CN107144958B - Augmented reality telescope - Google Patents
Augmented reality telescope Download PDFInfo
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- CN107144958B CN107144958B CN201710497168.1A CN201710497168A CN107144958B CN 107144958 B CN107144958 B CN 107144958B CN 201710497168 A CN201710497168 A CN 201710497168A CN 107144958 B CN107144958 B CN 107144958B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/12—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices with means for image conversion or intensification
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Abstract
The present invention relates to a kind of AR telescopes, including：Video display module, microcomputer module, location tracking module, video input module and system software module, the location tracking module include sense signals module and amendment fusion treatment submodule；Wherein, sense signals module includes：Three axis fluxgate sensors, three axis accelerometer and three axle electronic compass；The measuring signal of amendment fusion treatment submodule receiving sensor submodule output, and carry out fusion calculation after the measured value of use three axis accelerometer is modified the measured value of three axle electronic compass, then by the measured value of the measured value of the revised three axle electronic compass and three axis fluxgate sensors.
Description
Technical field
The invention belongs to a kind of AR intelligent terminals, can be widely used in concert, commercial exhibition, museum, amusement park
Equal public places, the displaying of public virtual image is carried out by the combination of AR software and hardware technologies.
Background technology
Augmented reality (hereinafter referred to as AR, Augmented Reality), i.e., information computer system being provided or
Image is overlapped with real-world information and is presented to the user, to promote sensing capability of the user to real world.
It is the composition of augmented reality system in the prior art in attached drawing 1.Enhancing system does not show complete scene, but
It is the virtual image for ensureing computer generation with this by analysis calculating huge location data and scene information due to needs
It can accurately be superimposed upon in real scene, therefore, a typical AR system is to generate system by tracing system, virtual image
Four system, actual situation image fusion system and actual situation image display system subsystem compositions.
According to from apart from eyes closely to far can the application product of AR being divided into three types：Wear-type (head-
Attached), hand-held (hand-held), space representation formula (spatial).At present for wear-type and hand-held
Through occurring, the research and development of the AR products of portioned product but this kind of non-non- hand-held of wear-type of space representation are domestic at present still to belong to preliminary
Budding state, especially for large-scale public places such as concert, commercial exhibition, museum, amusement parks.In AR virtual images
Only has more conceptual product in displaying.
AR telescopes are the application products for most having in AR technologies development potentiality, and AR prestiges in the prior art are shown in attached drawing 2
The structure of remote mirror comprising video display module, AR look in the distance mirror shell, AR telescopes rotary shaft, AR telescope pedestals.Wherein, depending on
Frequency display module includes display screen, which can be capacitance plate, and screen is with the function of touching support.AR telescopes make
User rotates AR telescopes by AR mirror shells of looking in the distance, and mirror shell of looking in the distance opposite AR telescope pedestals can be carried out centered on the axis of rotation
720 degree of rotations.In rotary course, the environment intake module in front of telescope can continuously get the ring in area of visual field
Border image.It tracks and identifies the measurement data such as the positioning of device acquisition image and so that final overlay drafting is shown in correct position
It sets.
AR telescopes are made of three big basic support technologies：Track and localization treatment technology, dummy object generation technique, superposition
Display function.Track and localization technology is responsible for identifying that the location of AR telescope viewpoints, dummy object generation have then been responsible for superposition
Information whether can with it is real correct it is seamless be superimposed, judge whether a AR telescopes are reliably heavily dependent on
It is good whether track and localization and dummy object generation are handled.If localization process technology and dummy object generation technique not enough may be used
It leans on, it may appear that position inaccurate, information generate malposition, and product can usually bring bad usage experience to user.
When AR telescopes rotate, inclination angle measurement error caused by acceleration of motion surveys the dynamic for the system that seriously affects
Accuracy of measurement.Assuming that when AR telescope angular velocity of rotations ω is 120 degrees second, when sensor is only 0.02 at a distance from rotation center
Meter Shi, the measurement error caused by centripetal acceleration is close to 0.5 degree.And rotation and sensing of the error with AR telescopes
The increase of device and rotary shaft distance and increase.In order to solve the problems, such as dynamic measurement error, proposed in the prior art using redundancy
Sensor improves the technical solution of dynamic accuracy, but error compensating method in the prior art is in some cases, such as
Under conditions of high inclination-angle, it is difficult to ensure dynamic measurement precision.Accordingly, it is desirable to provide a kind of error compensation mode further increases
The dynamic measurement precision of AR telescopes.
Invention content
The dynamic measurement of AR telescopes is further increased it is an object of the present invention to provide a kind of error compensation mode
Precision.
