CN108107435A - A kind of virtual reality tracking and system based on ultrasonic wave - Google Patents
A kind of virtual reality tracking and system based on ultrasonic wave Download PDFInfo
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- CN108107435A CN108107435A CN201711289669.7A CN201711289669A CN108107435A CN 108107435 A CN108107435 A CN 108107435A CN 201711289669 A CN201711289669 A CN 201711289669A CN 108107435 A CN108107435 A CN 108107435A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- Radar, Positioning & Navigation (AREA)
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- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention is suitable for wireless aware and human-computer interaction technology improvement areas, provides a kind of virtual reality tracking based on ultrasonic wave, including：S1, ultrasound data stream information is received using wear-type VR equipment；S2, data purification processing is carried out to the ultrasound data stream information received；S3, relative path and initial position message are estimated using phase place change；S4, the movement locus of path change and output under two dimension are estimated according to relative path and initial position message.This method can obtain high-precision, high robust as a result, perceiving in VR, human-computer interaction and its game etc. have very high science and application value；Abandon excessive peripheral hardware, only embedded corresponding loud speaker and microphone are set in headset equipment, it not only reduces complexity and has been greatly reduced cost, the location information of target is estimated by using ultrasonic signal, realize the high VR target locatings of high-precision, robustness.
Description
Technical field
The invention belongs to wireless aware and human-computer interaction technology improvement areas more particularly to a kind of based on the virtual of ultrasonic wave
Real tracking and system.
Background technology
Nowadays, if arbitrary reality environment of wanting to undergo once is still a more complicated process,
Because or existing VR experience is to need distinctive equipment, for example utilize infrared cameras track headset equipment or hand-held control
Device processed or exactly requirement are experienced in specific environment, for example specific region etc., these limitations greatly reduce user's body
Test comfort level.For a real VR experience, it can accomplish position tracking at any time and any place, in time more
New displacement.
Existing VR tracking systems are broadly divided into two major classes, and one kind is positioning control system from outside to inside, one kind be by
Interior and outer tracking system.For system from outside to inside, the tracking of this kind of system, positioning accuracy have been made high,
, mainly with peripheral hardware, such as infrared camera is connected to the sensor of headset equipment to realize high-precision positioning for they.But such system
System also has the defects of certain, for example, no matter where user is experiencing VR, they are required for installing distinctive hardware and peripheral hardware,
That is if from anywhere in a people thinks at home experience VR if, must at home each place will install it is red
Outer camera and it is necessary to which distance is in infrared camera 2m.In addition, this kind of system can also be received and blocked and the influence of illumination, if
Infrared camera is blocked by furniture or in the case that light is very dark, and system would not work.For system from inside to outside
Speech, this kind of system realize positioning and tracking using in headset equipment based on the track algorithm of true color and depth perception, though
Right this kind of system has high-precision and peripheral hardware is not required, but by increasing the camera quantity in headset equipment so as to increase greatly
Complexity is added, and transparent or less texture object has been difficult to.
The content of the invention
It is an object of the invention to provide a kind of virtual reality trackings and system based on ultrasonic wave, it is intended in solution
The technical issues of stating.
The present invention is achieved in that a kind of virtual reality tracking and system based on ultrasonic wave, described virtual existing
Real tracking comprises the following steps：
S1, ultrasound data stream information is received using wear-type VR equipment；
S2, data purification processing is carried out to the ultrasound data stream information received；
S3, relative path and initial position message are estimated using phase place change；
S4, the movement locus of path change and output under two dimension are estimated according to relative path and initial position message.
The present invention further technical solution be：It is further comprising the steps of in the step S3：
S31, target extra reflectance data stream information on the move is removed using linear regression method；
The relative distance of S32, the direction that target movement is calculated using phase place change and Doppler frequency shift and path；
S33, at different frequencies to phase place change with anti-Fourier variation calculate the power of path arrival times when
Prolong spectrum；
S34, the energy in power delay spectrum estimate the initial position message of target movement reflected signal respectively.
The present invention further technical solution be：It is further comprising the steps of in the step S2：
S21, noise reduction process removal noise spot is carried out to the ultrasound data stream information received；
S22, the ultrasound data stream information received is filtered filters out high-frequency signal.
The present invention further technical solution be：It is further comprising the steps of in the step S1：
S11, wear-type VR equipment launch pre-defined ultrasound data stream information.
The present invention further technical solution be：Loud speaker and two or more there are one being inlayed in the wear-type VR equipment
Microphone, the ultrasonic frequency that the wear-type VR equipment is sent is in more than 17000Hz；The ultrasound data stream of reception is believed
What is number handled is central server or Intelligent treatment terminal.
