action sensing module 502 542 further include an at least resonating body, are total to so that rotation sensor 542 can be detected and be measured this using the effect of coriolis acceleration What vibration body was carried out along in a reference axis of georeferencing coordinate moves, so as to produce including positioned at the angle of georeferencing coordinate Speed omegax,ωy,ωzThe first signal group.Person of ordinary skill in the field, which should be appreciated that, belongs to micro electromechanical sensor In three axle rotation sensors, the X-axis, Y-axis and Z axis of georeferencing coordinate are provided with three resonating body, to produce and obtain The amount of movement of three resonating body.Person of ordinary skill in the field should be appreciated that the nine axle action sensors 502 of the present invention are wrapped Include a 3-axis acceleration sensor, one or three axle rotation sensors and a three axle magnetometer for micro electromechanical.
In one embodiment, Part II 570 is the external treatment plugged with other electronic computation devices or system Device, electronic computation device is, for example, standalone personal computers or server 580.For example, Part II 570 is by one Standard interface, the USB e.g. shown in Fig. 5, and grafting or it is coupled in a notebook computer.Part I 560 with Part II 570 is that communication to each other is carried out by data transmission unit 546 and data receipt unit 552.As it was previously stated, Can communicate with each other news between data transmission unit 546 and data receipt unit 552 by wireless connection or wired connection. In other words, from the perspective of with hardware configuration and data transfer, in one embodiment of this invention, including rotation sensor 542nd, nine axle action sensing modules 502 including acceleration transducer 544 and magnetometer 545, be with processing unit or computing Reason device 554 is separated；And the signal sent from nine axle action sensing modules 502 then can by data transmission unit 546,552, Arithmetic processor 554 is delivered in the way of wired or wireless communication, wherein radio communication is for example based on the standards of IEEE 802.11 Or the radio communication of bluetooth.
In one embodiment of this invention, the Part II 570 of electronic installation 500 includes data transmission unit 552 and fortune Calculate processor 554.As it was previously stated, the data transmission unit 552 of Part II 570 can be with being separated and configuring in Part I Data transmission unit 546 in 560 carries out data transmission.Data transmission unit 552 in Part II 570 can be received from The first signal group, the second signal group and the 3rd signal group that the data transmission unit 546 of a part 560 is transmitted, and will It is transferred to arithmetic processor 554.In the present embodiment, arithmetic processor 554 can perform above-mentioned computing and the comparison of signal. In one embodiment, the ratio performed by the arithmetic processor 554 further includes a more new procedures to mechanism, this more new procedures be by An original state associated with the first signal group and a state quantity measurement associated with the second signal group, the 3rd signal group are to take Obtain a more new state.State quantity measurement, which is further included, to be measured to the second signal group, the 3rd signal group and based on the first signal group It is expected that measuring.As shown in figure 5, arithmetic processor 554 is the outside of the housing positioned at electronic installation.In one embodiment, computing The deviation angle in the result error of electronic installation is changed to positioned at a display and joined by an image mechanism by processor 554 A movement model of coordinate is examined, wherein the deviation angle is to be located at space to indicate in reference coordinate, and preferably refers to refer to corresponding to space Show the angle of three orthogonal reference axis of reference coordinate, and above-mentioned display reference coordinate is then and notebook computer 580 are associated.Above-mentioned mobile model is shown on the screen 582 of notebook computer 580.
The explosive view of the portable electronic equipment 600 of the depicted another embodiments for the present invention of Fig. 6, this portable electronic Device 600 has one or nine axle action sensing modules and indicated positioned at a 3d space in reference coordinate.Portable electronic equipment 600 is more Including a built-in display 682, portable electronic equipment 600 is, for example, intelligent mobile phone, tablet PC or navigation equipment. In other words, from the perspective of with hardware configuration, the above-mentioned display reference coordinate associated with display need not be located at space Indicate the outside of coordinate.In one embodiment, electronic installation 600 includes a lower cover 620, a printed circuit board (PCB) 640, a battery pack 622nd, a rotation sensor 642, an acceleration transducer 644, a magnetometer 645, a data transmission unit 646, at a computing Lid 610 on reason device 648, a display 682 and one.Similarly, in one embodiment, housing 630 include one on lid 610 with once Lid 620.Built-in display 682 is integrated in the housing 630, and nine axle action sensing modules 602 then include rotating sensing Device 642, acceleration transducer 644 and magnetometer 645.Data transmission unit 646 and arithmetic processor 648 can also be integrated into electronics Processing and transport module 604 in device 600.In one embodiment of this invention, in action sensing module or electronic installation 600 Nine axle action sensing modules 602 can be micro electronmechanical (MEMS) formula sensor.In the present embodiment, above-mentioned nine axles action sensing mould The rotation sensor 642 of block 602 further includes an at least resonating body so that rotation sensor can using coriolis acceleration effect with That detects and measure that the resonating body carried out along in a reference axis of georeferencing coordinate moves, so as to produce including positioned at sky Between reference coordinate angular velocity omegax,ωy,ωzThe first signal group.Person of ordinary skill in the field, which should be appreciated that, belongs to micro- In three axle rotation sensors of electromechanical transducers, three resonance are provided with along in the X-axis, Y-axis and Z axis of georeferencing coordinate Body, to produce and obtain the amount of movement of three resonating body.Person of ordinary skill in the field should be appreciated that nine axles of the present invention Action sensor 602 includes a 3-axis acceleration sensor, one or three axle rotation sensors and a three axle magnetometer for micro electromechanical.
The arithmetic processor 648 of processing and transport module 604 also can perform mapping mechanism, and this mapping mechanism is by above-mentioned sky Between indicate that the result error in coordinate or 3D reference coordinates is transformed on a display reference coordinate, this display reference coordinate example Such as it is 2D reference coordinates.It is by the result error of the electronic installation 600 indicated in space in coordinate in above-mentioned mapping mechanism In the deviation angle be converted into be located at a display reference coordinate in one movement model, this movement model is and electronic installation 600 Itself is associated, and the above-mentioned deviation angle preferably refers to the angle of three orthogonal reference axis corresponding to space instruction coordinate Degree.Display 682 shows above-mentioned mobile model.Upper lid 610 includes a transparent region 614, and so that user can see, this shows Show device 682.
Fig. 7 depicted is an illustrative flow chart, and it shows the acquirement and/or output one of one of present invention embodiment The method of result error, this result error includes electronic installation and is located at the deviation angle that space indicates coordinate, and this electronic installation is for example For an instruction device, a navigation equipment or an intelligent mobile phone, can be moved in a 3d space reference coordinate and dynamic environment and Rotate.In various embodiments of the present invention, method as shown in Figure 7 can be an alignment programs or comparison model, and this compares journey Sequence or comparison model are in the arithmetic processor 348,554,648 being embedded in processing unit or processing and transport module or can be by It is performed.
Therefore, the method for obtaining result error in dynamic environment there is provided one in one embodiment of this invention, and preferably It is to exclude bad external disturbance, this result error includes electronic installation and indicates the deviation angle of reference coordinate, the method in space It is to utilize nine axle action sensing modules in electronic installation.When electronic installation indicates to move and turn in reference coordinate in space When dynamic, bad external disturbance may result in action sensing module in measurement, calculating with producing mistake in output.Implement one In example, the method for above-mentioned acquirement result error comprises the following steps.First, as shown in fig. 7, nine axle action sensing modules it is each The state of kind, for example：Original state, today state, measuring state and more new state, refer to above-mentioned for obtaining in 3D reference coordinates One of method of middle result error step or a step group, preferably in an absolute way.In one embodiment, it is above-mentioned Method includes, as described in step 705 and step 710, obtains the step of the original state of nine axle action sensing modules.Wherein, first Preceding state includes an initial value set, and the initial value set is to make a reservation for be used for initializing nine axle action sensing modules when method starts Original state.At the beginning of initial value set is preferably used in method, or when state can not be obtained from more new state originally (illustrating after appearance).In other examples, original state can be by obtaining or updating in more new state, and the original state can be one First quaternary value, it includes and previous angular velocity omegax,ωy,ωzAssociated value, these previous angular velocity omegasx,ωy,ωzIt is Obtained from nine axle action sensing modules in the action sensing signal that previous period T-1 is sent.Angular speed is measured by obtaining ωx,ωy,ωzAnd a today state of nine axle action sensing modules is obtained, wherein these, which measure angular velocity omega x, ω y, ω z, is (such as step 715 and step are obtained in the action sensing signal that period T now is sent from nine axle action sensing modules 720).The state quantity measurement for obtaining nine axle action sensing modules by acquirement measurement axial direction acceleration A x, Ay, Az, wherein, It is the action sensing signal sent from nine axle action sensing modules in period T now that these, which measure axial direction acceleration A x, Ay, Az, It is middle to obtain (such as step 725).Then, by nine axle action sensing modules in the measurement angular velocity omega of today statex,ωy,ωz To calculate estimated axial acceleration Ax ', Ay ', Az ' (such as step 730).Then, by nine axle action sensing modules of comparison Today state and state quantity measurement are to obtain a more new state (such as step 735) for nine axle action sensing modules.Afterwards, nine are calculated The more new state of axle action sensing module simultaneously changes more new state into result error, and result error refers to including electronic installation in space Show the deviation angle (such as step 745) of reference coordinate.Thereby, result error can be obtained in dynamic environment and excludes bad outside Interference, this result error includes the deviation angle associated with the more new state of nine axle action sensing modules.It is continuous in order to set up one Loop, the more new state of nine acquired axle action sensing modules, which is preferably, is output to original state.In one embodiment, more New state can be a quaternary value, that is, the 3rd quaternary value as illustrated in the drawing；Thereby, this quaternary value can be directly output to another The original state of quaternary value, the i.e. original state (such as step 740) of the first quaternary value as illustrated in the drawing.