According to one embodiment of present invention, a kind of AR telescopes, including：Video display module, is determined at microcomputer module
Position tracing module, video input module and system software module, it is characterised in that：The location tracking module includes sensor submodule
Block and amendment fusion treatment submodule；Wherein, sense signals module includes：Three axis fluxgate sensors, three axis accelerometer, with
And three axle electronic compass；The measuring signal of amendment fusion treatment submodule receiving sensor submodule output, and using three
After the measured value of axis accelerometer is modified the measured value of three axle electronic compass, then by the revised three axle electronic compass
Measured value and three axis fluxgate sensors measured value carry out fusion calculation.
According to one embodiment of present invention, according to the output valve of location tracking module, virtual information is superimposed to video
In the image information of input module acquisition, the final image after overlap-add procedure is shown on video display module.
According to one embodiment of present invention, video display module includes display screen, the preferred high definition capacitive touch of the display screen
Touch screen.
According to one embodiment of present invention, it corrects fusion treatment submodule and passes through the quilt in each measurement sampling period
It is arranged to carry out following operation：
Three axle electronic compass measured value is subtracted error constant and obtains the preliminary correction value of three axle electronic compass by the first step；
Second step merges the measured value of the preliminary correction value of three axle electronic compass and accelerometer, to obtain
The measured value of three axle electronic compass after compensation.
Third walks, and the measured value of the measured value of the three axle electronic compass after compensation and three axis fluxgate sensors is melted
It closes, final obtain corrects measurement value sensor, which represents real-time position and attitude information.
According to one embodiment of present invention, the measured value of the preliminary correction value and accelerometer of three axle electronic compass carries out
The specific method of fusion is other extended modes of Kalman filtering method or Kalman filtering method.
According to one embodiment of present invention, the measured value of the three axle electronic compass after compensation and three axis fluxgate sensors
The specific method that is merged of measured value be complementary filter method.
According to one embodiment of present invention, a kind of test error compensation method of AR telescopes takes in each measurement
Following operation is executed in the sample period：
Three axle electronic compass measured value is subtracted error constant and obtains the preliminary correction value of three axle electronic compass by the first step；
Second step merges the measured value of the preliminary correction value of three axle electronic compass and accelerometer, to obtain
The measured value of three axle electronic compass after compensation.
Third walks, and the measured value of the measured value of the three axle electronic compass after compensation and three axis fluxgate sensors is melted
It closes, final obtain corrects measurement value sensor, which represents real-time position and attitude information.
According to one embodiment of present invention, the measured value of the preliminary correction value and accelerometer of three axle electronic compass carries out
The specific method of fusion is other extended modes of Kalman filtering method or Kalman filtering method.
According to one embodiment of present invention, the measured value of the three axle electronic compass after compensation and three axis fluxgate sensors
The specific method that is merged of measured value be complementary filter method.
The beneficial effects of the invention are as follows：
(1) by carrying out the data fusion with other sensors after three-dimensional accelerometer compensation three axle electronic compass again, by
It is maximum in the accuracy relationship that three axle electronic compass and dynamic measure, therefore the data merged to three axle electronic compass carry out
Correct the accuracy of dynamic measurement or the high inclination-angle measurement that can greatly improve AR telescope location tracking modules.
(2) tracking and location technology：Tracking and location technology complete the detection to position and orientation with calibration technique jointly,
And give data report to AR telescopic systems, realize the coordinate being tracked in coordinate and virtual world of the object in real world
It is unified, reach and allows the target of dummy object and user environment seamless combination.
(3) enhance display technology：Position and posture of the real-time tracking AR telescopes in real scene, and according to these letters
Breath calculates coordinate of the dummy object in video camera, realizes that dummy object picture is precisely matched with real scene picture, shows
The performance of technological system is the key that augmented reality.
(4) interface and visualization technique：Completely new human-computer interaction technology can be simulated true using such a technology
Live landscape, it is with interactivity and the computer advanced man-machine interface for being contemplated that essential characteristic.User can not only lead to
It crosses virtual reality system and experiences the verisimilitude of " on the spot in person " that is undergone in the objective physical world, and sky can be broken through
Between, time and other objective limitations, experience in real world can not personal experience experience.
(5) calibration technique：In order to generate accurate AR telescopic systems positioning, system needs are largely demarcated, are measured
Value includes camera parameters, scope of sight, the offset of sensor, object positioning and deformation etc..