Another object of the present invention is to provide a kind of virtual reality tracking system based on ultrasonic wave, the virtual reality
Tracking system includes
Data reception module, for receiving ultrasound data stream information using wear-type VR equipment；
Purified treatment module, for carrying out data purification processing to the ultrasound data stream information received；
Distance calculation module, for estimating relative path and initial position message using phase place change；
Trajectory calculation output module, for estimating path change under two dimension according to relative path and initial position message
Movement locus simultaneously exports.
The present invention further technical solution be：It is further included in the distance calculation module
Multipath effect eliminates unit, for being believed using linear regression method removal target extra reflectance data stream on the move
Breath；
Relative distance computing unit, for calculating the direction and road of target movement using phase place change and Doppler frequency shift
The relative distance in footpath；
Power delay spectrum acquiring unit calculates outlet for changing at different frequencies to phase place change with anti-Fourier
The power delay spectrum of footpath arrival time；
Initial position acquiring unit estimates target movement reflected signal respectively for the energy in power delay spectrum
Initial position message.
The present invention further technical solution be：It is further included in the purified treatment module
Noise reduction unit removes noise spot for carrying out noise reduction process to the ultrasound data stream information received；
Filter unit filters out high-frequency signal for being filtered to the ultrasound data stream information received.
The present invention further technical solution be：It is further included in the data reception module
Transmitter unit launches pre-defined ultrasound data stream information for wear-type VR equipment.
The present invention further technical solution be：Loud speaker and two or more there are one being inlayed in the wear-type VR equipment
Microphone, the ultrasonic frequency that the wear-type VR equipment is sent is in more than 17000Hz；The ultrasound data stream of reception is believed
What is number handled is central server or Intelligent treatment terminal.
The beneficial effects of the invention are as follows：This method can obtain high-precision, high robust as a result, VR perceive, it is man-machine
Interaction and its game etc. have very high science and application value；Excessive peripheral hardware is abandoned, only the embedded phase in headset equipment
The loud speaker and microphone answered are set, and are not only reduced complexity and have been greatly reduced cost, estimate by using ultrasonic signal
The location information of target is counted, realizes the high VR target locatings of high-precision, robustness.
Description of the drawings
Fig. 1 is the flow chart of the virtual reality tracking provided in an embodiment of the present invention based on ultrasonic wave.
Fig. 2 is the structure diagram of the virtual reality tracking system provided in an embodiment of the present invention based on ultrasonic wave.
Specific embodiment
Fig. 1 shows the flow chart of the virtual reality tracking provided by the invention based on ultrasonic wave, and details are as follows：
Step S1 receives ultrasound data stream information using wear-type VR equipment；There are one loud speaker and two for one insertion
A and above microphone VR glasses, loud speaker are used for emitting ultrasound data stream, and microphone is used for receiving by hand or finger hair
The ultrasound data stream penetrated, the wear-type VR equipment of embedded loud speaker launch pre-defined ultrasonic wave, through mobile hand or
The reflection of finger is received by embedded microphone, and then is transferred to central server or Intelligent treatment terminal, using with
Track algorithm achievees the purpose that the positioning and tracking of mobile object.Loud speaker and two there are one being inlayed in the wear-type VR equipment
Above microphone, the ultrasonic frequency that the wear-type VR equipment is sent is in more than 17000Hz；To the ultrasound data of reception
What stream signal was handled is central server or Intelligent treatment terminal.The company of fixed frequency f >=17000HZ is sent by loud speaker
Continuous ultrasound data stream, handle or finger reflection after received by embedded microphone.
Step S2 carries out data purification processing to the ultrasound data stream information received；To the data of reception into line number
According to purified treatment.First, noise spot is removed, then, data are filtered, filter out high frequency section, are retained anti-by hand or finger
The signal of part is penetrated, is prepared for following positioning with tracking.High frequency or noise signal are filtered off using low pass or bandpass filter,
Such as Butterworth filter, FIR filter etc..
Step S3 estimates relative path and initial position message using phase place change；It is estimated using the variation of phase
Go out relative path variation length, further according to the initial bit confidence of the obtained mobile target of delay file estimation of inversefouriertransform
Breath carries out the positioning and tracking of mobile target with reference to relative path and initial position message.By the phase for assessing ultrasonic signal
Position information estimates the location information of mobile target, is not gone the same way using the phase change under different paths, different frequency
Footpath reaches the time, and then changes to obtain delay file by anti-Fourier, and analysing energy distribution is to obtain by hand or finger shifting
Dynamic reflected sound path lengths.By excavating these ultrasonic signals come the location track of Exact recovery headset equipment.
