CN108287607A - A kind of method at control HMD visual angles and wear display equipment - Google Patents
A kind of method at control HMD visual angles and wear display equipment Download PDFInfo
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- CN108287607A CN108287607A CN201710076000.3A CN201710076000A CN108287607A CN 108287607 A CN108287607 A CN 108287607A CN 201710076000 A CN201710076000 A CN 201710076000A CN 108287607 A CN108287607 A CN 108287607A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/163—Wearable computers, e.g. on a belt
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Abstract
The invention discloses a kind of method at visual angles control HMD and display equipment is worn, including：Differentiate the motion state for wearing display equipment in course angular direction；If the display equipment of wearing is in predetermined state in the course angular direction, the current magnetometer data reported to the magnetometer sensor for wearing display equipment is modified, and obtains revised current magnetometer data；According to revised current magnetometer data, the visual angle of display equipment is worn described in control.Said program is existing in the prior art for solving, and wears and shows that the data that the magnetometer sensor of equipment reports are shaken, HMD is caused the technical issues of float occur, wears display equipment visual angle to accurately control, improves viewing effect.
Description
Technical field
The present invention relates to data processing field more particularly to a kind of method controlling the visual angles HMD and wear display equipment.
Background technology
Wearing display equipment HMD (full name in English：Head Mount Display) in the virtual world that provides a user,
It wears display equipment and determines that the physical message for being supplied to user, the head pose of user are logical by detecting the head pose of user
It is often by wearing IMU (the Inertial measurementunit in display equipment；Inertial Measurement Unit) sensor catches
It catches.
IMU sensors include gyroscope, accelerometer, magnetometer etc., and existing scheme is by merging gyroscope, acceleration
Meter, magnetometer measurement data carry out Attitude estimation.Specifically, as shown in Figure 1, HMD device defines three angles
(roll, yaw, pitch) wears the posture of display equipment to determine, wherein roll is roll angle, and yaw is course angle, pitch
For pitch angle, in order to keep Attitude estimation more accurate, accelerometer is used for the number to the directions roll and the directions pitch of gyroscope
According to compensating, magnetometer is used to compensate the data in the directions yaw of gyroscope.Wherein, magnetometer can measure HMD
Absolute force three magnetic-field components mx, my and mz, the y of body coordinate system can be calculated using these three magnetic-field components
Axis with respect to magnetic north grade course angle yaw, to which the data to the directions yaw of gyroscope compensate.Finally, according to accelerometer
Direction of rotation after being compensated with magnetometer controls the visual angle of HMD.
Since magnetometer belongs to the sensor of static properties stabilization, in the case where equipment is static, magnetometer data should
It is a fixed value, but in actual use, magnetometer will produce randomized jitter.Due in existing scheme, to gyroscope
The premise that the data in the directions yaw carry out accurate compensation, which is magnetometer reported data, to be accurate and stablizes, if magnetometer reports
Data shake, will result in mistake compensation, cause HMD float occur, influence viewing effect.
Invention content
The object of the present invention is to provide a kind of method at visual angles control HMD and display equipment is worn, for solving existing skill
Present in art, wears and show that the data that the magnetometer sensor of equipment reports are shaken, HMD is caused float occur
Technical problem.
In order to achieve the above-mentioned object of the invention, first aspect of the embodiment of the present invention provides a kind of method at the visual angles control HMD, packet
It includes：
Differentiate the motion state for wearing display equipment in course angular direction；
If the display equipment of wearing is in predetermined state in the course angular direction, to the magnetic for wearing display equipment
The current magnetometer data that power flowmeter sensor reports is modified, and obtains revised current magnetometer data；
According to revised current magnetometer data, the visual angle of display equipment is worn described in control.
Optionally, the current magnetometer data reported to the magnetometer sensor for wearing display equipment is modified,
Revised current magnetometer data is obtained, including：
It is in the initial time of predetermined state in the course angular direction identifying the display equipment of wearing, obtains institute
State the reference magnetometer data that magnetometer sensor reports under the corresponding initial reference posture of the initial time；
In the predetermined state duration, using this with reference to magnetometer data as revised current magnetometer
Data.