Moreover, person of ordinary skill in the field should be appreciated that：It is above-mentioned as performed by processing and transport module and including more The comparison mechanism of new procedures, can refer to the various different conditions of nine axle action sensing modules as illustrated in figs. 7 and 8.Such as preceding institute State, by the original state associated with the first signal group and the state quantity measurement associated with the second signal group, processor is held Capable more new procedures it is desirable nine axle action sensing modules more new state, wherein the first above-mentioned signal group is on angular speed ωx、ωy、ωz, and the second above-mentioned signal group is then on axial acceleration Ax, Ay, Az.Above-mentioned state quantity measurement include pair Second signal group is measured, that is, axial acceleration Ax, Ay, Az are measured, and including being calculated from the first signal group Obtained by estimated measuring value Ax ', Ay ', Az '.For the above-mentioned various states of nine axle action sensing modules, and obtain in 3D The correlation step of the method for the result error of electronic installation in reference coordinate, will be described in detail in following.
Referring again to Fig. 7, in one embodiment of this invention, in the method for the acquirement result error, this result error Indicate that the deviation angle and the method for reference coordinate are nine axle action sensings in utilizing electronic installation in space including electronic installation Module, is the original state for obtaining nine axle action sensing modules first.In one embodiment, the elder generation of nine axle action sensing modules Preceding state is preferably the form of one first quaternary value, and preferably in flow or method at the beginning when just initialize the first quaternary Value and this initialization is one of the acquirement original state of the method portion (such as step 705).In other words, one in the present invention is real Apply in example, the signal of nine axle action sensing modules is preferably initialized, predetermined value group or four according to predetermined value group or quaternary value First value is for example including for zero, particularly such as signal or numerical value including yaw angle correlation is represented and be relevant to quaternary value.The Four elements of one quaternary value can be initialized to one group of predetermined initial value.Or, the first quaternary value also can be by another signal Group is initialized or replaced, and another above-mentioned signal group is to be produced by rotation sensor with acceleration transducer in subsequent period Raw signal group, so that method shown in Fig. 7 is in previous period T-1 and the circulation loop between period T now.On when How section T-1 the first quaternary value is replaced by it after the quaternary value that period T is exported, will be in elaborating hereinafter.Institute Category those skilled in the art should be appreciated that available " You Lajiao " to represent quaternary value.Similarly, the skill of art Art personnel are it will be appreciated that above-mentioned previous period T-1 and period T now can be taken by period T now and subsequent period T+1 respectively Generation, and fall within the spirit and scope of the invention.
Moreover, above-mentioned dynamic environment includes the present invention in the bad external disturbance of the foregoing description.For example, bad external disturbance Including bad axial acceleration, this bad axial acceleration is as caused by the bad external force beyond gravity.In other examples In, bad external disturbance is included as the bad magnetic force produced by bad electromagnetic field.In the preferred embodiment, figure is performed The technique effect of method shown in 7 includes：In the case of bad interference is excluded in dynamic environment, nine axle motion sensing modules are obtained More new state (such as step 745), this more new state is associated with the result error of electronic installation, and this result error includes The deviation angle in indicating coordinate in space, for example, separate bad external force from gravity, to exclude bad axial acceleration, And bad external magnetic field is excluded, this bad external magnetic field is as produced by bad electromagnetic field in dynamic environment.
Method as shown in Figure 7 can be performed in the continuous period.In one embodiment of this invention, can be by electronic installation Data processing unit perform step 710-745 in a circulating manner.In other embodiments, multiple steps can be performed simultaneously, The multiple signals sent by nine axle action sensing modules can be for example obtained simultaneously, and non-once only obtains a signal.It is affiliated Those skilled in the art should be understood that, simply to illustrate that being used the step of this is carried, other possible sequence of steps, Either sequentially perform or perform simultaneously, should all fall within the scope of the present invention.The first quaternary value related to previous period T-1 Acquirement as shown in step 710 in figure.When step 710 is performed first, the first quaternary value is to be initialised in step 705 Value.Otherwise, in period T now the first quaternary value be in previous period T-1 obtain.In other words, step 710 is typically Referring to the original state of nine above-mentioned axle action sensing modules.According to another embodiment of the present invention, original state can refer to To step 705 or step 710.
Come again, obtain the first signal group produced by rotation sensor, in one embodiment of this invention, this first signal Group includes the measurement angular velocity omega shown in step 715x、ωy、ωz.In step 720, by angular velocity omegax、ωy、ωzIt can count Calculate and obtain the second quaternary value of period T now.Step 715 typically refers to above-mentioned nine axles action sensing module with step 720 Today state.In one embodiment, a data converter including algorithm can be used with by angular speed in arithmetic processor ωx、ωy、ωzAnd first quaternary value be converted to the second quaternary value.The data converter can be a program or an instruction, the journey Sequence or instruction can be represented with following equations (1).
Equation (1) is a differential equation.Quaternary value on the left of equal sign is the quaternary value (q on the right side of equal sign0,q1,q2, q3) relative to the first derivative of time.Data converter uses the first quaternary value as the initial value of the differential equation (1), and The solution of computing differential equation (1).Second quaternary value is the solution of the differential equation (1).
As illustrated, in the present embodiment, the state quantity measurement of nine axle action sensing modules typically can be by step 725 and step Represented by 730.In step 725, the second signal group produced by acceleration transducer can be obtained, this second signal group includes amount Axial acceleration Ax, Ay, Az, i.e. Ax, Ay are surveyed, Az is the measuring value of axial acceleration.In order to which nine axles for obtaining the present invention are acted The state quantity measurement of sensing module, in one embodiment, today state or such as step 730 based on above-mentioned nine axles action sensing module The second shown quaternary value, can calculate and obtain estimated axial acceleration Ax ', Ay ', Az '.In other words, two groups of generations can be obtained The axial acceleration of the state quantity measurement of the axle action sensing module of table nine, one of which is the measurement axial acceleration in step 725 Ax, Ay, Az, and another set is the estimated axial acceleration Ax ', Ay ', Az in step 730 ', this estimated axial acceleration Ax ', Ay ', Az ' is tried to achieve based on above-mentioned today state or to measuring related the second quaternary value of angular speed.Moreover, real one Apply in example, arithmetic processor using a data converter so that a quaternary value is converted into estimated axial acceleration Ax ', Ay ', Az’.The data converter can be a software program, it can be with the equation below (2), (3), and (4) are represented.
2(q1q3-q0q2)=Ax'........................................... (2)
2(q2q3+q0q1)=Ay'.............................................. (3)
Above-mentioned arithmetic processor can be used for calculation equation (2), (3), the solution (Ax ', Ay ', Az ') of (4).
In the embodiment for obtaining resultant error, preferably using a comparison mechanism to compare one or nine axle action sensing moulds Block is in the today state and state quantity measurement of period T now, and wherein the above results error indicates including an electronic installation in a space The deviation angle in coordinate, this electronic installation is, for example, 3D instruction devices, portable electronic equipment, navigation equipment or intelligent hand Machine, it is using there is nine axle motion sensing modules.In other words, in the embodiment shown in step 735, preferably by the second quaternary Value is compared with measurement axial direction the acceleration A x, Ay, Az and it is expected that axial acceleration Ax ', Ay ', Az in period T now ' It is right, wherein the second quaternary value is associated with the measurement angular speed in period T now.Then, it is bad in dynamic environment is excluded In the case of external disturbance, acquired result can as nine axle action sensing modules in period T now a more new state. In one embodiment, more new state refers to be updated the today state of nine axle action sensing modules in period T now.This Outside, include the instruction of the equation associated with above-mentioned today state, state quantity measurement and more new state, will be situated between below Continue.
It is mutual with above-mentioned second quaternary value in the comparison mechanism in figure shown in step 735 according to one embodiment of the invention The associated and today state associated with the angular speed of gyroscope can be obtained by the equation below.
X (t | t-1)=f (xt-1,ut)..................................(5)
In preferred embodiment, one first probability (State Transferring probability) associated with today state can further by Obtained by following equations.
P(xt|xt-1,ut)=FxP(xt-1|xt-1)Fx T+FuP(ut-1|ut-1)Fu T+Qt
Wherein, QtFor additional act module noise (additional motion model noise).
Similarly, it is expected that axial acceleration is interrelated with above-mentioned, and adds with the axial direction measured by acceleration transducer Speed and the related measuring state of today state, can be tried to achieve by the equation below.
zt(t | t-1)=h (x (t | t-1)) ... ... ... ... ... .. (8)
In preferred embodiment, one second probability (measurement probability) associated with state quantity measurement can be further from following Equation try to achieve：
P(zt|xt)=HxP(xt|xt-1)Hx T+Rt................................(9)
Wherein, RtMeasurement module noise (measurement model noise) during for period t.
In one embodiment, the equation (11) related based on data is relevant to as follows, above-mentioned the first probability and second Probability can be further utilized to obtain the more new state of nine axle action sensing modules.
Dt={ [zt-h(x(t|t-1))]P(zt|xt)[zt-h(x(t|t-1))]-1}1/2..............(11)
In one embodiment, the more new state of nine acquired axle action sensing modules, it preferably includes by equation institute The comparison mechanism or data of expression are related, can be one the 3rd quaternary value as depicted.Moreover, in ensuing step as shown in the figure In rapid, the more new state of nine acquired axle action sensing modules can be taken as result and export, and for excluding dynamic ring A result error is obtained in border in the case of bad external disturbance, this result error is included in a space and indicates the inclined of reference coordinate To angle.In the preferred embodiment, described bad external disturbance refers to or including bad axial acceleration, this is bad Axial acceleration is as caused by the bad external force beyond gravity.In other preferred embodiments, bad external disturbance refers to Or including as the bad magnetic force produced by bad electromagnetic field.In other words, can be in row by method provided by the present invention and algorithm The output of result error is produced or provided in the case of except above-mentioned bad interference.In wherein one, the electronic installation of the present invention The external force of nine axle action sensors can be separated from gravity.In other examples, the outer of electronic installation can be also excluded Bad magnetic force produced by portion or internal bad electromagnetic field.Person of ordinary skill in the field should be appreciated that above-described embodiment In today state, state quantity measurement, more new state, data are related and comparison mechanism in probability be only for purposes of discussion, and It is not used to the limitation present invention.
