CN107328407A - A kind of strapdown rigid body 3 d pose monitors display system and method in real time - Google Patents
A kind of strapdown rigid body 3 d pose monitors display system and method in real time Download PDFInfo
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- CN107328407A CN107328407A CN201710561258.2A CN201710561258A CN107328407A CN 107328407 A CN107328407 A CN 107328407A CN 201710561258 A CN201710561258 A CN 201710561258A CN 107328407 A CN107328407 A CN 107328407A
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- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000012360 testing method Methods 0.000 claims abstract description 11
- 238000013500 data storage Methods 0.000 claims abstract description 9
- 241001269238 Data Species 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000012546 transfer Methods 0.000 claims abstract description 4
- 230000004927 fusion Effects 0.000 claims description 13
- 238000007781 pre-processing Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000004321 preservation Methods 0.000 claims description 4
- 230000000295 complement effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000004451 qualitative analysis Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000036544 posture Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004445 quantitative analysis Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
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Abstract
Display system is monitored in real time the invention discloses a kind of strapdown rigid body 3 d pose, including host computer and slave computer, slave computer includes attitude detection module, data processing module and wireless communication module, attitude detection module obtains nine axle attitude datas of rigid body, and transfer data to data processing module and handled, Euler's angular data is obtained after being handled through data processing module, Eulerian angles data are transferred to host computer by wireless communication module；Host computer includes the basic transceiver module of data, waveform display module, three-dimensional simulation model dynamic display module and data storage module, the basic transceiver module of data receives the data of slave computer transmission, and show that data storage module is preserved to 3 d pose data and testing time in real time in the form of oscillogram and three-dimensional simulation model by waveform display module and three-dimensional simulation model dynamic display module respectively.Measurement accuracy of the present invention is high, and precision controlling convenient, directly perceived, efficient can carry out quantitative, qualitative analysis within 1 °.
Description
Technical field
Display system is monitored in real time the present invention relates to attitude monitoring field, more particularly to a kind of strapdown rigid body 3 d pose
And method.
Background technology
In fields such as engineering, detections, the acquisition of attitude information is significant to improving detection accuracy, therefore, in machine
Need to obtain the attitude information of mechanical arm in the control of tool arm in real time as feedback；The three-dimensional to antenna platform is needed in satellite antenna
Posture detect and control in real time.
In sonar contact and sea magetometer detection, the attitude offsets of towfish body are to influence the main original of its detection accuracy
Therefore one, conventional floating and semi-submersible type 3 d pose monitoring display system, due to being used as posture using single accelerometer
Sensing element, noise is big, accumulated error is serious, precision is low；In addition, although shown this system provides three-dimensional simulation model, but
Do not possess waveform display function, it is impossible to meet demand of the observer to attitude information quantitative analysis, and without compact, light
Just the characteristics of, it is impossible to carry out coaxial strapdown, assembling with other testees.
The content of the invention
In view of this, The embodiment provides a kind of high accuracy, display interface is efficient, directly perceived, based on many sensings
The strapdown rigid body 3 d pose of device fusion monitors display system and method in real time.
Embodiments of the invention provide a kind of strapdown rigid body 3 d pose and monitor display system in real time, including host computer and
Slave computer, the slave computer includes：
Attitude detection module, the nine axle attitude datas for obtaining rigid body；
Data processing module, for initial data filter preprocessing, data fusion, obtaining Eulerian angles；
Wireless communication module, for Euler's angular data to be transmitted to host computer；
The attitude detection module obtains nine axle attitude datas of rigid body, and transfers data to data processing module progress
Processing, obtains Euler's angular data, Eulerian angles data are transferred to by the wireless communication module after being handled through data processing module
Position machine；
The host computer includes：
The basic transceiver module of data, the serial data transmission-receiving function basic for realizing；
Waveform display module, for showing that rigid body 3 d pose changes in real time in the form of oscillogram；
Three-dimensional simulation model dynamic display module, for dynamically showing rigid body three in real time in the form of three-dimensional simulation model
Tie up posture；
Data storage module, the 3 d pose data current for preserving and testing time；
The basic transceiver module of data receives the data of slave computer transmission, and passes through waveform display module and three-dimensional respectively
Simulation model dynamic display module shows that the data storage module is to three in real time in the form of oscillogram and three-dimensional simulation model
Dimension attitude data and testing time are preserved.