Optionally, described according to revised current magnetometer data, the visual angle that display equipment is worn described in control includes：
The reference rotation reported under the initial reference posture according to the gyro sensor for wearing display equipment
Direction carries out coordinate conversion to described with reference to magnetometer data, obtains transformed with reference to magnetometer data；
The current direction of rotation reported according to the gyro sensor to the revised current magnetometer data into
Row coordinate is converted, and transformed current magnetometer data is obtained；
Calculate the transformed angle with reference to magnetometer data between the transformed current magnetometer data
Data；
The current direction of rotation of the gyro sensor is compensated according to the angle data, after being compensated
Direction of rotation, and according to the visual angle for wearing display equipment described in the direction of rotation control after the compensation；
Wherein, described to be sat for the body for wearing display equipment with the current magnetometer data with reference to magnetometer data
Data under mark system, the transformed reference magnetometer data and the transformed current magnetometer data are world coordinates
Data under system.
Optionally, the discriminating, which is worn, shows that motion state of the equipment in course angular direction includes：
It is worn described in record and shows that the course angular data that the gyro sensor of equipment reports is less than or equal to course angle
The duration of data threshold；
If the duration is more than or equal to pre-set time threshold, it is determined that the display equipment of wearing exists
The course angular direction is in the predetermined state.
Optionally, the method for calculating the course angle data threshold includes：
According to one or more in the first course angle average value, the second course angle average value and third course angle average value
It is a, determine the course angle data threshold；
Wherein, the first course angle average value be it is described wear display equipment remain static when, according to described
The average value that the course angular data that gyro sensor reports in the first preset duration is calculated；
The second course angle average value is to wear display equipment only when being moved on roll angular direction, according to institute described
State the average value that the course angular data that gyro sensor reports in the second preset duration is calculated；
The third course angle average value is to wear display equipment only when being moved on pitching angular direction, according to institute described
State the average value that the course angular data that gyro sensor reports in third preset duration is calculated.
Second aspect of the embodiment of the present invention provides one kind and wearing display equipment, including：
Motion state identification module, for differentiating the motion state for wearing display equipment in course angular direction；
Magnetometer data correcting module, for being in predetermined state in the course angular direction in the display equipment of wearing
When, the current magnetometer data reported to the magnetometer sensor for wearing display equipment is modified, and is obtained revised
Current magnetometer data；
Viewing angle control module, for according to revised current magnetometer data, regarding for display equipment to be worn described in control
Angle.
Optionally, the magnetometer data correcting module is used for：
It is in the initial time of predetermined state in the course angular direction identifying the display equipment of wearing, obtains institute
The reference magnetometer data that magnetometer sensor reports under the corresponding initial reference posture of the initial time is stated, and will be described
With reference to magnetometer data be stored in described in wear display equipment in；In the predetermined state duration, by the reference
Magnetometer data is as revised current magnetometer data.
Optionally, the viewing angle control module is used for：
The reference rotation reported under the initial reference posture according to the gyro sensor for wearing display equipment
Direction carries out coordinate conversion to described with reference to magnetometer data, obtains transformed with reference to magnetometer data；
The current direction of rotation reported according to the gyro sensor to the revised current magnetometer data into
Row coordinate is converted, and transformed current magnetometer data is obtained；
Calculate the transformed angle with reference to magnetometer data between the transformed current magnetometer data
Data；
The current direction of rotation of the gyro sensor is compensated according to the angle data, after being compensated
Direction of rotation, and according to the visual angle for wearing display equipment described in the direction of rotation control after the compensation；
Wherein, described to be sat for the body for wearing display equipment with the current magnetometer data with reference to magnetometer data
Data under mark system, the transformed reference magnetometer data and the transformed current magnetometer data are world coordinates
Data under system.
Optionally, motion state identification module described in the motion state identification module includes storage unit and motion state
Discriminating unit, wherein
The storage unit is for storing course angle data threshold；
The motion state discriminating unit, the course reported for recording the gyro sensor for wearing display equipment
Angular data is less than or equal to the duration of course angle data threshold；And it is more than or equal in the duration and sets in advance
When the time threshold set, display equipment is worn described in determination and is in the predetermined state in the course angular direction.