Description of the drawings
Embodiment of the present invention will be described in more detail that hereinafter reference will be made to the drawings, wherein：
Fig. 1 shows the composed structure of augmented reality system in the prior art；
Fig. 2 shows augmented reality telescope configuration figure in the prior art；
Fig. 3 shows AR telescope body interior spatial structure schematic diagrames in one embodiment of the invention；
Fig. 4 shows the workflow schematic diagram of location tracking module in one embodiment of the invention.
Specific implementation mode
In the following description, it is illustrated for augmented reality telescopic system using preferred embodiment.It is every that it is made
Be not detached from the modification of scope and spirit of the present invention, including increase and/or replace, be all to those of ordinary skill in the art it is aobvious and
It is clear to.In order not to the fuzzy present invention, some details may be omitted, still, present disclosure can make ordinary skill
Personnel can realize this religious doctrine, without carrying out excessive experiment.
Referring to attached drawing 3, according to one embodiment of present invention, the built-in function device of augmented reality telescope, including regard
Frequency display module, microcomputer module, location tracking module, video input module and system software module.
Wherein, video input module includes camera, preferably uses high-definition camera or the high-definition camera of 1080P
Head.Specifically, the video input module, including 5 groups of glass pick-up lens, every group of camera lens include lens group, focusing motor, red
Outside line optical filter, image sensor and mating board structure of circuit, which is connected to by circuit board takes the photograph
As controller.The camera controller has the function of automatically correcting insufficient light, automatically controls focusing.
Sharp keen clearly image can be captured by the video input module, stable high image quality picture is provided, can be obtained
Fine definition and abundant details provide good data basis for subsequent data processing.
In the rotary course of AR telescopes, the video input module in front of telescope can continuously get the visual field
Ambient image in region, these Image Real-time Transmissions have arrived microcomputer module, this process continuously judges.
After realtime graphic returns microcomputer module, system identification feature node, the information of the node will can be passed in the picture
AR programs in microcomputer, AR programs confirm the particular content of the node after discriminance analysis, and AR programs will at this time
The data of tracking point device can on the one hand be transferred to judge the space coordinate residing for the node, while ready-made AR models in advance
Content will be extracted.
Microcomputer module uses Intel's latest product NUC microcomputers, and having desktop computer work(performance completely can be simultaneously
Also ensure that equipment volume too too fat to move will not be easily installed movement.Microcomputer module has fine definition processing capacity, and
It is capable of providing outstanding visual experience and display performance, without additional installation video card.
The offer of location tracking module can location data.Location tracking module is using integrated three axis fluxgate sensors, inclination angle
Compensation three-dimensional electronic compass and three axis accelerometer.Three-dimensional electronic compass is integrated with high-precision MCU controls, and the way of output is polynary
Change, wherein standard interface just interfaces such as including RS232/RS485/TTL.By central processing unit real-time resolving course, and make
Course compensation is carried out to a wide range of interior inclination angle with three axis accelerometer, ensures that compass is up to ± 85 ° at angle of inclination, in order to
Accurate AR telescopic systems positioning is generated, system needs are largely demarcated, and measured value includes camera parameters, ken model
Enclose, the offset of sensor, some row measurement data such as object positioning and deformation, system obtain can pass through after the data it is special
So that final overlay drafting is shown in correct position, and seems to show lofty, this process makes algorithm
User can be as the different of recognition node be believed to show different AR within display screen during constantly rotating telescope
Cease content.
Final image after overlap-add procedure is shown on video display module, which includes display
Screen, the preferred high definition capacitance touch screen of the display screen can directly carry out multi-point touch operation by the touch screen in screen, in addition to
More human-computer interaction characteristics can also be increased by being capable of providing real-time high-definition real-time imaging.High-performance hardware platform is used simultaneously,
Image not only can meet different occasions on the larger display medium of other sizes being locally displayed to share to reach
Requirement makes equipment have stronger adaptability.
The system software module design of AR telescopes can not only meet the use of AR telescope projects, be equally applicable to move
End equipment AR applications, Table top type AR systems, large scene AR systems etc. show demand.To realize the control mode of high efficient and flexible, it is
Software for Design of uniting realizes defined interface function, self-defined identification icon, self-defined interaction effect, self-defined push mode.
Three-dimensional electronic compass can resist instantaneous centripetal acceleration, and melting for multisensor is carried out using three-dimensional electronic compass
Close the dynamic measuring accuracy for measuring and capable of effectively improving measuring system.But the three-dimensional electronic compass is measured in wide-angle
When there are certain errors, and there are cumulative errors.Therefore, the present invention is provided with 3-axis acceleration in location tracking module
Meter, compensates the data that three-dimensional electronic compass measures using the three axis accelerometer, in real time to reduce high inclination-angle
Measurement error and cumulative errors.