As it was previously stated, as shown in step 740 in figure, preferably by acquired more new state, more new state is preferably the The form of three quaternary values, is inputted to the original state of nine axle action sensing modules.In a preferred embodiment, more new state is more wrapped Include one first data dependence model, wherein above-mentioned data dependence model can be utilized for state quantity measurement with it is expected that state quantity measurement Compare, the state quantity measurement is associated with the second signal group, and the estimated state quantity measurement is then obtained from estimated measure.In other words Say, in one embodiment, the first quaternary value can be replaced by the 3rd above-mentioned quaternary value, and alternatively the 3rd quaternary value can be direct Replace the first quaternary value in previous period T-1 value to carry out next circulation.In other words, in the 3rd 4 of period T now the First value can become subsequent period T+1 the first quaternary value.Alternatively, can in previous period T-1 the 3rd quaternary values exported As the first quaternary value of period T now.
In step 745, the more new state of the nine axle action sensing modules of the present invention further by computing and can be converted to Result error, this result error is included in the deviation angle in georeferencing coordinate, and the wherein deviation angle includes being located at georeferencing seat Yaw angle, the angle of pitch and the roll angle of electronic installation in mark, it is right respectively that above-mentioned yaw angle, the angle of pitch and roll angle is preferably Should be in the angle of three mutually perpendicular reference axis of georeferencing coordinate, therefore can preferably be excluded in dynamic environment bad outer Portion is obtained in the case of disturbing includes the result error of the deviation angle, and this result error is the renewal shape with nine axle action sensing modules State is related.In one embodiment, described bad external disturbance refers to or further comprised bad axial acceleration, this bad axle It is as caused by the bad external force beyond gravity to acceleration.In other examples, bad external disturbance refers to or entered one Step is included as the bad magnetic force produced by bad electromagnetic field.In one embodiment, arithmetic processor uses a data converter, Yaw angle, the angle of pitch and roll angle are converted to the 3rd quaternary value of the more new state by nine axle action sensing modules are represented.Should Data converter can be a program or instruction, and the program or instruction can be carried out with following equations (12), (13) and (14) Represent.
Pitch=arcsin (2 (q0q2-q3q1)).........................(13)
In equation (12), (13) and (14), parameter q0、q1、q2And q3It is then four members in the 3rd quaternary value Element.
For method a kind of continuous in time and circulating, in one embodiment of this invention, it can return to step 710 To perform alignment programs or method in subsequent period T+1, the above method is by the fortune with nine axle action sensing module phase communications and liaison Calculate performed by processor.In addition, above-mentioned result error is preferably obtained and exported in a kind of absolute mode, to reflect this The electronic installation of invention movement and rotation actual on georeferencing coordinate, the above results deviation include the deviation angle, and are inclined to Angle then includes being changed by the 3rd quaternary value and obtaining and be located at yaw angle, the angle of pitch and roll angle that coordinate is changed in space.It is affiliated Those skilled in the art should be understood that, the movement actual on georeferencing coordinate or 3D reference coordinates of above-mentioned electronic installation And it can be the mobile in real time and rotation under a dynamic environment to rotate, this moves and rotated in real time availability vector and is indicated, The vector has certain size and Orientation relative to mutually perpendicular reference axis on georeferencing coordinate.
Fig. 8 depicted is a flow chart, and it shows the mapping method of another embodiment of the present invention, and this mapping method will The result deviation angle of electronic installation is mapped on a display reference coordinate, this electronic installation can in a 3d space reference coordinate or Move and rotate in dynamic environment.Fig. 9 is a schematic diagram, and how it is shown in the present embodiment by above-mentioned electronic installation Result error including the deviation angle is mapped.For illustration purposes, the difference between Fig. 7 and Fig. 8 can be by as shown in Figure 8 Extra mapping step 750 is indicated.Step 705-745 in Fig. 8 is identical with step corresponding in Fig. 7, and it is held Alignment programs of the hand-manipulating of needle to electronic installation.Step 750 is then to perform the map program for electronic installation.Arithmetic processor can be wrapped A map program is included, it is used for performing imaging step 750.In step 750, processing and transport module obtain display data, This display data is for example including screen size and boundary information.In step 750, space indicates to belong to result in reference coordinate The deviation angle of deviation, is inputted based on a susceptibility associated with display reference coordinate, and is converted into positioned at display ginseng Examine a movement model of mapping domain in coordinate.Person of ordinary skill in the field should be understood that aforementioned display device datagram is included The form of display, for example：Light-emitting diode display, LCD display, Touch Screen or 3D displays, and display frequency, example Such as：120Hz or 240Hz.In one embodiment, the display reference coordinate related to display can be a 2D displays with reference to seat Mark.In another embodiment, display reference coordinate can be the 3D display reference coordinates of a 3D displays.
Above-mentioned display data further includes susceptibility input, and the input of this susceptibility is a parameter, and user can be by The control knob being arranged on the shell of 3D display devices is inputted and adjusted this parameter.Susceptibility input can be used for representing display Susceptibility of the equipment corresponding to the movement of electronic installation.Fig. 9 is refer to, it does further description to map program.One In embodiment, susceptibility input is a parameter, and this parameter represents the relation of display and the electronic installation of the present invention, for example：Away from From relation.The output of this electronic installation includes the skew including yaw angle, the angle of pitch and the roll angle of 3D reference coordinates, this The movement model that skew is mapped on the 2D display reference coordinates of display.In another embodiment, susceptibility is defeated Enter may include a screen size of boundary information, this boundary information is made a reservation for by user, be, for example, the input by user Or operate and obtain.In another embodiment, in order to increase or decrease mobile model, susceptibility input can enter in map program Row acquiescence, the parameter for allowing susceptibility to input is a default value, above-mentioned mobile model includes distance, by the number of mobile picture element or The number of the picture element come from the mobile image of electronic installation.
Fig. 9 is the birds-eye view of one of one embodiment of the invention screen 910 of the display device of electronic installation 930 and one.Screen Curtain 910 has a central point 922, a target point 924 and a boundary point 926.Central point 922 is the Ji He centers of screen 910, mesh Punctuate 924 be electronic installation 930 indicated by position, boundary point 926 be positioned at the right border of screen 910 a bit.It is above-mentioned it Each point 922,924,926 with electronic installation 930 is located in a shared plane, and this shared plane is and display reference coordinate XDYDZDXDAxle and ZDAxle is parallel.Dummy light 942,944,946 is the light beam that three roads are imagined, it is respectively from electronic installation 930 are transmitted into central point 922, target point 924 and boundary point 926.Centered on P point 922 and target point 924 between away from From apart from PmaxCentered on point 922 the distance between with boundary point 926, and apart from d then centered on point 922 and electronic installation 930 The distance between.Yaw angle in the result error of above-mentioned electronic installation 930 is between dummy light 942 and dummy light 944 Folded angle, θ, and angle, θmaxIt is then angle folded between dummy light 942 and dummy light 946.Above-mentioned mapping domain For positioned at display reference coordinate and the display surface including screen 910 a plane, the display surface of screen 910 is mapping domain A subset.
In the present embodiment, above-mentioned susceptibility input is provided by the user of electronic installation 930.Susceptibility β can be by Following formula (15) are defined.
Wherein, the susceptibility β in equation (15) is provided by user.
Following equations (16) can be by pushing away in equation (15) and geometrical relationship.
Following equations (17) can be by pushing away in equation (16).
In equation (17), apart from PmaxIt can be pushed away from the width of screen, and the width of screen is then step 750 is taken The display data obtained.In addition, angle, θ is then acquired yaw angle in step, and susceptibility input β is then by user There is provided.Therefore, the arithmetic processor of electronic installation 930 can be calculated apart from P according to equation (17).Then, calculation process Device just can obtain target point easily in the position in lateral coordinates according to the width apart from P and screen 910.In addition, according to Similar method, arithmetic processor can obtain target point 924 on screen 910 easily on longitudinal coordinate according to the angle of pitch Position.
Map program in step 750 can be with exemplified by the above, that is, will be skewed towards the yaw angle in angle and the angle of pitch The two-dimensional coordinate of the target point 924 on screen 910 is converted to, is illustrated.Thereby, arithmetic processor has obtained target point 924 In the coordinate of period now.Arithmetic processor can be by target point 924 in the period now coordinate subtract target point 924 when previous Section coordinate, subtract each other result just for target point 924 in the horizontal-shift and vertical shift of period now.Above-mentioned level with it is vertical Skew may pass to display device, so that display device can follow the trail of the position of target point 924.Display device can be in screen 910 One cursor of upper display or some image effects (video effect), to emphasize the position of target point 924.When user's mobile electron During device 930, above-mentioned cursor or image effect can show a movement model on screen 910.
Similarly, in another embodiment of the invention, comparison method of the invention can be a circulating method.For one Kind continuous in time method being circulated, in one embodiment of this invention, by with nine axle action sensing module phase communications and liaison The method performed by arithmetic processor can return to step 710 to perform in subsequent period T+1 comparison and the program of image or Method.Then, subsequent period T+1 comparison and the program or method of image be can perform.
The comparison method of the depicted another embodiments for the present invention of Figure 10.Method depicted in this flow chart provide one in The method that result error is obtained in dynamic environment, this result error includes the deviation angle of the electronic installation in georeferencing coordinate, this Electronic installation include one or nine axle action sensing modules and can in a georeferencing coordinate with moving and rotating in a dynamic environment, and Its result error can be mapped to a display by the electronic installation for moving and rotating in 3d space reference coordinate and dynamic environment On reference coordinate.Thereby, including the result error including the deviation angle preferably can in dynamic environment is excluded bad external disturbance In the case of be obtained, this deviation angle be output with nine axle action sensing modules or state (for example：More new state, is detailed later) It is associated.In one embodiment, bad external disturbance refers to or further includes bad axial acceleration, and this bad axial direction adds Speed is as caused by the bad external force beyond gravity.In another example, bad external disturbance refers to or further wrapped Include as the bad magnetic force produced by bad electromagnetic field.Step 1005-1030 shown in Figure 10 refers to the present invention as shown in Figure 7 Another embodiment the step of.