One or more technical solution in the embodiment of the present invention, at least has the following technical effect that or advantage：
In the scheme of the embodiment of the present invention, wear display equipment be in predetermined state when, by wearing display equipment
Magnetometer data be modified, then, according to revised current magnetometer data, accurately control and wear display equipment and regard
Angle, it is seen then that said program solves number existing in the prior art, the magnetometer sensor due to wearing display equipment reports
According to shaking, HMD is caused the technical issues of picture generates shake occur, wears display equipment visual angle to accurately control, carry
High viewing effect.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings：
Fig. 1 is the schematic diagram of roll, yaw and pitch of HMD provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the method at the visual angles control HMD provided in an embodiment of the present invention；
Fig. 3 is the flow chart of the method for the motion state provided in an embodiment of the present invention for differentiating HMD；
Fig. 4 is the flow chart of the method provided in an embodiment of the present invention for calculating course angle data threshold；
Fig. 5 is the functional block diagram provided in an embodiment of the present invention for wearing display equipment.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
In the embodiment of the present invention, it can be VR equipment, AR (Augmented Reality to wear display equipment；Enhancing is existing
It is real) equipment etc., it includes gyro sensor, acceleration transducer and magnetometer sensor etc. to wear display equipment.Actually answering
In, wears and is also provided with sensors such as motion capture sensor, light sensor and gesture identification etc. in display equipment,
This is not restricted.
Referring to FIG. 2, Fig. 2 is the flow chart of the method at the visual angles control HMD provided in an embodiment of the present invention, this method includes
Following steps.
Step 10, differentiate the motion state for wearing display equipment in course angular direction.
Step 11, if the display equipment of wearing is in predetermined state in the course angular direction, display is worn to described
The current magnetometer data that the magnetometer sensor of equipment reports is modified, and obtains revised current magnetometer data.
Step 12, according to revised current magnetometer data, the visual angle of display equipment is worn described in control.
In step 10, motion state refers to wearing to show that state of the equipment in course angular direction in practical applications can
The motion state of display equipment is worn with the size characterization of the course angle reported using gyro sensor.Such as：Course angle is
Zero, then explanation, which is worn, shows that equipment does not rotate on the angular direction of course, and course angle is 10 degree, then explanation wears display equipment and exists
10 degree are had rotated on the angular direction of course.Predetermined state, which includes stationary state, wears display equipment only moves on roll angular direction
State, to wear display equipment only one or more in three kinds of states of state for being moved on pitching angular direction.
In the embodiment of the present invention, due to the error of gyro sensor, data that gyroscope reports under static state
It is not complete zero, but is wearing display equipment when remaining static with motion state on the angular direction of course, gyro sensors
The course angular data that device reports has significant difference, it is therefore possible to use the size for the course angle that gyro sensor reports is come
Discriminating wears whether display equipment is in predetermined state.For example, it is assumed that wear display equipment when being in predetermined state, gyro
The maximum value for the course angle that instrument sensor reports is A, then when the course angle that gyro sensor reports is less than or equal to A,
Then determine that wearing display equipment is in the predetermined state, and when the course angle that gyro sensor reports is more than A, it is determined that
It wears display equipment and is not on the predetermined state.
In the embodiment of the present invention, after identifying the motion state for wearing display equipment by step 10, wears display and set
It is standby to execute step 11, the current magnetometer data that magnetometer sensor reports is modified, revised current magnetic force is obtained
It counts.
Then, in step 12, according to revised current magnetometer data, regarding for display equipment is worn described in control
Angle causes HMD float occur to avoid wearing the data dithering for showing that equipment is reported due to magnetometer sensor, real
The technique effect for accurately controlling the visual angle for wearing display equipment is showed.
Next, the method at the control visual angles HMD in the embodiment of the present invention is described in detail.
In step 10, show that the course angle that equipment can be detected by gyro sensor is big as previously mentioned, wearing
It is small, to differentiate the motion state for wearing display equipment in course angular direction.
Specifically, as shown in figure 3, step 10 includes the following steps.
Step 101, it is worn described in record and shows that the course angular data that the gyro sensor of equipment reports is less than or waits
In the duration of course angle data threshold.