Attached drawing 4 show the flow diagram of the location tracking module in the embodiment of the present invention.It can be seen that location tracking mould
Block includes sense signals module and amendment fusion treatment submodule.Wherein sense signals module includes three kinds of sensors：It is three-dimensional
Electronic compass, three axis fluxgate sensors and three axis accelerometer.
After location tracking module obtains above-mentioned three groups of real time datas, above-mentioned three groups of real time datas are transferred into location tracking mould
The correction fusion treatment module of block.The correction fusion treatment module is arranged to execute following in each measurement sampling period
Operation：
Three axle electronic compass measured value is subtracted error constant and obtains the preliminary correction value of three axle electronic compass by the first step；
The error constant is that three-dimensional electronic compass is intrinsic, can pass through the those skilled in the art such as product nominal, determination experiment
Well known means obtain.
Second step, second step merge the measured value of the preliminary correction value of three axle electronic compass and accelerometer, from
And the measured value of the three axle electronic compass after being compensated；Kalman filtering well known in the art may be used in specific blending algorithm
Other of method or Kalman filtering method extended mode.
Third walks, and the measured value of the measured value of the three axle electronic compass after compensation and three axis fluxgate sensors is melted
It closes, final obtain corrects measurement value sensor, which represents real-time position and attitude information；Specifically melt
Conjunction method can select complementary filter method well known in the art.Three axle electronic compass and three axis magnetic are merged by the complementary filter method
The measured value of open gate sensor can utilize the complementary performance of sensor to obtain more accurate data.
4th step is passed according to the characteristic node information in the image and image of video input module acquisition in conjunction with correcting
Sensor measured value obtains the ways of presentation and stacked system of accurate image output.
According to an embodiment of the invention, it carries out sensing with other again after compensating three-dimensional electronic compass by three-dimensional accelerometer
The data fusion of device can effectively correct the accuracy of measurement of three-dimensional electronic compass.Since three-dimensional electronic compass and dynamic are surveyed
The accuracy relationship of amount is maximum, therefore the data merged to three-dimensional electronic compass are modified and can greatly improve AR and look in the distance
The accuracy that the dynamic of mirror location tracking module measures or high inclination-angle measures.
By using general or specialized computing device, computer processor or including but not limited to digital signal processor
(DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) electronic circuit and match according to present disclosure
The other programmable logic devices set or programmed, it is possible to implement the present invention disclosed here.According to the religious doctrine of present disclosure, this field
Those of ordinary skill can easily prepare in general or specialized computing device, computer processor or programmable logic device
The computer instruction or software code of upper operation.
In some embodiments, the present invention includes the computer storage matchmaker for wherein having computer instruction or software code
It is situated between, these instructions and code can be used to programmed computer or microprocessor to execute any process of the present invention.Storaging medium
Can include but is not limited to floppy disk, CD, Blu-ray Disc, DVD, CD-ROM and magneto-optic disk, ROM, RAM, flash memory device or
It is suitble to any kind of medium or device of store instruction, code and/or data.
For the purpose of illustration and description, it has been provided for the description before the present invention.It is not it is exhaustive, also not
Limit the invention to revealed exact form.In view of teachings above, many modification and variation are to those of ordinary skill in the art
It is obvious.
Selected herein and described embodiment is in order to preferably explain the principle of the present invention and its to practice,
To the skilled artisan will appreciate that different embodiments of the invention and being made not according to specific specific application
With modification.This means that the scope of the present invention is set by appended claims and its equivalent.
Claims (7)
1. a kind of AR telescopes, including：Video display module, microcomputer module, location tracking module, video input module and
System software module, it is characterised in that：The location tracking module includes sense signals module and amendment fusion treatment submodule；Its
In, sense signals module includes：Three axis fluxgate sensors, three axis accelerometer and three axle electronic compass；The amendment is merged
The measuring signal of submodule receiving sensor submodule output is handled, and in the measured value pair three axis electricity using three axis accelerometer
After the measured value of sub- compass is modified, then by the measured value of the revised three axle electronic compass and three axis fluxgate sensors
Measured value carry out fusion calculation;
Fusion treatment submodule is wherein corrected by being arranged to execute following operation in each measurement sampling period：
Three axle electronic compass measured value is subtracted error constant and obtains the preliminary correction value of three axle electronic compass by the first step；
Second step merges the measured value of the preliminary correction value of three axle electronic compass and accelerometer, to be compensated
The measured value of three axle electronic compass afterwards；
Third walks, and the measured value of the measured value of the three axle electronic compass after compensation and three axis fluxgate sensors is merged,
Final obtain corrects measurement value sensor, which represents real-time position and attitude information;
The data measured three axle electronic compass are compensated in real time, are carried out course compensation to the inclination angle in a wide range of, are protected
The angle of inclination of card three axle electronic compass can reach ± 85 °, to reduce high inclination-angle measurement error and cumulative errors.