For using the electronic installation for having one or nine axle action sensing modules, electronic installation is, for example, instruction dress Put, a navigation equipment, an intelligent mobile phone or a mobile electronic device, the news produced by the magnetometer of this action sensing module It number preferably can be used to allow the acquirement result error become easy, and preferably in an absolute way, above-mentioned result error includes Positioned at the deviation angle of 3D reference coordinates.Step 1035 that can be as shown in Figure 10 as the 3rd signal group produced by magnetometer is obtained, This 3rd signal group includes measuring magnetic force (measured magnetism) Mx, My, Mz.In the present embodiment, magnetic force Mx is measured, My, Mz refer to measure acquired magnetic force.In one embodiment of this invention, in order to obtain nine axle motion sensing modules State quantity measurement, the today state based on above-mentioned nine axles sensing module or the second quaternary value as shown in step 1040 can also be transported Calculate and obtain estimated magnetic force Mx ', My ', Mz '.In other words, two groups of state quantity measurements for representing nine axle action sensing modules can be obtained Magnetic force, one of which be step 1035 in measurement magnetic force Mx, My, Mz, and another set be step 1040 in estimated magnetic Power Mx ', My ', Mz ', this estimated magnetic force Mx ', My ', Mz ' are based on above-mentioned today state or related to measuring angular speed second Quaternary value and try to achieve.Moreover, in one embodiment, arithmetic processor is using a data converter with by today state or Two quaternary values are converted into estimated magnetic force Mx ', My ', Mz ', vice versa.The data converter can be a software program, and it can With the equation below (18), (19), (20) are represented.
(q0 2+q1 2-q2 2-q3 2)cosλ+2(q1q3-q0q2) sin λ=Mx'......................... (18)
2(q1q2-q0q3)cosλ+2(q2q3+q0q1) sin λ=My'............................ (19)
In equation (18), (19), in (20), the direction for the surrounding magnetic field that parameter λ is measured by magnetometer is with being located at Inclination angle (dip angle) between one horizontal plane of georeferencing coordinate.This inclination angle λ can be obtained or by the electricity of the present invention by measurement The initial calibration program (initial calibration process) of sub-device is calculated and obtained, and can be as a parameter.It is above-mentioned Arithmetic processor can be used for calculation equation (18), (19), the solution (Mx ', My ', Mz ') of (20).
In one embodiment of this invention there is provided the method for obtaining above-mentioned result error, this result error includes being located at The deviation angle of georeferencing coordinate, and electronic installation is, for example, instruction dress using one or nine axle action sensing modules and electronic installation Put, a navigation equipment, an intelligent mobile phone or a mobile electronic device.The method is preferably by one comparison model of use, To compare nine axle action sensing modules in the today state and state quantity measurement of period T now.In other words, as shown in step 1045 Embodiment in, preferably will in the second quaternary value of the measurements angular speed of period T today state now and be similarly positioned in show The axial acceleration A x, Ay, Az of modern period T measurement, estimated axial acceleration Ax ', Ay ', Az ', measure magnetic force Mx, My, Mz and It is expected that magnetic force Mx ', My ', Mz ' compared to pair.Thereby, a more new state of nine axle action sensing modules can just be obtained.In general And in embodiments of the present invention, more new state is often referred to：Compared to today state or state quantity measurement, to nine axle action sensing moulds Block is updated in previous period T-1 previous state.Used in the comparison model of step 1045 and measure axial acceleration Ax, Ay, Az and magnetic force Mx, My, Mz are measured, while also using estimated axial acceleration Ax ', Ay ', Az ' and it is expected that magnetic force Mx ', My’,Mz’。
In one embodiment, the more new state of the nine axle action sensing modules obtained can be as depicted one the 3rd 4 Member value, the comparison mechanism or data being preferably related to represented by the equation related to comparison model is related.Moreover, such as step Shown in 1050~1060, it can further be output and using this result, include being located at space to obtain as shown in the step in figure The result error of the deviation angle in reference coordinate.Person of ordinary skill in the field should be appreciated that in above-described embodiment now Probability in state, state quantity measurement, more new state, data correlation and comparison mechanism is only for purposes of discussion, and is not used to limit The system present invention.
Another embodiment of the depicted comparison methods for the present invention of Figure 11.This flow chart shows one result error of acquirement Method, this result error include an electronic installation be located at space indicate coordinate in the deviation angle, this electronic installation is, for example, one Instruction device, a navigation equipment, the portable electronic equipment of an intelligent mobile phone or other kenels.This electronic installation includes one or nine Axle action sensing module simultaneously can be in a georeferencing coordinate with moving and rotating in a dynamic environment, and in 3d space reference coordinate Its result deviation angle can be mapped on a display reference coordinate with the electronic installation that moves and rotate in dynamic environment.Step 1105~1130 potentially include the previous state and a today state for obtaining action sensing module, and obtain action sensing module A state quantity measurement, this state quantity measurement is related to axial acceleration.In addition, in step 1135, preferably comparing mould using one Type removes to compare the today state and state quantity measurement of nine axle action sensing modules in period T now.In other words, such as step 1135 institute Show, preferably by the second quaternary value in period T now with period T now measurement axial direction acceleration A x, Ay, Az and it is expected that Axial acceleration Ax ', Ay ', Az are compared, and this second quaternary value is associated with the measurement angular speed of today state.Then, The first more new state of nine axle action sensing modules can be obtained.In one embodiment, the first more new state refer to for now when The today state of nine axle action sensing modules in section T carries out first time renewal.Moreover, can obtain or reach the present invention wherein One technique effect.In step 1135, performing step 1105~1135 obtainable wherein a benefit or effect is：Obtain as schemed The first more new state or the 3rd quaternary value shown in 11 simultaneously exclude bad axial acceleration, wherein bad axial acceleration is by not Caused by good external force, this bad external force is, for example, other external force for being isolated from gravity.
In one embodiment, the first more new state of nine axle action sensing modules can be one the 3rd quaternary as depicted Value, this result, which is preferably, to be related to by related to the comparison represented by the equation that comparison model is associated or data.Moreover, this hair A bright wherein technique effect includes the foregoing bad external disturbance by dynamic environment and excluded, wherein bad outside is dry Disturb and refer to or including bad axial acceleration, this bad axial acceleration is that as caused by bad external force, this bad external force is preferable It is to exclude gravity.Or, bad external disturbance also includes as the bad magnetic force produced by bad electromagnetic field, and this bad electromagnetic field is It is adjacent to action sensing module., can be further to this in the case of based on the 3rd quaternary value as shown in Figure 11 step 1140 First more new state of nine axle sensing modules of invention carries out computing and is converted to a instantaneous angle of pitch (temporary pitch Angle) with an instantaneous roll angle (temporary roll angle).As illustrated, the first more new state can be effectively obtained, and The bad axial acceleration for belonging to bad external disturbance in dynamic environment is excluded.In one embodiment, it is above-mentioned by not in exclusion In the case of bad axial acceleration caused by good external force, the first more new state can be obtained；Above-mentioned bad external force refers to not wrap Include the external force including gravity.3rd signal group is that as produced by magnetometer, it includes measuring magnetic force Mx, My, Mz.Nine axle senses of movement Surveying the state quantity measurement of module can obtain by computing is carried out to a measurement yaw angle, and it is according to following equations that this, which measures yaw angle, Formula (21) and obtained from nine axle motion sensing modules in the action sensing signal that period T now is sent.
In equation (21), Ty refers to measure yaw angle, and Tp refers to the instantaneous angle of pitch, and Tr then refers to instantaneous rolling Angle.
In one embodiment of this invention, as shown in step 1145, in order to obtain the amount of nine axle action sensing modules Survey state, the described first more new state based on nine axle action sensing modules or the 3rd quaternary value in the period now, can be obtained One estimated yaw angle (predicted yaw angle).In other words, can for the state quantity measurement of nine axle action sensing modules Measurement yaw angle in acquisition step 1140 and the estimated yaw angle in step 1145.
Moreover, preferably using a comparison model with than the shape now for nine axle action sensing modules in period T now State and state quantity measurement.In other words, as indicated in step 1150, by the second quaternary value and sensitive axis preferably in period T now To acceleration A x, Ay, Az, estimated axial acceleration Ax ', Ay ', Az ', measure yaw angle with it is expected that yaw angle is compared, this Second quaternary value is associated with the measurement angular speed of today state.Then, the second of nine axle action sensing modules can be obtained more New state.In one embodiment, the second more new state refers to the shape now for nine axle action sensing modules in period T now State carries out second and updated.Comparison model in step 1150 is very approximate with above-mentioned comparison model, therefore will no longer be done in detail Thin explanation.In one embodiment, as illustrated, the second more new state of nine acquired axle action modules can be one the 4th 4 Member value.Moreover, in following step as shown in the figure, the second more new state of nine acquired axle action sensing modules can quilt Exported as result, and for obtaining a result error, this result error is included in the deviation that a space indicates reference coordinate Angle.In addition to above-mentioned technique effect, i.e.,：As shown in step 1135, exclude in dynamic environment and belong to bad external disturbance not Good axial acceleration and the first more new state of action sensing module obtained, also can reach as shown in Figure 11 step 1150 Technique effect, this technique effect is accompanied by the second more new state of action sensing module and obtained.By perform step 1140~ 1150 accessible advantages or effect are：As shown in figure 11, obtain the second more new state and remove bad magnetic force, bad magnetic force example side by side In this way as caused by the bad outside or inside electromagnetic field of the action sensing module of the neighbouring present invention in dynamic environment.
As shown in step 1155 in figure, state output is updated to the previous state of nine axle sensing modules by second, this second More new state is preferably the form of the 4th quaternary value.In other words, in one embodiment, the first quaternary value can be by the above-mentioned the 4th Quaternary value is replaced, and alternatively the 4th quaternary value can directly replace value of the first quaternary value in previous period T-1 to carry out Next circulation.In other words, subsequent period T+1 the first quaternary value can be become in the 4th quaternary value of period T now.Or To say, the 4th quaternary value exported in previous period T-1 can as period T now the first quaternary value.