Further, the attitude detection module includes three axis accelerometer, three-axis gyroscope and three axle magnetometer, described three
Axis accelerometer, three-axis gyroscope and three axle magnetometer constitute nine axle attitude transducers.
Further, the three axis accelerometer, three-axis gyroscope and three axle magnetometer use MEMS sensor.
Further, the wireless communication module is bluetooth, Zigbee, WIFI or 2.4G band communication.
A kind of strapdown rigid body 3 d pose monitors display methods in real time, comprises the following steps：
S1. the axial direction of slave computer and the axially in parallel carry out strapdown of rigid body are kept, and sets up rigid body coordinate system；
S2. by attitude detection module initialization, and three axis accelerometer, three-axis gyroscope and three axle magnetometer are carried out different
Often detection, if abnormal, is terminated, if normally, obtaining the initial value of three axis accelerometer, three-axis gyroscope and three axle magnetometer
And calibrate；
S3. data processing module obtains three axis accelerometer, three-axis gyroscope and three axle magnetometer under rigid body current pose
Initial data, and carry out filter preprocessing, data fusion, Eulerian angles resolve, obtain Eulerian angles；
S4. step S3 is obtained into Euler's angular data by wireless communication module and is transferred to host computer, data receive and dispatch mould substantially
Block receives Euler's angular data；
S5. waveform display module and three-dimensional simulation model dynamic display module extract the number that the basic transceiver module of data is received
According to showing the 3 d pose and attitudes vibration of rigid body in real time in the form of oscillogram and three-dimensional simulation model respectively, and pass through number
According to the current 3 d pose data of preserving module preservation and testing time.
Further, the data processing module is according to three axis accelerometer and the different characteristics of three-axis gyroscope output data
Pre-processed using different filtering algorithms；The three axis accelerometer is pre-processed using direct I types IIR algorithms, institute
Three-axis gyroscope is stated to be pre-processed using single order Digital High Pass Filter algorithm.
Further, the Eulerian angles include roll angle, the angle of pitch and yaw angle, and institute's roll angle and the angle of pitch are to first pass through
Single order Runge Kutta algorithm solution quaternion differential equation obtains quaternary number, then carries out Eulerian angles and resolve to obtain；The yaw angle is
Complementary filter is exported by three-axis gyroscope z-axis integration and three axle magnetometer to obtain.
Compared with prior art, the invention has the advantages that：The scheme merged using nine axle postures is to rigid body appearance
State is detected, by accuracy of detection control within 1 °；Host computer is believed posture using forms such as oscillogram, three-dimensional simulation models
Breath is shown, convenient, directly perceived, efficient can carry out quantitative, qualitative analysis；Slave computer uses MEMS sensor, body
Product is compact, light, can carry out coaxial strapdown, assembling with any tested rigid body, have broad application prospects.
Brief description of the drawings
Fig. 1 is the schematic diagram that a kind of strapdown rigid body 3 d pose of the invention monitors display system in real time.
Fig. 2 is comparison diagram before and after three axis accelerometer data fusion.
Fig. 3 is comparison diagram before and after three-axis gyroscope data fusion.
Fig. 4 is the ripple plotting table of 3 d pose data in present example.
Fig. 5 is the three-dimensional simulation model Dynamic Announce figure of 3 d pose data in present example.
Fig. 6 is the schematic diagram of the basic transceiver module transceiving data of data in present example.
Fig. 7 is the schematic diagram of data storage module data preservation in present example.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is further described.
Fig. 1 is refer to, display system is monitored in real time The embodiment provides a kind of strapdown rigid body 3 d pose,
Including host computer 1 and slave computer 2.