After wearing display device starting-up, the course angular data that gyro sensor reports can be recorded by wearing display equipment,
If course angular data is less than or equal to course angle data threshold, start recording course angular data is less than or equal to course angle number
According to the duration of threshold value, in recording process, if course angular data is more than course angle data threshold, by continuing for record
Time resets, and start recording course angular data is less than or equal to the duration of course angle data threshold again.
Step 102, if the duration be more than or equal to pre-set time threshold, it is determined that it is described wear it is aobvious
Show that equipment is in the predetermined state in the course angular direction.
For example, it is assumed that pre-set time threshold is 1min, if the course angle number that gyro sensor reports
It is 1min or 2min according to the duration less than or equal to course angle data threshold, it is determined that wear display equipment and currently navigating
Predetermined state is in on angular direction.Under predetermined state, if the course angular data that gyro sensor reports is more than course
Angular data threshold value, it is determined that wear display equipment and be no longer on predetermined state.Then, it wears display equipment and restarts record boat
It is less than or equal to the duration of course angle data threshold to angular data, display equipment is worn in course angle side to differentiate again
To motion state.
Wherein, the course angle data threshold is described when wearing display equipment and being in the predetermined state, according to described
The course angular data that gyro sensor detects, determining value.
Under predetermined state, when the data dithering reported due to magnetometer sensor, gyro sensor can be reported
Data carry out Error Compensation, and the picture for wearing display equipment is caused to generate shake.It is worn in user and wears display equipment rotation
In the process, since the motion amplitude of user is larger, this float is unconspicuous, and wear display equipment it is static when,
Or user wears when wearing display equipment weak vibrations, or wear display equipment and only transported in roll angle and pitching angular direction
When dynamic, this data dithering reported due to magnetometer sensor, caused float is more apparent.Therefore, the present invention is real
It applies in example, predetermined state can be stationary state, wear state and wear aobvious that display equipment only moves on roll angular direction
Show that equipment is only one or more in three kinds of states of state for being moved on pitching angular direction, that is to say, that predetermined state can be with
A kind of state in above-mentioned three kinds of states is only covered, predetermined state can also cover above two state or three kinds of states, this hair
In bright embodiment, illustrated so that predetermined state covers above-mentioned three kinds of states as an example, then the method for calculating course angle data threshold
Include the following steps, as shown in Figure 4.
Step 20, it is described wear display equipment and remain static when, it is pre- first according to the gyro sensor
If the first course angle average value is calculated in the course angular data reported in duration.
Wherein, it is described wear show equipment it is static may include two kinds of situations, the first possible situation is to wear display
Equipment is placed on by static on a loading end；Second of possible situation be, user, which wears, wears display equipment, and user not into
Any rotational action of row, for the second situation, the course angular data that gyro sensor reports in the first preset duration can
Can include the data caused by the error of gyro sensor, it is also possible to include since user wears when wearing display equipment
Data caused by weak vibrations.
Step 21, display equipment is worn only when being moved on roll angular direction, according to the gyro sensor described
The second course angle average value is calculated in the course angular data reported in the second preset duration.
In specific implementation process, it can will wear display equipment and be placed on turntable, control wears display equipment only in cross
Roll angle direction moves, static in pitching angular direction and course angular direction, to obtain the gyro sensor for wearing display equipment
The course angular data reported in the second preset duration, and then according to the course angular data in the second preset duration, calculate second
Course angle average value.
Step 22, display equipment is worn only when being moved on pitching angular direction, according to the gyro sensor described
Third course angle average value is calculated in the course angular data reported in third preset duration.
In specific implementation process, it can will wear display equipment and be placed on turntable, control wears display equipment and only bowing
Elevation direction moves, static in roll angular direction and course angular direction, then, obtains the gyro sensor for wearing display equipment
The course angular data reported in third preset duration, and then according to the course angular data in third preset duration, calculate third
Course angle average value.
In step 20, in step 21 and step 22, the first preset duration, the second preset duration and third preset duration can be with
For the duration being arranged according to empirical value, the first preset duration, the second preset duration and third preset duration can be identical, can also
It is different.Such as：First preset duration, the second preset duration and third preset duration can be 5min；Or first it is default when
A length of 5min, the second preset duration and third preset duration are 3min.