2. virtual information is superimposed to by AR telescopes as described in claim 1 wherein according to the output valve of location tracking module
In the image information of video input module acquisition, the final image after overlap-add procedure is shown on video display module.
3. AR telescopes as described in claim 1, the wherein video display module include display screen, which is high definition electricity
Hold touch screen.
4. AR telescopes as described in claim 1, the preliminary correction value of the three axle electronic compass and the measurement of accelerometer
The specific method that value is merged is other extended modes of Kalman filtering method or Kalman filtering method.
5. AR telescopes as described in claim 1, the measured value of the three axle electronic compass after compensation and three axis fluxgates sensing
The specific method that the measured value of device is merged is complementary filter method.
6. AR telescopes as described in claim 1, wherein three axle electronic compass integrate MCU controls, standard interface includes
RS232/RS485/TTL interfaces.
7. a kind of test error compensation method for AR telescopes described in claim 1, it is characterised in that：In each survey
It measures and executes following operation in the sampling period：
Three axle electronic compass measured value is subtracted error constant and obtains the preliminary correction value of three axle electronic compass by the first step；
Second step merges the measured value of the preliminary correction value of three axle electronic compass and accelerometer, to be compensated
The measured value of three axle electronic compass afterwards；
Third walks, and the measured value of the measured value of the three axle electronic compass after compensation and three axis fluxgate sensors is merged,
Final obtain corrects measurement value sensor, which represents real-time position and attitude information;
The specific method that the preliminary correction value of the three axle electronic compass and the measured value of accelerometer are merged is Kalman
Other of filter method or Kalman filtering method extended mode;The measured value of three axle electronic compass after compensation and three axis fluxgates pass
The specific method that the measured value of sensor is merged is complementary filter method.
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| CN201710497168.1A CN107144958B (en) | 2017-06-26 | 2017-06-26 | Augmented reality telescope |
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| CN107144958B true CN107144958B (en) | 2018-07-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058398A (en) * | 2019-04-25 | 2019-07-26 | 深圳市声光行科技发展有限公司 | A kind of VR telescope |
| WO2020150033A1 (en) * | 2019-01-14 | 2020-07-23 | Universal City Studios Llc | Augmented reality system for an amusement ride |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109147451A (en) * | 2018-09-05 | 2019-01-04 | 上海诚唐展览展示有限公司 | FAST simulates console |
| CN109215544A (en) * | 2018-09-06 | 2019-01-15 | 深圳沃利创意工程有限公司 | A kind of wisdom museum service system and method |
| CN110764247A (en) * | 2019-11-19 | 2020-02-07 | 曹阳 | AR telescope |
| CN116608838B (en) * | 2023-05-24 | 2024-02-06 | 富视达技术(武汉)有限公司 | Visual measurement system integrating multiple sensors |
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| CN101387518B (en) * | 2008-11-05 | 2010-10-27 | 北京科技大学 | Magnetic electron compass for vehicle with accelerating and decelerating compensating function and measurement method thereof |
| CN102252689A (en) * | 2010-05-19 | 2011-11-23 | 北京国浩传感器技术研究院(普通合伙) | Electronic compass calibration method based on magnetic sensor |
| CN102288191B (en) * | 2011-05-26 | 2013-01-30 | 大连理工大学 | Intelligent navigating bogie |
| CN203397020U (en) * | 2013-05-21 | 2014-01-15 | 江苏华博创意产业有限公司 | Augmented reality telescope |
| CN105279750B (en) * | 2014-07-09 | 2019-02-01 | 中国人民解放军装甲兵工程学院 | It is a kind of that guide system is shown based on the equipment of IR-UWB and image moment |
| CN105628024B (en) * | 2015-12-29 | 2018-09-04 | 中国电子科技集团公司第二十六研究所 | Single positioning navigator based on Multi-sensor Fusion and positioning navigation method |
| CN106403945B (en) * | 2016-10-20 | 2019-06-11 | 北京航空航天大学 | A kind of gestures of object monitoring system and method for low cost |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020150033A1 (en) * | 2019-01-14 | 2020-07-23 | Universal City Studios Llc | Augmented reality system for an amusement ride |
| CN110058398A (en) * | 2019-04-25 | 2019-07-26 | 深圳市声光行科技发展有限公司 | A kind of VR telescope |
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