CN107860383A - Inexpensive multiaspect calibration VR heads show posture method - Google Patents
Inexpensive multiaspect calibration VR heads show posture method Download PDFInfo
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- CN107860383A CN107860383A CN201710840346.6A CN201710840346A CN107860383A CN 107860383 A CN107860383 A CN 107860383A CN 201710840346 A CN201710840346 A CN 201710840346A CN 107860383 A CN107860383 A CN 107860383A
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- cube
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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
- G01C21/165—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 combined with non-inertial navigation instruments
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
The invention provides a kind of inexpensive multiaspect calibration VR heads to show posture method, including step：Step S10, the aobvious inside that is fixed on of VR heads can be fixed in the aobvious cube of the VR heads；Step S20, the cube is operated on the horizontal level, to calibrate the VR heads four mutually orthogonal directions of aobvious interior gyroscope；Step S30, the cube is operated on rotatable 360 degree of levelling bench, to calibrate the direct north in the earth's magnetic field of the aobvious interior geomagnetic sensor of the VR heads.The present invention solves VR heads in the prior art and shows pose calibrating step complexity and the high technical problem of cost.
Description
Technical field
The invention belongs to virtual bench technical field, more particularly to a kind of inexpensive multiaspect calibration VR heads to show posture method.
Background technology
At present, virtual reality head-mounted display apparatus, abbreviation VR heads show, and are that one kind utilizes head-mounted display apparatus.It is conventional
The pose calibrating method shown to VR heads in, it is most calibrated with one side based on：By disappearing, deviation method eliminates zero bias.But this method is uncomfortable
The situation for adding and having earth magnetism to merge is closed, because also to add magnetic calibration.Magnetic calibration introduces then increase calibration complexity, and conventional is more
Face calibration method, majority is using mechanical arm or more accurately measures tool, for the demand of production in enormous quantities, is tantamount to increase
Production and maintenance cost are added.
Therefore, prior art is to be improved.
The content of the invention
It is a primary object of the present invention to propose that a kind of inexpensive multiaspect calibration VR heads show posture method, it is intended to reduce existing
The cost calibrated in technology for the multiaspect that VR heads show, realize that multiaspect is calibrated by more simple operations.
To realize above-mentioned technique effect, inexpensive multiaspect of the invention calibration VR heads show posture method, including step：
Step S10, the aobvious inside that is fixed on of VR heads can be fixed in the aobvious cube of the VR heads；
Step S20, the cube is operated on the horizontal level, it is orthogonal to calibrate the aobvious interior gyroscope four of the VR heads
Direction；
Step S30, the cube is operated on rotatable 360 degree of levelling bench, passed with calibrating the aobvious interior earth magnetism of the VR heads
The direct north in the earth's magnetic field of sensor.
Preferably, by six faces of cube be respectively defined as before, below, the left side, the right side, top surface and bottom surface, its feature
It is, the step S20 includes step：
Step S21, using the bottom surface of the cube as the face contacted with the horizontal plane, and cube is placed on the level
On plane, the first direction of gyroscope is defined；
Step S22, using the left side of the cube or the right side as the face contacted with the horizontal plane, and the cube is put
Put on the horizontal plane, define the second direction of the gyroscope；
Step S23, by the cube previously as the face contacted with the horizontal plane, and the cube is placed on described
On horizontal plane, the third direction of the gyroscope is defined；
Step S24, as the face contacted with the horizontal plane, and the cube will be placed on described behind the cube
On horizontal plane, the fourth direction of the gyroscope is defined.
Preferably, the step S30 includes step：
Step S31, using the bottom surface of the cube as the face contacted with the levelling bench, the cube is fixed on the water
On average platform, the first magnetic direction of the geomagnetic sensor is calibrated；
Step S32, using the left side of the cube or the right side as the face contacted with the levelling bench, the cube is fixed
On the levelling bench, the second magnetic direction of the geomagnetic sensor is calibrated；
Step S33, using the front or behind of the cube as the face contacted with the levelling bench, the cube is fixed
On the levelling bench, the 3rd magnetic direction of the geomagnetic sensor is calibrated；
Step S34, calculated according to first, second, and third magnetic direction and calibrate the positive north of the geomagnetic sensor
To.
Preferably, the cube is milled with the die cavity for showing external shape fits with the VR heads for inside, and the VR heads are aobvious to be may be stuck in
In the die cavity.
Preferably, in the step S20, entered by the calibration aobvious with VR heads described in the terminal-pair of the aobvious connection of the VR heads
Row control.
Preferably, the cube includes at least one transparent area.