Then, step 23 is executed, it is average according to the first course angle average value, the second course angle average value and third course angle
One or more of value, determines the course angle data threshold.
It, can be straight if predetermined state only covers a kind of state in above-mentioned three kinds of states in specific implementation process
It connects using the course angle average value under this state as course angle data threshold；If predetermined state covers in above-mentioned three kinds of states
Various states, then can be maximized as course angular data from the corresponding multiple course angle average values of various states
Threshold value；As it can be seen that wearing whether display equipment is in predetermined state by the discriminating of course angle data threshold, can effectively cover above-mentioned
It is one or more in three kinds of states.
In the embodiment of the present invention, for each state, can also directly it be taken most from the course angular data under each state
Big value determines course angle data threshold.Specifically, selecting maximum course angle from the course angular data under three kinds of states respectively
Data, that is, select and wear first course angle maximum value of display equipment when remaining static, select and wear display equipment and only exist
The second course angle maximum value when roll angular direction moves, and wear the of display equipment only when being moved on pitching angular direction
Then three course angle maximum values are selected from the first course angle maximum value, the second course angle maximum value and third course angle maximum value
Take maximum course angle as course angle data threshold.In practical applications, other methods can also be used to calculate course angle number
According to threshold value, it is not limited herein.
Next, illustrated to step 11, step 11 is included in when wearing display equipment and being in predetermined state, to magnetic force
The current magnetometer data that flowmeter sensor reports is modified, and obtains revised current magnetometer data.
First, the posture for wearing the initial time that display equipment is in the course angular direction predetermined state will be identified
As initial reference posture, the magnetometer data that magnetometer sensor reports under the initial reference posture is obtained, and should
Magnetometer data, which is used as, refers to magnetometer data.In the embodiment of the present invention, initial time, which is exemplary, does not go out to wear display equipment
After predetermined state, at the time of first group of magnetometer data that magnetometer sensor reports, then the moment it is corresponding wear it is aobvious
Show that the posture of equipment is initial reference posture.
Then, in the predetermined state duration, the magnetometer sensor for wearing display equipment is reported
Current magnetometer data is all modified to reference to magnetometer data, that is to say, that after using the reference magnetometer data as correcting
Current magnetometer data, until wear display equipment be no longer on the predetermined state.
In the embodiment of the present invention, step 12 includes according to revised current magnetometer data, and display equipment is worn in control
Visual angle.
First, the reference reported under the initial reference posture according to the gyro sensor for wearing display equipment
Direction of rotation carries out coordinate conversion to described with reference to magnetometer data, obtains transformed with reference to magnetometer data, coordinate conversion
Formula it is as follows.
MagRefInWorldFrame=Orientation_ref.Rotate (MagcalibratedInImuFrame)
(1)
Wherein, MagcalibratedInImuFrame is the process that magnetometer sensor reports under initial reference posture
The magnetometer data of calibration, Orientation_ref are the reference rotations that gyro sensor reports under initial reference posture
Direction, magRefInWorldFrame are converted by coordinate, reference magnetometer of the magnetometer sensor under world coordinate system
Data.
Then, the current direction of rotation reported according to the gyro sensor counts the revised current magnetic force
According to coordinate conversion is carried out, transformed current magnetometer data is obtained, the formula of coordinate conversion is as follows.
MagInWorldFrame=orientation_accel.Rotate (magCalibrated) (2)
Wherein, magCalibrated is the newest current magnetometer data that magnetometer sensor reports,
Orientation_accel is the direction of rotation compensated by accelerometer, i.e., current direction of rotation, magInWorldFrame
It is to be converted by coordinate, newest magnetometer data of the magnetometer sensor under world coordinate system is used as and turns by coordinate
The reference magnetometer data changed compares.
If wearing display equipment is in predetermined state, the magCalibrated in formula (2) is modified to reference to magnetic
Power counts MagcalibratedInImuFrame, and formula (2) becomes：
Vector3f magInWorldFrame=orientation_accel.Rotate
(MagcalibratedInImuFrame)
Then, calculate it is described it is transformed with reference to magnetometer data between the transformed current magnetometer data
Angle data.Calculating process is as follows：
YawError=magInWorldFrame.Angle (magRefInWorldFrame) (3)
Wherein, magInWorldFrame is through the transformed current magnetometer data of coordinate, magRefInWorldFrame
To refer to magnetometer data through coordinate is transformed, magInWorldFrame and magRefInWorldFrame are in the world
Trivector under coordinate system, and Angle functions are actually the angle for seeking the two vectors.