The slave computer 2 includes：
Attitude detection module 21, the nine axle attitude datas for obtaining rigid body；The attitude detection module 21 includes three axles
Accelerometer 211, three-axis gyroscope 212 and three axle magnetometer 213, the three axis accelerometer 211, the and of three-axis gyroscope 212
Three axle magnetometer 213 constitutes nine axle attitude transducers, three axis accelerometer 211, three-axis gyroscope 212 and three axle magnetometer 213
Use MEMS sensor, it is ensured that whole slave computer 2 has compact, it is light the characteristics of, be easy to and testee
Carry out strapdown, assembling.
Data processing module 22, for initial data filter preprocessing, data fusion, obtaining Eulerian angles；Eulerian angles bag
Include roll angle roll, angle of pitch pitch and yaw angle yaw.
Wireless communication module 23, for Euler's angular data to be transmitted to host computer 1；In one embodiment, the nothing
Line communication module 23 is bluetooth, Zigbee, WIFI or 2.4G band communication.
The attitude detection module 21 obtains nine axle attitude datas of rigid body, and transfers data to data processing module 22
Handled, Euler's angular data is obtained after being handled through data processing module 22, the wireless communication module 23 is by Euler's angular data
It is transferred to host computer 1；
The host computer 1 includes：
The basic transceiver module 11 of data, the serial data transmission-receiving function basic for realizing；
Waveform display module 12, for showing that rigid body 3 d pose changes in real time in the form of oscillogram；
Three-dimensional simulation model dynamic display module 13, for dynamically showing rigid body in real time in the form of three-dimensional simulation model
3 d pose；
Data storage module 14, the 3 d pose data current for preserving and testing time；
The basic transceiver module 11 of data receives the data that slave computer 2 is transmitted, and passes through waveform display module 12 respectively
Shown in real time in the form of oscillogram and three-dimensional simulation model with three-dimensional simulation model dynamic display module 13, the data are preserved
Module 14 is preserved to 3 d pose data and testing time.
A kind of strapdown rigid body 3 d pose monitors display methods in real time, comprises the following steps：
S1. the axial direction of slave computer 2 and the axially in parallel carry out strapdown of rigid body are kept, and sets up rigid body coordinate system；
S2. attitude detection module 21 is initialized, and to three axis accelerometer 211, the axle magnetic force of three-axis gyroscope 212 and three
Meter 213 carries out abnormality detection, if abnormal, terminates, if normally, obtaining three axis accelerometer 211, the and of three-axis gyroscope 212
The initial value of three axle magnetometer 213 and calibration；
S3. data processing module 22 obtains three axis accelerometer 211, three-axis gyroscope 212 and three under rigid body current pose
The initial data of axle magnetometer 213, and filter preprocessing, data fusion, Eulerian angles resolving are carried out, obtain Eulerian angles；The Europe
The rigid body coordinate system for drawing the resolving at angle to be set up based on step S1；Data processing module 14 is according to the axle of three axis accelerometer 211 and three
The different characteristics of the output data of gyroscope 212 is pre-processed using different filtering algorithms；The three axis accelerometer 211 is adopted
Pre-processed with direct I types IIR algorithms, the three-axis gyroscope 212 is located in advance using single order Digital High Pass Filter algorithm
Reason.
Eulerian angles include roll angle, the angle of pitch and yaw angle, and institute's roll angle and the angle of pitch are to first pass through single order Long Geku
Tower algorithm solution quaternion differential equation obtains quaternary number, then carries out Eulerian angles and resolve to obtain；The yaw angle is by three axle tops
Spiral shell instrument 212z axles are integrated and the output complementary filter of three axle magnetometer 213 is obtained.
Comparison diagram before and after the data fusion of three axis accelerometer 211 is as shown in Fig. 2 as seen from the figure, after data fusion, three axles
The high-frequency noise of accelerometer 211 has obtained effective suppression, and does not lose the sensitivity of three axis accelerometer 211.
Comparison diagram before and after the data fusion of three-axis gyroscope 212 is as shown in figure 3, as seen from the figure, after data fusion, three axle tops
The accumulated error of spiral shell instrument 212 is effectively suppressed, and does not lose the stability of three-axis gyroscope 212.