Inexpensive multiaspect calibration VR heads provided by the invention show posture method, are fixed on by the way that the VR heads for needing to calibrate are shown
Inside cube, and cube is operated on the horizontal level, complete four sides and calibrate, be then again fixed on cube rotatable
Earth's magnetic field direction calibration is carried out on 360 degree of platform.With prior art using mechanical arm or high-precision smelting tool VR heads are shown into
The calibration of row multiaspect is compared, and the utensil structure used required for the present invention is simple, and cost is low, and is by four sides calibration and earth magnetism
Direction calibration, calibration accuracy is high and operating procedure is simple.And calibration poses method provided by the invention is adapted to calibrate AR and MR
Head is aobvious, and versatility is high.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of first embodiment of the invention；
Fig. 2 is the schematic flow sheet of the refinement step of the step S20 in the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the refinement step of the step S30 in the embodiment of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
With reference to figure 1, Fig. 1 is the schematic flow sheet of first embodiment of the invention.
As shown in figure 1, the inexpensive multiaspect calibration VR heads of the present invention show posture method, including step：
Step S10, the aobvious inside that is fixed on of VR heads can be fixed in the aobvious cube of the VR heads；
In step slo, cube is cuboid or square, and inside can fix VR heads and show, and the VR heads of required calibration are shown
It is fixed in cube, avoids how irregular VR heads are aobvious places also can not be horizontal and vertical the problem of.
Step S20, the cube is operated on the horizontal level, mutually hung down with calibrating the aobvious interior gyroscope four of the VR heads
Straight direction；
After execution of step S10, cube is placed on the horizontal level, VR equipment connection control terminal, defines VR successively
The four direction of the aobvious internal gyroscope of head, control terminal can be computer, mobile phone or flat board, can be used according to factory scenario.
Step S30, the cube is operated on rotatable 360 degree of levelling bench, to calibrate the aobvious interior ground of the VR heads
The direct north in the earth's magnetic field of Magnetic Sensor.
After execution of step S20, i.e., after having been defined to the four direction of internal gyroscope, pass through terminal control VR
Head start showing is fixed on cube on rotatable 360 degree of levelling bench before moving calibration procedure, and after opening calibration procedure, level is flat
Platform starts 360 degree of rotations, stops completing calibration after having rotated 360 degree.Above-mentioned steps S10, S20 and S30, utilized in calibration
The utensil arrived, the aobvious cube of VR heads and rotatable 360 degree of rotatable platform can be fixed by being only one, compared to prior art
Mechanical arm or high-precision smelting tool, the cost of the present embodiment is low, simple to operate, improves VR heads and shows production efficiency.It should be noted
, the calibration poses method of the present embodiment is also applied for calibrating the aobvious posture of AR and MR heads, and versatility is high.
With reference to figure 2, Fig. 2 is the schematic flow sheet of the refinement step of the step S20 in the embodiment of the present invention.
As shown in Fig. 2 by six faces of cube be respectively defined as before, below, the left side, the right side, top surface and bottom surface, it is described
Step S20 includes step：
Step S21, using the bottom surface of the cube as the face contacted with the horizontal plane, and cube is placed on the level
On plane, the first direction of gyroscope is defined；
Step S22, using the left side of the cube or the right side as the face contacted with the horizontal plane, and the cube is put
Put on the horizontal plane, define the second direction of the gyroscope；
Step S23, by the cube previously as the face contacted with the horizontal plane, and the cube is placed on described
On horizontal plane, the third direction of the gyroscope is defined；
Step S24, as the face contacted with the horizontal plane, and the cube will be placed on described behind the cube
On horizontal plane, the fourth direction of the gyroscope is defined.
The definition for 6 faces of cube, it is a kind of usual definition in the present embodiment.Come for those skilled in the art
Say, 6 faces of cube, top surface and bottom surface are corresponding, and the left side and the right side are corresponding, and front and back is corresponding, and every
Relation between individual face is relative, such as in the step s 21, and the bottom surface of cube can be any one in 6 faces, so
The signified left side, the right side, front and back are relative with the bottom surface in step S21 in step S22, S23, S24, not special
Refer to that cube which face is necessary for bottom surface, before which face is necessary for, simply corresponding relation.It is to illustrate carrying out step
Cube have passed through in S21, S22, S23 and S24 swings to define 4 directions to the gyroscope of inside several times.