In step 1160, the second more new state of the nine axle action sensing modules of the present invention further by computing and can turn Result error is changed to, this result error is included in the deviation angle in georeferencing coordinate, the wherein deviation angle includes being located at space ginseng Examine yaw angle, the angle of pitch and the roll angle of the electronic installation in coordinate, above-mentioned yaw angle, the angle of pitch and roll angle is preferably point Not Dui Yingyu georeferencing coordinate three mutually perpendicular reference axis angle.Moreover, as illustrated, can further obtain Two more new states, preferably exclude the bad magnetic force for belonging to bad external disturbance in dynamic environment.In one embodiment, preferably Obtain the second more new state side by side except for example as the bad magnetic force caused by above-mentioned bad electromagnetic field, or exclude magnetic field of the earth it It is outer and be adjacent to action sensing module or tool is enough to influence the bad magnetic force of action sensing module.The deviation angle can be according to equation (12), (13) and (14) and calculate, wherein the parameter q in equation (12), (13) and (14)0、q1、q2And q3It is then the 4th Four elements of quaternary value.Moreover, the deviation angle of step 1160 can be obtained in the case where excluding bad external disturbance, this is bad External disturbance includes bad axial acceleration and bad magnetic force, wherein as described in abovementioned steps 1135, bad axial acceleration is As caused by bad external force, this bad external force does not include gravity.In addition, as described in abovementioned steps 1150, the one of bad magnetic force E.g. as caused by bad electromagnetic field.In addition, in the step 1165 shown in Figure 11, positioned at georeferencing coordinate and including partially Can further it be mapped in a display reference coordinate to the result error at angle, this display reference coordinate is, for example, a display The 2D display reference coordinates of device.
As shown in figure 12, in a preferred embodiment, the first more new state and the second more new state further include one the respectively One data dependence model and one second data dependence model.First data dependence model is to be used to compare the first state quantity measurement and one First estimated measurement, wherein the first state quantity measurement is associated with the second signal group, and the first estimated measure is then by described Obtained in today state.Moreover, the second data dependence model is to be used to compare the second state quantity measurement and one second estimated measurement, its In the second state quantity measurement be associated with the 3rd signal group, and the second estimated measure is then by being taken in the described first more new state .In addition, in a further preferred embodiment, the second more new state further includes one first data dependence model and one second number respectively According to correlation model, and the first data dependence model is to be used to compare the first state quantity measurement and one first estimated measurement, wherein first State quantity measurement is associated with the second signal group, and the first estimated measure is then by being obtained in described today state.Second number It is to be used to compare the second state quantity measurement and one second estimated measurement according to correlation model, wherein the second state quantity measurement is and the 3rd signal Group is associated, and the second estimated measure is then by being obtained in described today state.In the case of based on comparison result, according to First more new state of nine axle action sensing modules and obtain described second and estimated measure or according to nine axle action sensing modules Today state and obtain described second it is estimated measure between difference be described in further detail in Figure 12.Indicate "Yes" and "No" Path is displayed in Figure 12.
Figure 12 show another embodiment of the acquirement result error of the present invention, and this result error includes electronic installation position In the deviation angle of georeferencing coordinate, this electronic installation be, for example, an instruction device, a navigation equipment, an intelligent mobile phone or its His mobile electronic device, it includes one or nine axle action sensing modules.Electronic installation can indicate reference coordinate and dynamic in a space Move and rotate in state environment, the method for above-mentioned acquirement result error comprises the steps.As illustrated, in step 1210, An original state of nine axle action sensing modules can be obtained, wherein original state is, this first anterior angle related to a previous angular speed Speed is to be obtained by nine axle action sensing modules in the action sensing signal that a previous period T-1 is sent.In other implementations In example, original state is, above-mentioned first anterior angle speed related with a previous magnetic force to a previous angular speed, a previous axial acceleration Degree, previous axial acceleration and previous magnetic force are the senses of movement sent by nine axle action sensing modules in a previous period T-1 Survey in signal and obtain.Then, in step 1220, by obtain by nine axle action sensing modules in one now period T sent Action sensing signal in the measurement angular velocity omega that obtainsx,ωy,ωz, so as to obtain the shape now of nine axle action sensing modules State.In step 1225, obtained by obtaining by nine axle action sensing modules in the action sensing signal that period T now is sent Measurement axial acceleration A x, Ay, the Az obtained, so as to obtain one first state quantity measurement of nine axle action sensing modules.Then, in step In rapid 1230, the today state based on nine axle action sensing modules computing and can obtain the one first pre- of nine axle action sensing modules Metering is surveyed.In step 1235, carry out one and compare, whether be enough to be used to compensate for nine with the signal for determining related to state quantity measurement The today state of axle action sensing module, and the more new state of nine axle action sensing modules is obtained, wherein state quantity measurement is for example wrapped Measurement axial acceleration is included with measuring magnetic force.
According to the above-mentioned purpose of the present invention, preferably it is to provide a comparison mechanism and a compensation method, this compensation method can be Accurately export the result error of an action sensing module in the case of with external disturbance or internal interference, this external disturbance or Internal interference is for example enough including the electromagnetic field produced by other electronic installations as neighbouring action sensing module, or other intensity Distortion or the electromagnetic field of the normal operation of violate-action sensing module.In the case, using the related comparison mechanism of data Can be used to comparing the state quantity measurement of action sensing module with it is expected that state quantity measurement, to determine the benefit being updated to original state Repay.In abovementioned steps 1235, data is related also to include a predetermined value, and this predetermined value is, for example, according to used action sensing The performance of module and preselect, and enable state quantity measurement to it is expected that measure comparison result reference data is related and predetermined value, With the compensation needed for decision, so that the state of update action sensing module, this state is, for example, original state or more new state.
Thereby, based on the related result of data, the more new state of action sensing module can be obtained.If as illustrated, above-mentioned Comparison result is fallen in the range of results being expected in data correlation, then in one embodiment of this invention, such as step 1240 institute Show that the estimated comparison measured with the first state quantity measurement of first based on nine axle motion sensing modules can obtain nine axle motion sensings One first more new state of module.If in addition, comparison result is fallen in the range of results being expected in data correlation, just It can not perform and obtain the first more new state.It is related with comparing machine using data in the case where being disturbed with outside or inside The effect of system is especially good, and wherein said external or internal interference are, for example, as caused by bad electromagnetic field.When comparison result falls When outside the scope being expected, the "No" as marked in Figure 12, then next step by be obtain action sensing module another amount Survey state or the second state quantity measurement, so as to determine whether another data correlation can be used to obtain the second more new state.However, carrying Can be as another step in the method for the present invention for the second more new state.Based on including the measurement related to action sensing module State quantity measurement including axial acceleration, can only perform above-mentioned step and obtain the result of the first more new state.In other words, As illustrated, the step of the second more new state can only be obtained by either performing the step of can only obtaining the first more new state or performing Rapid or execution can obtain the step of the first more new state is with the second more new state, fall within the claim institute of the present invention In the range of protection.Moreover, similarly, can obtain or reach the wherein technique effect of the present invention.In step 1240, by Perform the accessible advantage in step 1210~1240 or effect is：As shown in figure 12, the first more new state is obtained side by side except bad Axial acceleration, this bad axial acceleration is that as produced by bad external force, this bad external force does not for example, include gravity not Good external force.
In another embodiment of the invention, or in the case where obtaining the above-mentioned second more new state, can further it perform Step 1245 as shown in figure 12~1260.In step 1245, nine axle senses of movement can be obtained by a measurement yaw angle is obtained One second state quantity measurement of module is surveyed, wherein being to obtain measurement yaw angle based on magnetic force Mx, My, Mz is measured, and magnetic force is measured Mx, My, Mz are then to be obtained from nine axle action sensing modules in the action sensing signal that period T now is sent.Moreover, as walked Shown in rapid 1250, computing and the one second estimated measurement for obtaining nine axle motion sensing modules.Then, by being denoted as in such as Figure 12 Comparison mechanism representated by the path of "Yes", can the first more new state based on nine axle motion sensing modules and to obtain one estimated inclined Boat angle.In another embodiment, by the comparison mechanism as representated by the path of "No" is denoted as in Figure 12, nine axles can be based on The today state of motion sensing module and obtain estimated yaw angle.Once state quantity measurement is obtained with it is expected that measure, can perform one the It is secondary to compare to determine：Whether based on comparison mechanism obtained result related to the second data, and compensate.Such as step Shown in 1255, the second data correlation includes：Determine whether comparison result is fallen into a predetermined value or a preset range.If compared As a result fall in predetermined value or preset range, then as shown in being denoted as the step 1260 of "Yes", one second more new state can be obtained And compensate.If in addition, comparison result is not fallen within predetermined value or preset range, step 1265 should be performed, that is, schemed In be denoted as the program of "No".In other words, compensation mechanism is the second estimated measurement using action sensing module to carry out more Newly, the second state quantity measurement of non-used action sensing module.Similarly, in addition to above-mentioned technique effect, such as step 1240 Shown, first for excluding the bad axial acceleration of bad external disturbance in dynamic environment and obtaining action sensing module updates shape State, can be accompanied by action sensing module further up to the technique effect shown in the step 1260 such as Figure 12, this technique effect The second more new state and obtain.It is by the execution accessible advantage in step 1245~1260 or effect：As shown in figure 12, it can enter One step obtains the second more new state and removes bad magnetic force side by side, and bad magnetic force is, for example, by the action of the neighbouring present invention in dynamic environment Caused by the bad outside or inside electromagnetic field of sensing module.
Continue above-mentioned step, in one embodiment of this invention, and comparison method can be a continuous circulation or time Upper is circulation form, the more new state obtained in period T now can as previous period T-1 original state, and as another The starting of one circulation, to perform above-mentioned step again.For person of ordinary skill in the field, above-mentioned period T, Why period T-1 or period T+1 signified should be that clear enough is clear and definite, and be fallen in the range of the present invention is intended to protect.For example, In the step 1260 shown in Figure 12, nine axles can be obtained by being updated by the first more new state to nine axle action sensing modules The more new state of the second of action sensing module, wherein it is based on nine axle action sensing modules to be updated to the first more new state Second between second estimated measurement and the second state quantity measurement compares mechanism.In step 1265, the nine axle senses of movement obtained Surveying the second more new state of module further can be output to original state and start another circulation.