The phase place change of the signal reflected through mobile target mainly received by assessing microphone come calculate mobile target movement away from
From, then, at different frequencies, to phase with anti-Fourier change calculate outbound path reach time TOA (Time of
Arrival, arrival time), and then the Energy distribution corresponding to TOA is analyzed to estimate the signal path reflected by mobile object
Length obtains the initial position message of target.Detailed process is as follows：S31, according to phase place change remove target it is on the move extra
Position reflectance data stream information；It is using the method for linear regression that the path fitting one under different frequency is anti-via hand or finger
The optimal path for penetrating signal achievees the purpose that filtering interference signals.S32, target is calculated using phase place change and Doppler frequency shift
Mobile direction and the relative distance in path；First, using Doppler frequency shift calculate dynamic vector (handle or finger reflection
Signal) initial position and final position, next, averaging to the part extracted, and then acquired by way of subtracting each other
The dynamic vector of target estimates that the path length of mobile target whithin a period of time becomes further according to the phase place change of dynamic vector
Change, computational methods are as follows：
Wherein, d (t) is exactly reflected into the distance of microphone, v from loud speaker through mobile targetcIt is ultrasonic velocity, generally
It is 343m/s, f is the frequency that loud speaker sends ultrasonic wave.Then, the displacement distance of mobile target is exactly (d (t)-d (0))/2.
S33, at different frequencies to phase place change with anti-Fourier variation calculate the power of path arrival times when
Prolong spectrum；The calculation formula of power delay spectrum is：
Wherein, k represents frequency number, Hp(k, t) represents the ultrasonic signal that microphone receives.S34, according to power time delay
Energy in spectrum estimates the initial position message of target movement reflected signal respectively.After calculating power delay spectrum, according to energy
Gao Yuegao, it is bigger to represent the signal strength of mobile object reflection, according to ultrasonic signal through mobile target reflection along different paths
The time difference of microphone is reached, i.e. TOA (Time of Arrival, arrival time) can be by calculating anti-Fourier's result
In the path arrival times with highest energy come when estimating by the path length of mobile target reflection, and then passing through power
The time delay value for prolonging spectrum medium wave peak calculates the initial position of mobile target.
Step S4 estimates under two dimension the movement locus of path change and defeated according to relative path and initial position message
Go out.A coordinate system is established using the position of two microphones and loud speaker, obtains relative distance information and initial position message
Afterwards, the absolute location information of mobile target can be obtained, the position of mobile target in a coordinate system is calculated further according to geometrical relationship
It puts, updates the position of mobile target by constantly updating the path length of two microphone signals, then re-map VR
In mirror, achieve the purpose that real-time tracking, complete interactive physical examination.
As shown in Fig. 2, another object of the present invention is to provide a kind of virtual reality tracking system based on ultrasonic wave, institute
Stating virtual reality tracking system includes
Data reception module, for receiving ultrasound data stream information using wear-type VR equipment；
Purified treatment module, for carrying out data purification processing to the ultrasound data stream information received；
Distance calculation module, for estimating relative path and initial position message using phase place change；
Trajectory calculation output module, for estimating path change under two dimension according to relative path and initial position message
Movement locus simultaneously exports.
It is further included in the distance calculation module
Multipath effect eliminates unit, believes for removing target long position reflectance data stream on the move according to phase place change
Breath；
Relative distance computing unit, for calculating the direction and road of target movement using phase place change and Doppler frequency shift
The relative distance in footpath；
Power delay spectrum acquiring unit calculates outlet for changing at different frequencies to phase place change with anti-Fourier
The power delay spectrum of footpath arrival time；
Initial position acquiring unit estimates target movement reflected signal respectively for the energy in power delay spectrum
Initial position message.
It is further included in the purified treatment module
Noise reduction unit removes noise spot for carrying out noise reduction process to the ultrasound data stream information received；
Filter unit filters out high-frequency signal for being filtered to the ultrasound data stream information received.
It is further included in the data reception module
Transmitter unit launches pre-defined ultrasound data stream information for wear-type VR equipment.
Loud speaker and more than two microphones there are one being inlayed in the wear-type VR equipment, the wear-type VR equipment
The ultrasonic frequency sent is in more than 17000Hz；What the ultrasound data stream signal of reception was handled is central server
Or Intelligent treatment terminal.
The loud speaker that the system is carried using headset equipment sends ultrasonic signal, and then the microphone carried connects
It receives, proposes a position tracking alignment system based on ultrasonic wave.Wear-type VR equipment is embedded in a loud speaker as transmitting
The transmitting equipment of wireless ultrasonic, then being embedded into two and above microphone in wear-type VR equipment, pass through excavation
These ultrasonic signals carry out the location track of Exact recovery headset equipment.Mainly by assessing that microphone receives through mobile mesh
The phase place change of the signal of reflection is marked to calculate mobile target moving distance, then, at different frequencies, to phase with anti-
Fourier changes calculating outbound path and reaches time TOA, and then analyzes the Energy distribution corresponding to TOA to estimate by mobile object
The signal path lengths of reflection obtain the initial position message of target.With reference to relative distance information and initial position message, reach
Moving objects location and the purpose of tracking.The system can obtain high-precision, high robust as a result, VR perceive, man-machine friendship
Mutually and its play etc. has very high science and application value.