In the step s 21, using the bottom surface of the cube as the face contacted with the horizontal plane, and cube is placed on
On the horizontal plane, then by starting the aobvious calibration procedure of VR heads with the aobvious terminal connected of VR heads, gyroscope is defined
First direction；After execution of step S21, perform step S22, using the left side of the cube or the right side as with it is described
The face of horizontal plane contact, and the cube is placed on the horizontal plane, by with the aobvious terminal connected of VR heads come
Start the aobvious calibration procedure of VR heads, define the second direction of the gyroscope.After execution of step S22, step is performed
S23, by the cube previously as the face contacted with the horizontal plane, and the cube is placed on the horizontal plane
On, by starting the aobvious calibration procedure of VR heads with the aobvious terminal connected of VR heads, define the third direction of the gyroscope.
After execution of step S23, perform step S24, using the cube behind as the face contacted with the horizontal plane, and general
The cube is placed on the horizontal plane, by starting the aobvious calibration procedure of VR heads with the aobvious terminal connected of VR heads,
Define the fourth direction of the gyroscope.Cube can manually be in the position relationship with levelling bench by the present embodiment
In, you can complete to define gyroscope four direction.Wherein, it is every defined a direction when, pass through the hand handle cube of user
Overturn, you can carry out next direction definition.Therefore whole calibration steps does not use expensive or advanced instrument,
Cost is very low.
With reference to figure 3, Fig. 3 is the schematic flow sheet of the refinement step of the step S30 in the embodiment of the present invention.
As shown in Figure 3, it is preferable that the step S30 includes step：
Step S31, using the bottom surface of the cube as the face contacted with the levelling bench, the cube is fixed on the water
On average platform, the first magnetic direction of the geomagnetic sensor is calibrated；
Step S32, using the left side of the cube or the right side as the face contacted with the levelling bench, the cube is fixed
On the levelling bench, the second magnetic direction of the geomagnetic sensor is calibrated；
Step S33, using the front or behind of the cube as the face contacted with the levelling bench, the cube is fixed
On the levelling bench, the 3rd magnetic direction of the geomagnetic sensor is calibrated；
Step S34, calculated according to first, second, and third magnetic direction and calibrate the positive north of the geomagnetic sensor
To.
In the present embodiment, by six faces of cube be respectively defined as before, below, the left side, the right side, top surface and bottom surface, step
Rapid S31, S32, the signified left side in S33, the right side, front and back are, and be not specific to sides relative with the bottom surface in step S31
Which face of body is necessary for bottom surface, before which face is necessary for, simply corresponding relation.Wherein in step S31, by the cube
Bottom surface as the face contacted with the levelling bench, the cube is fixed on the levelling bench, by showing with VR heads
Calibration procedure is moved in the terminal control VR heads start showing of connection, rotates levelling bench and stops the of completion geomagnetic sensor after 360 degree
One magnetic direction is calibrated.In step s 32, using the left side of the cube or the right side as being contacted with the levelling bench
Face, the cube is fixed on the levelling bench, by moving calibration journey with the aobvious terminal control VR heads start showing connected of VR heads
Sequence, rotate levelling bench and stop the second magnetic direction calibration for completing geomagnetic sensor after 360 degree.In step S33, by institute
The front or behind of cube is stated as the face contacted with the levelling bench, the cube is fixed on the levelling bench
On, by moving calibration procedure with the aobvious terminal control VR heads start showing connected of VR heads, make parallel platform stop completing after rotating 360 degree
The 3rd magnetic direction calibration of geomagnetic sensor.In step S34, according to first, second, and third magnetic direction, counted
Calculate, calibrate the direct north of the geomagnetic sensor.Cube is fixed on rotatable 360 degree of levelling bench in the present embodiment
The calibration of earth's magnetic field direct north in geomagnetic sensor can be completed, only make use of terminal, cube and rotatable 360 degree of level
These simple and low cost utensils of platform, the calibration shown suitable for midget plant for VR heads.Wherein, terminal herein includes
Mobile phone, palm PC or IPAD.
Preferably, the cube is milled with the die cavity for showing external shape fits with the VR heads for inside, and the VR heads are aobvious to be may be stuck in
In the die cavity.The present embodiment is defined to cube, and the die cavity for showing external shape fits with the VR heads is milled with inside cube, with
It is easy to VR head video cards to enter.
Preferably, in the step S20, entered by the calibration aobvious with VR heads described in the terminal-pair of the aobvious connection of the VR heads
Row control.In the present embodiment, by the terminal with the aobvious connection of VR heads, after being well placed in cube position, control VR head start showings are moved
Calibration procedure, the aobvious information being collected into of VR heads can be thus handled in terminal, it is convenient that information is managed.