After the completion of step 1265, in step 1270, obtained in the way of similar step 745, step 1060, step 1160 Result error, this result error is included in the deviation angle in georeferencing coordinate, i.e.,：Yaw angle, the angle of pitch and roll angle.And And, result error can be obtained in the case where excluding bad external disturbance, this bad external disturbance is included as shown in step 1240 Bad axial acceleration, this bad axial acceleration be as caused by bad external force, this bad external force not include gravity.This Outside, bad external disturbance also includes the bad magnetic force as shown in step 1260, and this bad magnetic force is, for example, by bad electromagnetism place Produce.
As described above, there is provided the method for a result error for obtaining electronic installation, this electricity in one embodiment of this invention Sub-device is associated with the data including one or nine axle action sensing modules, so can be in nine axle action sensing modules by outside or inside More accurate result is obtained in the case of interference.Therefore, the step of the first more new state of the above-mentioned axle action sensing module of acquirement nine Suddenly further comprise：One first data correlation is performed, with the determine nine axle action sensing modules first estimated measurement and the first amount Whether the comparison result of survey state falls in a first predetermined value of nine axle action sensing modules.Moreover, the above-mentioned axle of acquirement nine is dynamic The step of the second more new state for making sensing module, further comprises：One second data are performed related, to determine nine axle senses of movement Whether the second estimated measurement and the comparison result of the second state quantity measurement for surveying module fall the one second of nine axle action sensing modules In predetermined value.
Similarly, the continuous circulation described in the method according to the invention, obtains a knot of electronic installation in one embodiment The method of fruit deviation is further included updates state output to previous state by second of nine axle action sensing modules in electronic installation. Moreover, the previous state of nine axle action sensing modules can be in previous period T-1 the first quaternary value, nine axle action sensing modules Today state can be and the first more new state and second of nine axle action sensing modules in the second quaternary value of period T now More new state also can be respectively the 3rd quaternary value and the 4th quaternary value in period T now.
In a word, the present invention also provides one or nine axle comparison methods, and it compares what electronic installation was produced and detected by rotation Signal and the signal for producing and detecting by acceleration, wherein this electronic installation are to use to have one or nine axle action sensing modules, And it is respectively around with being carried out along three axles to rotate with acceleration.In one embodiment, nine axle comparison methods can be by result Deviation is exported, and wherein result error is included in yaw angle, the angle of pitch and roll angle in georeferencing coordinate, and this georeferencing is sat The 3D reference coordinates of mark for example, electronic installation.In another embodiment, nine axle comparison methods include result error being mapped to One display coordinate, this result error is included in yaw angle, the angle of pitch and roll angle in georeferencing coordinate, and display is sat Display reference coordinate on the mark for example, screen of display device.Nine axle comparison methods are included the various of action sensing module State is compared, and related to export a result error using the data of the present invention, and this result error is included for example in a 3D Yaw angle, the angle of pitch and the roll angle of reference coordinate.The method have novelty with it is non-obvious.
In summary, person of ordinary skill in the field will be it should be appreciated that in the present invention, will include referring to positioned at a space It is also with novelty to show that the 3D angles of reference coordinate are exported in an absolute way.Moreover, the electronics with action sensing module Device has comparison method and program proposed by the invention and with novelty, therefore can obtain and export in an absolute way Above-mentioned result error, it is to be difficult to be pushed away from known techniques by person of ordinary skill in the field, therefore also has progress Property.It is actual in reference coordinate that above-mentioned " absolute " associated with result error refers to that the electronic installation of the present invention is indicated in space Movement and rotation, wherein result error is acquired by the electronic installation from improvement and exports, and result error includes the deviation angle, and The deviation angle is, for example, yaw angle, the angle of pitch and the roll angle being located in space instruction reference coordinate.It is additionally, since nine axle senses of movement Surveying the noise produced by module is moved and rotated in dynamic environment and accumulated effectively can be deleted or be compensated, therefore the present invention Nine axle comparison methods accurately described deviation can be exported, this deviation is included in the angle in 3D reference coordinates.Moreover, In description of the invention, "a" or "an" can represent the meaning of " at least one " or " multiple ".As described above, affiliated technology neck The technical staff in domain is it should be appreciated that " dynamic " refers to mobile or general signified motion.Those of skill in the art Member is it should be appreciated that " exclusion " is referred to bad ELIMINATION OF ITS INTERFERENCE at this, and it is not limited to the amount or degree that given row is removed, and appoints Any quantity or degree should all meet the spirit of the present invention and should fall in the range of the present invention is intended to protect.
The flow chart of the embodiment of the method for the rotation of the depicted compensation 3D instruction devices for the present invention of Figure 13.The method Purpose be by the rotation of 3D instruction devices and the mobile mobile model (example being converted into the display plane of a display device Such as：The plane X of display device 120 as shown in Figures 1 and 2DYD).This method can be held as the 3D instruction devices depicted in Figure 14 OK, Figure 14 is the schematic diagram of the 3D instruction devices of the present invention.3D instruction devices in Figure 14 include a rotation sensor 342, one Aspect sensor 1410 and an arithmetic processor 1420.This aspect sensor 1410 includes an acceleration transducer 344 and other Arithmetic processor 348.
Figure 13 program is as follows.In step 1320, aspect sensor 1410 produces one with the 3D instruction devices The associated orientation output in orientation, and the orientation of the 3D instruction devices is the three of a universal reference coordinate associated with the earth Axle is associated.The arithmetic processor 348 of the aspect sensor 1410 is by the step 710 performed as described in Fig. 7 and Fig. 8 to step 745 can produce above-mentioned orientation output.In simple terms, in step 710 to the step 745 described in Fig. 7 and Fig. 8, sensing is rotated Device 342 produces one and rotates output (ωx,ωy,ωz), the rotation output be it is associated with the rotation of 3D instruction devices, and 3D instruction The rotation of device is that three axles of a georeferencing coordinate associated with 3D instruction devices are associated (ginseng as shown in Figure 1 or 2 Examine coordinate XPYPZP), this acceleration transducer 344 produces one first signal group, and this first signal group includes multiple axial accelerations Ax, Ay, Az, these axial accelerations Ax, Ay, Az are the movement and rotation phase with the 3D instruction devices positioned at georeferencing coordinate Association.Then, arithmetic processor 348 just produces orientation output based on the first signal group with rotation output.In more detail It is bright, it refer to the above-mentioned relevant discussion to Fig. 7 and Fig. 8.
Arithmetic processor 348 produce orientation output form can for a Rotation matrix, a quaternary value, a rotating vector, Or including three azimuths (i.e.：Yaw angle, the angle of pitch and roll angle) other forms.The orientation output of quaternary value form can For the 3rd quaternary value produced by Fig. 7 and Fig. 8 step 740.Above-mentioned azimuth, that is,：Yaw angle, the angle of pitch and rolling Angle, is produced by step 745.Arithmetic processor 348 can obtain moment of rotation by following equations (22) from azimuth Battle array：
[R]3×3It is the orientation output using rotating vector as form, θ represents the angle of pitch, and φ represents roll angle, and ψ represents driftage Angle.
Arithmetic processor 348 can be obtained using rotating vector as form by following equations (23) from the form of quaternary value Orientation output, and the form of quaternary value is available<e0,e1,e2,e3>It is indicated.
Assuming that the orientation output by form of rotating vector is represented by<e1,e2,e3>, and using quaternary value as form Orientation output is represented by<e0,e1,e2,e3>.Arithmetic processor 348 can be according to following equations (24) by rotating vector Form be converted into the form of quaternary value.
Wherein one of four forms form of orientation output can easily according to equation (22), (23) and (24) it is converted into another form in four forms.
In step 1340, rotation sensor 342 produces one associated with a rotation of 3D instruction devices and rotates output, And the rotation of 3D instruction devices is associated with three axles of a 3D instruction devices associated georeferencing coordinate in itself (such as to scheme Reference coordinate X depicted in 1 and Fig. 2PYPZP).In step 1360, arithmetic processor 1420 is exported with rotating defeated using orientation Go out to produce a conversion output associated with fixed reference coordinate<dx,dy>, and above-mentioned fixed reference coordinate is set with display It is standby associated.This conversion output<dx,dy>The two-dimensional movement in the plane of fixed reference coordinate is represented, the two-dimensional movement is Parallel to the screen of the display device, the display plane X of the display device 120 shown in e.g. Fig. 1 and Fig. 2DYD, wherein dxGeneration Table is along XDThe movement of axle, and dyThen represent along YDThe movement of axle.Moreover, conversion output<dx,dy>It can represent on display plane One section of movement.The multistage motion drawn by 3D instruction devices may make up the movement model on display plane, and control aobvious Show that virtual objects (virtual object) or cursor in equipment move along model movement.
Step 1360 includes four steps 1362,1364,1366 and 1368, in step 1362, arithmetic processor 1420 The orientation of display device is obtained, the orientation of this display device is associated with the universal reference coordinate of the earth.For example, 3D indicates dress Putting may include to reset key, and this resets key transmittable one and resets signal to arithmetic processor 1420, and reset should after signal receiving The orientation output now of one produced by aspect sensor 1410 is recorded as and universal reference coordinate by the first arithmetic processor 1420 The orientation of the associated display device, therefore, the orientation of the display device associated with the universal reference coordinate of the earth can It is recorded into a yaw angle reseted.
In step 1364, arithmetic processor 1420 is exported and associated with earth universal reference coordinate based on the orientation The orientation of display device and the orientation for obtaining the 3D instruction device associated with fixed reference coordinate.As described above, by computing The output of orientation now that processor 1420 is recorded potentially includes one of three axles with universal reference coordinate axle (for example：Z Axle) an associated yaw angle reseted.This arithmetic processor 1420 can subtract the yaw angle reseted by by orientation output And the orientation of the 3D instruction device associated with fixed reference coordinate is obtained, this fixed reference coordinate is then related to display device Connection.