S4. step S3 is obtained into Euler's angular data by wireless communication module 23 and is transferred to host computer 1, data are received and dispatched substantially
Module 11 receives Euler's angular data；
S5. waveform display module 12 and three-dimensional simulation model dynamic display module 13 are extracted the basic transceiver module of data and received
11 data, show the 3 d pose and attitudes vibration of rigid body in real time in the form of oscillogram and three-dimensional simulation model respectively, and
Current 3 d pose data and testing time are preserved by data storage module 14.
Rigid body is by taking towfish body as an example, and when driving towfish body to do in water to shake, 3 d pose data are preprocessed, melt
Close, resolve, wireless transmission is shown in the oscillogram of host computer 1 as shown in figure 4, by oscillogram display interface, not only can be straight
Sight, the whole process for easily knowing attitudes vibration, can also quantitative analysis attitude data.
Certain moment towfish reflection of the 3 d pose in simulation model as shown in figure 5, by simulation model dynamic
The observation of figure, can identify towfish body current pose vivid, intuitively, in real time.
In addition, also there are the host computer of the embodiment of the present invention the basic transmission-receiving function of data and data to preserve function, it runs
As a result as shown in fig. 6, when pressing on slave computer 2 and the interface of host computer 1 " file preservation " key, current 3 d pose number will be preserved
According to testing time (as shown in Figure 7), shown three column data is followed successively by pitch, roll, yaw, for the ease of on host computer 1
It has been shown that, is easy to observe small change, true value is expanded into 100 times.
The present invention using nine axle postures merge scheme rigid-body attitude is detected, by accuracy of detection control 1 ° with
It is interior；Host computer is shown using forms such as oscillogram, three-dimensional simulation models to attitude information, can convenient, directly perceived, efficiently be entered
Row is quantitative, qualitative analysis；Slave computer uses MEMS sensor, compact, light, can be carried out with any tested rigid body
Coaxial strapdown, assembling, have broad application prospects.
Herein, the involved noun of locality such as forward and backward, upper and lower is to be located at parts in accompanying drawing in figure and zero
The position of part each other is intended merely to the clear of expression technology scheme and conveniently come what is defined.It should be appreciated that the noun of locality
Use should not limit the claimed scope of the application.
In the case where not conflicting, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (8)
1. a kind of strapdown rigid body 3 d pose monitors display system, including host computer and slave computer in real time, it is characterised in that institute
Stating slave computer includes：
Attitude detection module, the nine axle attitude datas for obtaining rigid body；
Data processing module, for initial data filter preprocessing, data fusion, obtaining Eulerian angles；
Wireless communication module, for Euler's angular data to be transmitted to host computer；
The attitude detection module obtains nine axle attitude datas of rigid body, and transfers data at data processing module
Reason, obtains Euler's angular data, Eulerian angles data are transferred to upper by the wireless communication module after being handled through data processing module
Machine；
The host computer includes：
The basic transceiver module of data, the serial data transmission-receiving function basic for realizing；
Waveform display module, for showing that rigid body 3 d pose changes in real time in the form of oscillogram；
Three-dimensional simulation model dynamic display module, for dynamically showing the three-dimensional appearance of rigid body in real time in the form of three-dimensional simulation model
State；
Data storage module, the 3 d pose data current for preserving and testing time；
The basic transceiver module of data receives the data of slave computer transmission, and passes through waveform display module and three-dimensional artificial respectively
Model dynamic display module shows that the data storage module is to three-dimensional appearance in real time in the form of oscillogram and three-dimensional simulation model
State data and testing time are preserved.
2. strapdown rigid body 3 d pose according to claim 1 monitors display system in real time, it is characterised in that the appearance
State detection module includes three axis accelerometer, three-axis gyroscope and three axle magnetometer, the three axis accelerometer, three-axis gyroscope
Nine axle attitude transducers are constituted with three axle magnetometer.
3. strapdown rigid body 3 d pose according to claim 2 monitors display system in real time, it is characterised in that described three
Axis accelerometer, three-axis gyroscope and three axle magnetometer use MEMS sensor.
4. strapdown rigid body 3 d pose according to claim 1 monitors display system in real time, it is characterised in that the nothing
Line communication module is bluetooth, Zigbee, WIFI or 2.4G band communication.