Preferably, the cube includes at least one transparent area.In the present embodiment, cube includes at least one transparent area,
So that after cube constantly converts corresponding posture, it can be seen that whether VR heads are aobvious because these conversion act causes shakiness,
To avoid the deviation of calibration result.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (6)
1. a kind of inexpensive multiaspect calibration VR heads show posture method, it is characterised in that including step：
Step S10, the aobvious inside that is fixed on of VR heads can be fixed in the aobvious cube of the VR heads；
Step S20, the cube is operated on the horizontal level, it is orthogonal to calibrate the aobvious interior gyroscope four of the VR heads
Direction；
Step S30, the cube is operated on rotatable 360 degree of levelling bench, passed with calibrating the aobvious interior earth magnetism of the VR heads
The direct north in the earth's magnetic field of sensor.
2. inexpensive multiaspect calibration VR heads show posture method as claimed in claim 1, it is characterised in that by six faces of cube point
Before not being defined as, below, the left side, the right side, top surface and bottom surface, the step S20 include step：
Step S21, using the bottom surface of the cube as the face contacted with the horizontal plane, and cube is placed on the level
On plane, the first direction of gyroscope is defined；
Step S22, using the left side of the cube or the right side as the face contacted with the horizontal plane, and the cube is put
Put on the horizontal plane, define the second direction of the gyroscope；
Step S23, by the cube previously as the face contacted with the horizontal plane, and the cube is placed on described
On horizontal plane, the third direction of the gyroscope is defined；
Step S24, as the face contacted with the horizontal plane, and the cube will be placed on described behind the cube
On horizontal plane, the fourth direction of the gyroscope is defined.
3. inexpensive multiaspect calibration VR heads show posture method as claimed in claim 1, it is characterised in that the step S30 includes
Step：
Step S31, using the bottom surface of the cube as the face contacted with the levelling bench, the cube is fixed on the water
On average platform, the first magnetic direction of the geomagnetic sensor is calibrated；
Step S32, using the left side of the cube or the right side as the face contacted with the levelling bench, the cube is fixed
On the levelling bench, the second magnetic direction of the geomagnetic sensor is calibrated；
Step S33, using the front or behind of the cube as the face contacted with the levelling bench, the cube is fixed
On the levelling bench, the 3rd magnetic direction of the geomagnetic sensor is calibrated；
Step S34, calculated according to first, second, and third magnetic direction and calibrate the positive north of the geomagnetic sensor
To.
4. inexpensive multiaspect calibration VR heads show posture method as claimed in claim 1, it is characterised in that the cube is internal milling
There is the die cavity for showing external shape fits with the VR heads, the VR heads are aobvious to be may be stuck in the die cavity.
5. inexpensive multiaspect calibration VR heads show posture method as claimed in claim 1, it is characterised in that in the step S20,
It is controlled by the calibration aobvious with VR heads described in the terminal-pair of the aobvious connection of the VR heads.
6. inexpensive multiaspect calibration VR heads show posture method as claimed in claim 1, it is characterised in that the cube is included at least
One transparent area.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017105858741 | 2017-07-18 | ||
| CN201710585874 | 2017-07-18 |
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| CN107860383A true CN107860383A (en) | 2018-03-30 |
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2017
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| US20080202199A1 (en) * | 2005-11-21 | 2008-08-28 | United States Of America As Represented By The Administrator Of The National Aeronautics | Positioning System For Single Or Multi-Axis Sensitive Instrument Calibration And Calibration System For Use Therewith |
| CN1821722A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Decoupling detecting device for gyroscope scale factor and input shaft default angle |
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Address after: 5 / F-2, building 6, Meigu, Meisheng Huigu science and Technology Park, No.83 Dabao Road, Shanghe community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Applicant after: Shenzhen billion Virtual Reality Technology Co., Ltd. Address before: 518000 Guangdong city of Shenzhen province Baoan District Xin'an Street Dabao Road No. 49-1 campoloy building 6 floor C Applicant before: Shenzhen billion Virtual Reality Technology Co., Ltd. |
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Address after: 518000 Eighth Floor, 2 Chunggu Building, Meisheng Huigu Science Park, 83 Dabao Road, 33 Shanghe Community, Baoan District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN YIJING VIRTUAL REALITY TECHNOLOGY Co.,Ltd. Address before: 5 / F-2, building 6, Meisheng Huigu Science Park, 83 Dabao Road, 33 Shanghe community, Xin'an street, Bao'an District, Shenzhen, Guangdong 518000 Applicant before: SHENZHEN YIJING VIRTUAL REALITY TECHNOLOGY Co.,Ltd. |
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Application publication date: 20180330 |