Step 705 shown in Fig. 7 and Fig. 8 is to be equal to step 1362 and step 1364.In the other embodiment of the present invention In, in order to produce the output of the orientation in step 1320, the executable step 705 as illustrated in figs. 7 and 8 of this arithmetic processor 345 ~step 745.In the present embodiment, represented as the orientation output produced by aspect sensor 1410 related to fixed reference coordinate The 3D instruction devices of connection, and this fixed reference coordinate is then associated with display device.Therefore, in other examples, computing Processor 1420 can also omit step 1362 and step 1364.
In step 1366, orientation of the arithmetic processor 1420 based on the 3D instruction device associated with fixed reference coordinate Rotated with rotating to export to produce a conversion associated with display device, wherein this fixed reference coordinate is and display device phase Association.Rotated for example, arithmetic processor 1420 can produce conversion according to following equations (25).
Wherein, R11-R13、R21-R23And R31-R33For the element in 3x3 Rotation matrix, and from the orientation of 3D instruction devices It is middle to obtain, and the orientation of 3D instruction devices is that the fixed reference coordinate associated with display device is associated.Moreover, [ωx ωy ωz]DRotated for the conversion associated with fixed reference coordinate, and fixed reference coordinate is then associated with display device.[ωx ωy ωz]PFor the rotation output produced by rotation sensor 342.In addition, conversion rotates [ωx ωy ωz]DIncluding three angles Speed omegax、ωy、ωz, three axle X of its fixed reference coordinate associated with display device respectivelyD、YD、ZDIt is associated.And And, rotate output [ωx ωy ωz]PIncluding three angular velocity omegasx、ωy、ωz, its sky associated with 3D instruction devices respectively Between reference coordinate three axle XP、YP、ZPIt is associated.
In step 1368, arithmetic processor 1420 is based on the conversion and rotates [ωx ωy ωz]DTo produce conversion output< dx,dy>, wherein dxThe first mobile component exported for conversion, and dyFor the second mobile component of conversion output.Wherein, first move Dynamic component is the X with fixed reference coordinateDAxle is associated, and the second mobile component is the Y with fixed reference coordinateDAxle is associated, And fixed reference coordinate is associated with display device.For example, the angular velocity omega that arithmetic processor 1420 will be changed in rotatingyMultiply The second mobile component d is produced with a predetermined size factor (scale factor)y, and arithmetic processor 1420 by change turn Angular velocity omega in dynamiczIt is multiplied by above-mentioned predetermined size factor and produces the first mobile component dx.Wherein, the value of size factor can Set by user.
The method of the rotation of compensation 3D instruction devices can be held by 3D instruction devices as shown in figure 15 as shown in fig. 13 that OK, and Figure 15 show the 3D instruction devices of another embodiment of the present invention.3D instruction devices shown in Figure 15 include one and rotated Sensor 342, an aspect sensor 1510 and an arithmetic processor 1420, wherein aspect sensor 1510 include an acceleration Sensor 344, a magnetometer 345 and an arithmetic processor 348.
In step 1320, aspect sensor 1510 produces orientation output, and the output of this orientation is and 3D instruction devices Orientation is associated, and the orientation of 3D instruction devices is then associated with three axles of the universal reference coordinate of the earth.Such as scheme by performing Step 1010 shown in 10 is to step 1060 or step 1110 as shown in figure 11 to step 1160 or step as shown in figure 12 Rapid 1210 to step 1270, and the arithmetic processor 348 of aspect sensor 1510 can produce above-mentioned orientation output.In simple terms, In the step shown in Figure 10, Figure 11 or Figure 12, rotation sensor 342 produces one associated with the rotation of 3D instruction devices Rotate output (ωx,ωy,ωz), and three axles of the rotation of 3D instruction devices then with georeferencing coordinate are (such as Fig. 1 and Fig. 2 institutes The reference coordinate X shownPYPZP) associated.Acceleration transducer 344 produces one first signal group, and this first signal group is included axially Acceleration A x, Ay, Az, this axial acceleration Ax, Ay, Az are the movement and rotation in georeferencing coordinate with 3D instruction devices It is associated.Magnetometer 345 produces one second signal group (Mx, My, Mz), and this second signal group is associated with the magnetic field of the earth. Moreover, being exported based on the first signal group, the second signal group, with rotating, arithmetic processor 348 produces orientation output.Refer to State on Figure 10, Figure 11, the narration with Figure 12, it has more detailed introduction.
Arithmetic processor 348 can produce above-mentioned orientation output, and the pattern of this orientation output can be a Rotation matrix, one or four First value, a rotating vector are to include three azimuthal forms such as yaw angle, the angle of pitch and roll angle.Using quaternary value as type The orientation output of formula can be the 3rd quaternary value produced by step 1050 as shown in Figure 10 or can be step as shown in figure 11 In 1150 produced by the 4th quaternary value or can be from acquired by the more new state in step 1265 as shown in figure 12.Moreover, driftage Three azimuths such as angle, the angle of pitch and roll angle be can by Figure 10 step 1060, Figure 11 step 1160 or Figure 12 the step of Produced by 1270.Rotation matrix can be obtained with rotating vector according to equation (22), equation (23) and equation (24).
In the present embodiment, performed as the rotation sensor 342 that the rotation sensor 342 shown in Figure 15 can be as shown in figure 14 Step 1340, step is performed as the arithmetic processor 1420 that the arithmetic processor 1420 and shown in Figure 15 can be as shown in figure 14 1360。
Step 1005 shown in Figure 10 is the same as step 1362 and step 1364 with the step 1105 shown in Figure 11.At this In another embodiment of invention, in order to produce the output of the orientation in step 1320, Figure 15 executable figure of arithmetic processor 348 The step 1105 shown in step 1005 to step 1060 or Fig. 8 shown in 10 is to step 1160.In this example, aspect sensor institute The orientation output of generation represents the orientation of 3D instruction devices, and the orientation of this 3D instruction device is associated with display device consolidates Determining reference coordinate is associated.Therefore, in another embodiment, Figure 15 arithmetic processor 1420 omits step 1362 and step 1364。
The method of the rotation of compensation 3D instruction devices shown in Figure 13 also can be as shown in Figure 16 3D instruction devices perform.Figure 16 show the schematic diagram of the 3D instruction devices of another embodiment of the present invention.3D instruction devices shown in Figure 16 include one turn Dynamic sensor 342, an aspect sensor 1610 and an arithmetic processor 1420.Aspect sensor 1610 includes an accelerometer 344th, a magnetometer 345 and an arithmetic processor 348.
In step 1320, aspect sensor 1610 produces the orientation output associated with the orientation of 3D instruction devices, And the orientation of this 3D instruction device is then associated with the universal reference coordinate of the earth.In order to produce orientation output, magnetometer 345 Generation includes axial acceleration Ax, Ay, Az one first signal group, and this axial acceleration Ax, Ay, Az are existed with 3D instruction devices Movement and rotation in georeferencing coordinate is associated.Magnetometer 345 produces the one second signal group associated with magnetic field of the earth (Mx, My, Mz), and Figure 16 arithmetic processor 348 produces orientation output based on the first signal group and the second signal group.Orientation The detailed description of output is as described below.
Orientation output can be to include yaw angle ψ, pitching angle theta, the pattern with roll angle φ, yaw angle ψ, pitching angle theta and rolling Corner φ is associated with three axles of the universal reference coordinate of the earth respectively.First signal group includes axial acceleration Ax, Ay, The X of Az, this axial acceleration Ax, Ay, Az respectively with 3D instruction devices along georeferencing coordinateP,YP,ZPThe movement of axle and turn It is dynamic associated.Second signal group includes magnetic field Mx, My, Mz, and this magnetic field Mx, My, Mz join with 3D instruction devices along space respectively Examine the X of coordinateP,YP,ZPThe movement and rotation of axle are associated, and georeferencing coordinate is associated with 3D instruction devices.
Arithmetic processor 348 can calculate pitching angle theta and roll angle φ according to following equations (26) and (27).
In equation (26) and (27), Ax, Ay, Az is the axial acceleration of the first signal group, and g is gravity acceleration Degree.Moreover, arithmetic processor 348 can calculate angle of pitch ψ according to equation (28).
In equation (28), Mx, My, Mz is each element of the second above-mentioned signal group.According to equation (26), (27) and (28), Figure 16 computing sensor 38 can be produced exports including yaw angle ψ, pitching angle theta, with roll angle φ orientation.
In the present embodiment, performed as the rotation sensor 342 that the rotation sensor 342 shown in Figure 16 can be as shown in figure 14 Step 1340, step is performed as the arithmetic processor 1420 that the arithmetic processor 1420 and shown in Figure 15 can be as shown in figure 14 1360。
Method shown in Figure 13 and the 3D instruction devices shown in Figure 14 to Figure 16, can be by 3D instruction devices in three dimensions Rotate and movement is transformed into the two-dimentional mobile example edition on the display plane of display device.Traditional instruction device is being carried out Each yaw angle, the angle of pitch and roll angle can not be considered during conversion, and these conversions are mistakenly in some cases.Lift Example for, when traditional instruction device be in turn state when, the instruction device may be turned be converted into along Just opposite direction movement.On the other hand, no matter how user positions or rotates 3D instruction devices, because the present invention is real Regular meeting is applied by each yaw angle, the angle of pitch, taken into consideration with roll angle, thus the method shown in Figure 13 with shown in Figure 14 to Figure 16 3D instruction devices can by the rotation of 3D instruction devices and movement correctly be changed.
Person of ordinary skill in the field it should be appreciated that present invention can apply to various fields, including：Game, calculating Machine and navigation.Person of ordinary skill in the field it should be appreciated that the present invention protection domain when depending on after attached apply for a patent model Enclose defined person to be defined, and the various possible applications of the present invention should be included, including：Instruction device, navigation equipment or intelligent hand The electronic installations such as machine.
Above-described embodiment it is merely for convenience explanation and illustrate, though arbitrarily repaiied by person of ordinary skill in the field Change, all without departing from such as the scope to be protected in claims.