The invention is the system of the virtual reality being integrated in a wear-type VR glasses tracking, which mainly includes one
A loud speaker and two and above microphone, loud speaker are used for emitting continuous ultrasonic signal stream, and microphone is used for receiving
These data flows disturbed and formed by mobile object judge the side of mobile object by analyzing the data of microphone reception
To and displacement distance, to realize the purpose of target following.Mainly estimated by the phase place change of the signal reflected by hand or finger
Calculate the displacement distance of hand or finger.In 2D spaces, we are by assessing arrival time of the phase of different frequency under different paths
(Time-Of-Arrival, TOA) come roughly calculate by hand or finger reflection sound path length, so that it is determined that hand or
The initial position message of finger.Combine the fine-grained relative distance of 1D again, reach the hand of 2D or the action recognition of finger and with
The purpose of track.The system can obtain high-precision, high robust as a result, perceiving in VR, human-computer interaction and its game etc.
There are very high science and application value.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of virtual reality tracking based on ultrasonic wave, which is characterized in that the virtual reality tracking include with
Lower step：
S1, ultrasound data stream information is received using wear-type VR equipment；
S2, data purification processing is carried out to the ultrasound data stream information received；
S3, relative path and initial position message are estimated using phase place change；
S4, the movement locus of path change and output under two dimension are estimated according to relative path and initial position message.
2. virtual reality tracking according to claim 1, which is characterized in that further include following step in the step S3
Suddenly：
S31, target extra reflectance data stream information on the move is removed using linear regression method；
The relative distance of S32, the direction that target movement is calculated using phase place change and Doppler frequency shift and path；
S33, the power delay spectrum for calculating path arrival times with anti-Fourier variation to phase place change at different frequencies；
S34, the energy in power delay spectrum estimate the initial position message of target movement reflected signal respectively.
3. virtual reality tracking according to claim 2, which is characterized in that further include following step in the step S2
Suddenly：
S21, noise reduction process removal noise spot is carried out to the ultrasound data stream information received；
S22, the ultrasound data stream information received is filtered filters out high-frequency signal.
4. virtual reality tracking according to claim 3, which is characterized in that further include following step in the step S1
Suddenly：
S11, wear-type VR equipment launch pre-defined ultrasound data stream information.
5. according to claim 1-4 any one of them virtual reality trackings, which is characterized in that the wear-type VR equipment
In inlay there are one loud speaker and more than two microphones, the ultrasonic frequency that the wear-type VR equipment is sent exists
More than 17000Hz；What the ultrasound data stream signal of reception was handled is central server or Intelligent treatment terminal.
6. a kind of virtual reality tracking system based on ultrasonic wave, which is characterized in that the virtual reality tracking system includes
Data reception module, for receiving ultrasound data stream information using wear-type VR equipment；
Purified treatment module, for carrying out data purification processing to the ultrasound data stream information received；
Distance calculation module, for estimating relative path and initial position message using phase place change；
Trajectory calculation output module, for estimating the movement of path change under two dimension according to relative path and initial position message
Track simultaneously exports.
7. virtual reality tracking system according to claim 6, which is characterized in that further included in the distance calculation module
Multipath effect eliminates unit, for removing target extra reflectance data stream information on the move using linear regression method；
Relative distance computing unit, for calculating the direction and path of target movement using phase place change and Doppler frequency shift
Relative distance；
Power delay spectrum acquiring unit arrives for changing calculating outbound path with anti-Fourier to phase place change at different frequencies
Up to the power delay spectrum of time；
Initial position acquiring unit estimates the initial of target movement reflected signal respectively for the energy in power delay spectrum
Location information.
8. virtual reality tracking system according to claim 7, which is characterized in that further included in the purified treatment module
Noise reduction unit removes noise spot for carrying out noise reduction process to the ultrasound data stream information received；
Filter unit filters out high-frequency signal for being filtered to the ultrasound data stream information received.
9. virtual reality tracking system according to claim 8, which is characterized in that further included in the data reception module
Transmitter unit launches pre-defined ultrasound data stream information for wear-type VR equipment.
10. according to claim 6-9 any one of them virtual reality tracking systems, which is characterized in that the wear-type VR is set
It is inlayed in standby there are one loud speaker and more than two microphones, the ultrasonic frequency that the wear-type VR equipment is sent exists
More than 17000Hz；What the ultrasound data stream signal of reception was handled is central server or Intelligent treatment terminal.
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