5. the strapdown rigid body 3 d pose according to claim 1-4 monitors display methods in real time, it is characterised in that including
Following steps：
S1. the axial direction of slave computer and the axially in parallel carry out strapdown of rigid body are kept, and sets up rigid body coordinate system；
S2. by attitude detection module initialization, and abnormal inspection is carried out to three axis accelerometer, three-axis gyroscope and three axle magnetometer
Survey, if abnormal, terminate, if normally, obtaining initial value and the school of three axis accelerometer, three-axis gyroscope and three axle magnetometer
It is accurate；
S3. data processing module obtains the original of three axis accelerometer, three-axis gyroscope and three axle magnetometer under rigid body current pose
Beginning data, and filter preprocessing, data fusion, Eulerian angles resolving are carried out, obtain Eulerian angles；
S4. step S3 is obtained into Euler's angular data by wireless communication module and is transferred to host computer, the basic transceiver module of data connects
Receive Euler's angular data；
S5. waveform display module and three-dimensional simulation model dynamic display module extract the data that the basic transceiver module of data is received,
Show the 3 d pose and attitudes vibration of rigid body in real time in the form of oscillogram and three-dimensional simulation model respectively, and protected by data
The current 3 d pose data of storing module preservation and testing time.
6. strapdown rigid body 3 d pose according to claim 5 monitors display system in real time, it is characterised in that the step
In rapid S3, data processing module uses different filters according to the different characteristics of three axis accelerometer and three-axis gyroscope output data
Ripple algorithm is pre-processed；The data of the three axis accelerometer output are pre-processed using direct I types IIR algorithms, described
The data of three-axis gyroscope output are pre-processed using single order Digital High Pass Filter algorithm.
7. strapdown rigid body 3 d pose according to claim 5 monitors display system in real time, it is characterised in that the step
In rapid S3, the Eulerian angles include roll angle, the angle of pitch and yaw angle.
8. strapdown rigid body 3 d pose according to claim 7 monitors display system in real time, it is characterised in that the horizontal stroke
Roll angle and the angle of pitch are to first pass through single order Runge Kutta algorithm solution quaternion differential equation to obtain quaternary number, then carry out Eulerian angles solution
Obtain；The yaw angle is to export complementary filter by three-axis gyroscope z-axis integration and three axle magnetometer to obtain.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108426559A (en) * | 2018-02-27 | 2018-08-21 | 北京环境特性研究所 | A kind of antenna attitude detection device and method |
| CN109407581A (en) * | 2018-10-24 | 2019-03-01 | 南通赛洋电子有限公司 | A kind of master system and its control method suitable for underwater Imaging sonar |
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| CN106403945A (en) * | 2016-10-20 | 2017-02-15 | 北京航空航天大学 | Low-cost object attitude monitoring system and method |
| CN106647791A (en) * | 2016-12-27 | 2017-05-10 | 广州市中海达测绘仪器有限公司 | Monitoring device for three-dimensional posture, mechanical device and monitoring method for three-dimensional posture |
| CN207007185U (en) * | 2017-07-11 | 2018-02-13 | 中国地质大学（武汉） | A kind of strapdown rigid body 3 d pose monitors display system in real time |
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2017
- 2017-07-11 CN CN201710561258.2A patent/CN107328407A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106403945A (en) * | 2016-10-20 | 2017-02-15 | 北京航空航天大学 | Low-cost object attitude monitoring system and method |
| CN106647791A (en) * | 2016-12-27 | 2017-05-10 | 广州市中海达测绘仪器有限公司 | Monitoring device for three-dimensional posture, mechanical device and monitoring method for three-dimensional posture |
| CN207007185U (en) * | 2017-07-11 | 2018-02-13 | 中国地质大学（武汉） | A kind of strapdown rigid body 3 d pose monitors display system in real time |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108426559A (en) * | 2018-02-27 | 2018-08-21 | 北京环境特性研究所 | A kind of antenna attitude detection device and method |
| CN108426559B (en) * | 2018-02-27 | 2020-07-24 | 北京环境特性研究所 | Antenna attitude detection device and method |
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Application publication date: 20171107 |