Claims (27)

1. a kind of 3D instruction devices, it is characterised in that the 3D instruction devices include：
One aspect sensor, the orientation output associated with an orientation of the 3D instruction devices to produce, and the 3D are indicated The orientation of device is that three axles of a universal reference coordinate associated with the earth are associated；
One rotation sensor, to produce a rotation with the 3D instruction devices it is associated one rotate output, and the 3D is indicated The rotation of device is that three axles of a georeferencing coordinate associated with the 3D instruction devices are associated；And
The aspect sensor includes：
One acceleration transducer, to produce one first signal group, the first signal group includes multiple axial accelerations, these axles It is that movement and rotation with the 3D instruction devices positioned at the georeferencing coordinate are associated to acceleration；
One magnetometer, the one second signal group associated with the magnetic field of the earth to produce；And
One second arithmetic processor, to produce a state quantity measurement based on the first signal group and the second signal group, the amount Survey state includes one and measures magnetic force Mx, My, Mz, and is exported based on the state quantity measurement and the rotation and produce a more new state, should More new state includes an estimated magnetic force Mx ', My ', Mz ', and orientation output is produced by calculating and changing the more new state, its Orientation output includes a result error, and the result error includes the one group deviation angle associated with the georeferencing coordinate.
2. 3D instruction devices as claimed in claim 1, are also included：
One first arithmetic processor, is exported, the conversion is defeated to be exported using orientation output with the rotation with producing a conversion Go out is that a fixed reference coordinate associated with a display device is associated；
Wherein first arithmetic processor is by the boundary information for calculating the fixed reference coordinate, and by the deviation angle and the side Boundary's information and change output and represent one section of movement in a plane of the fixed reference coordinate, this section of movement be parallel to this One screen of display device.
3. 3D instruction devices as claimed in claim 1 or 2, it is characterised in that second arithmetic processor is according to previous one An original state and the rotation acquired by period are exported, and calculate and obtain the today state of period now, and by comparing The today state produces the more new state with the state quantity measurement.
4. 3D instruction devices as claimed in claim 3, it is characterised in that the today state is the original state relative to the time First derivative.
5. 3D instruction devices as claimed in claim 3, it is characterised in that second arithmetic processor changes the today state Into estimated magnetic force Mx ', My ', Mz ', and by the today state and be similarly positioned in this now measurement magnetic force Mx, My, Mz of period and Estimated magnetic force Mx ', My ', the Mz ' are compared to pair, to produce the more new state.
6. 3D instruction devices as claimed in claim 3, it is characterised in that second arithmetic processor is obtained and the today state The first associated probability, and second probability associated with the state quantity measurement is obtained, and use first probability and second Probability, to produce the more new state.
7. 3D instruction devices as claimed in claim 2, wherein this group deviation angle includes a yaw angle, an angle of pitch, rolled with one Corner；The first signal group includes one first axial acceleration, one second axial acceleration and a three axial acceleration；Should Second arithmetic processor is based on the first axial acceleration calculation angle of pitch, and based on second axial acceleration and the pitching Angle calculates the roll angle based on the three axial acceleration and the angle of pitch, and based on the angle of pitch, the roll angle, with this Two signal groups calculate the yaw angle.
8. 3D instruction devices as claimed in claim 2, it is characterised in that the orientation that the aspect sensor is provided is output as One Rotation matrix, a quaternary value, a rotating vector or including three azimuths.
9. 3D instruction devices as claimed in claim 2, it is characterised in that first arithmetic processor is obtained and the universal reference One orientation of the associated display device of coordinate, and the orientation with the display device is exported based on the orientation and obtains the 3D and refers to The orientation of showing device, and the orientation based on the 3D instruction device associated with the fixed reference coordinate and rotation output, and Produce a conversion associated with the fixed reference coordinate to rotate, and rotated based on the conversion and produce conversion output.
10. 3D instruction devices as claimed in claim 9, it is characterised in that reset news when first arithmetic processor receives one Number, the orientation output now of one produced by the aspect sensor is recorded as and the fixed reference coordinate by first arithmetic processor The orientation of the associated display device.
11. 3D instruction devices as claimed in claim 10, it is characterised in that when the orientation output now includes joining with the whole world The associated yaw angle of one of three axles of coordinate axle is examined, first arithmetic processor is subtracted by by orientation output The yaw angle and the orientation for obtaining the 3D instruction device associated with the fixed reference coordinate.
12. 3D instruction devices as claimed in claim 9, it is characterised in that first arithmetic processor from the fixed reference The orientation of the associated 3D instruction devices of coordinate obtains a Rotation matrix, and the Rotation matrix is multiplied to rotation output Produce conversion rotation.
13. 3D instruction devices as claimed in claim 12, it is characterised in that the conversion, which is rotated, to be included and the fixed reference coordinate Associated one first angular speed of three axles, one second angular speed, with a third angle speed；Conversion output includes fixing with this One first mobile component and one second mobile component of wherein two axles correlation in three axles of reference coordinate, first calculation process Second angular speed is multiplied by a size factor and produces second mobile component by device, and first arithmetic processor is by the 3rd Angular speed is multiplied by a size factor and produces first mobile component.
14. a kind of method of the rotation of compensation 3D instruction devices, it is characterised in that the method for the rotation of compensation 3D instruction devices Including：
The orientation output associated with an orientation of the 3D instruction devices is produced, and the orientation of the 3D instruction devices is and the earth Three axles of an associated universal reference coordinate are associated；
Produce one associated with a rotation of the 3D instruction devices and rotate output, and the orientation of the 3D instruction devices is and the 3D Three axles of the associated georeferencing coordinate of instruction device are associated；And
Producing the step of orientation is exported includes：
Produce one first signal group, the first signal group include multiple axial accelerations, these axial accelerations be with positioned at this The movement and rotation of the 3D instruction devices of georeferencing coordinate are associated；
Produce the one second signal group associated with the magnetic field of the earth；
One state quantity measurement is produced based on the first signal group and the second signal group, the state quantity measurement includes one and measures magnetic force Mx, My, Mz；
Exported based on state quantity measurement the first signal group and the rotation and produce a more new state, it is estimated that the more new state includes one Magnetic force Mx ', My ', Mz '；
Calculate and change the more new state to go out and produce orientation output, the output of its orientation includes a result error, the result Deviation includes the one group deviation angle associated with the georeferencing coordinate.
15. method as claimed in claim 14, also includes：
Exported and exported with producing a conversion with the rotation using orientation output, conversion output is associated with a display device A fixed reference coordinate be associated；
Wherein one first arithmetic processor is by the boundary information for calculating the fixed reference coordinate, and by the deviation angle and the side Boundary's information and change output and represent one section of movement in a plane of the fixed reference coordinate, this section of movement be parallel to this One screen of display device.
16. the method as described in claims 14 or 15, it is characterised in that the previous shape according to acquired by a previous period State and the rotation are exported, and calculate and obtain the today state of period now, and by comparing the today state and the measurement shape State produces the more new state.
17. method as claimed in claim 16, it is characterised in that the today state is the original state relative to the one of the time Order derivative.
18. method as claimed in claim 16, it is characterised in that by the today state be converted into estimated magnetic force Mx ', My ', Mz ', and by the today state and be similarly positioned in this now measurement magnetic force Mx, My, Mz of the period and estimated magnetic force Mx ', My ', Mz ' is compared to pair, to produce the more new state.
19. method as claimed in claim 16, it is characterised in that obtain first probability associated with the today state, and Second probability associated with the state quantity measurement is obtained, and using first probability and the second probability, to produce the renewal shape State.
20. method as claimed in claim 15, wherein this group deviation angle includes a yaw angle, an angle of pitch and a roll angle； The first signal group includes one first axial acceleration, one second axial acceleration and a three axial acceleration；And be based on being somebody's turn to do First signal group is with the second signal group and producing the step of orientation is exported includes：
Based on the first axial acceleration calculation angle of pitch；
The rolling is calculated based on second axial acceleration and the angle of pitch or based on the three axial acceleration and the angle of pitch Angle；And
The yaw angle is calculated based on the angle of pitch, the roll angle, with the second signal group.
21. method as claimed in claim 15, it is characterised in that the orientation be output as a Rotation matrix, a quaternary value, one turn Moving vector or including three azimuths.
22. method as claimed in claim 15, it is characterised in that conversion output represents one positioned at the fixed reference coordinate One section of movement in plane, this section of movement is parallel to a screen of the display device.
23. method as claimed in claim 15, it is characterised in that the step of orientation is exported includes：
Obtain an orientation of the display device associated with the universal reference coordinate；
Based on the orientation export with the orientation of the display device and obtain the orientation of the 3D instruction devices；
Orientation based on the 3D instruction devices and produce associated with a fixed reference coordinate conversion and rotate；And
Rotated based on the conversion and produce conversion output.
24. method as claimed in claim 23, it is characterised in that obtain the display associated with the fixed reference coordinate and set The step of standby orientation, includes：
The orientation output now of one produced by one aspect sensor is recorded as the display associated with the fixed reference coordinate The orientation of equipment.
25. method as claimed in claim 24, it is characterised in that the orientation output now includes and the universal reference coordinate The associated yaw angle of one of three axles axle, and obtain the 3D instruction device associated with the fixed reference coordinate The step of orientation, includes：
The 3D instruction device associated with the fixed reference coordinate is obtained by orientation output is subtracted into the yaw angle Orientation.
26. method as claimed in claim 23, it is characterised in that producing the step of rotation is exported includes：
A Rotation matrix is obtained from the orientation of the 3D instruction device associated with the fixed reference coordinate；And
The Rotation matrix and rotation output are multiplied to produce into the conversion to rotate.
27. method as claimed in claim 26, it is characterised in that the conversion, which is rotated, includes three axles with the fixed reference coordinate Associated one first angular speed, one second angular speed and a third angle speed；Conversion output includes sitting with the fixed reference One first mobile component and one second mobile component of wherein two axles correlation in the axle of target three；And rotated and taken based on the conversion Obtaining the step of conversion is exported includes：
Second angular speed is multiplied by a size factor and second mobile component is produced；And
The third angle speed is multiplied by a size factor and first mobile component is produced.
CN201710093370.8A 2011-03-28 2012-03-27 3D instruction devices and the method for the rotation of compensation 3D instruction devices Pending CN106959770A (en)

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US13/176,771 US8552978B2 (en) 2010-01-06 2011-07-06 3D pointing device and method for compensating rotations of the 3D pointing device thereof
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