Then, the current direction of rotation of the gyro sensor is compensated further according to the angle data, is obtained
Direction of rotation after compensation, formula are as follows：
Orientation_mag=yawError*Orientation_accel (5)
Wherein, Orientation_accel is the direction of rotation after being compensated by accelerometer, i.e., current rotation side
To Orientation_mag is the direction of rotation after magnetometer sensor compensates, and finally, is sensed according to the magnetometer
The visual angle of display equipment is worn described in direction of rotation control after device compensation.
As it can be seen that in the embodiment of the present invention, when wearing display equipment and being in predetermined state, by will be in magnetometer sensor
The current magnetometer data of report is modified to reference to magnetometer data, to inhibit under predetermined state, because of magnetometer sensor
Float caused by the data dithering reported.
Further, since predetermined state can cover, to wear display equipment totally stationary, weak vibrations and wears display
Therefore equipment only passes through in the state of pitching angular direction movement with the state that display equipment is only moved in roll angular direction is worn
The current magnetometer data that magnetometer sensor reports is modified to reference to magnetometer data, can be inhibited under above-mentioned state, by
The float caused by the data dithering that magnetometer sensor reports improves viewing effect.
Based on same inventive concept, the embodiment of the present invention also provides one kind and wearing display equipment, as shown in figure 5, this is worn
Show that equipment includes：
Motion state identification module 40, for differentiating the motion state for wearing display equipment in course angular direction；
Magnetometer data correcting module 41, for being in predetermined shape in the course angular direction in the display equipment of wearing
When state, the current magnetometer data reported to the magnetometer sensor for wearing display equipment is modified, after being corrected
Current magnetometer data；
Viewing angle control module 42, for according to revised current magnetometer data, wearing display equipment described in control
Visual angle.
Optionally, the magnetometer data correcting module 41 is used for：
It is in the initial time of predetermined state in the course angular direction identifying the display equipment of wearing, obtains institute
The reference magnetometer data that magnetometer sensor reports under the corresponding initial reference posture of the initial time is stated, and will be described
With reference to magnetometer data be stored in described in wear display equipment in；In the predetermined state duration, by the reference
Magnetometer data is as revised current magnetometer data.
Optionally, the viewing angle control module 42 is used for：
The reference rotation reported under the initial reference posture according to the gyro sensor for wearing display equipment
Direction carries out coordinate conversion to described with reference to magnetometer data, obtains transformed with reference to magnetometer data；
The current direction of rotation reported according to the gyro sensor to the revised current magnetometer data into
Row coordinate is converted, and transformed current magnetometer data is obtained；
Calculate the transformed angle with reference to magnetometer data between the transformed current magnetometer data
Data；
The current direction of rotation of the gyro sensor is compensated according to the angle data, after being compensated
Direction of rotation, and according to the visual angle for wearing display equipment described in the direction of rotation control after the compensation；
Wherein, it is described with reference to magnetometer data and the current magnetometer data be body coordinate system under data, it is described
It is transformed with reference to magnetometer data and the transformed current magnetometer data be world coordinate system under data.
Optionally, the motion state identification module 40 includes storage unit and motion state discriminating unit, wherein described
Storage unit is for storing course angle data threshold；
The motion state discriminating unit, the course reported for recording the gyro sensor for wearing display equipment
Angular data is less than or equal to the duration of course angle data threshold；And it is more than or equal in the duration and sets in advance
When the time threshold set, display equipment is worn described in determination and is in the predetermined state in the course angular direction.
Optionally, the display equipment of wearing further includes：
Course angle data threshold computing module, for it is described wear display equipment it is static when, obtain the gyroscope and pass
First course angle average value of the course angular data that sensor reports in the first preset duration；In the display equipment of wearing in cross
Roll angle direction moves, and at pitching angular direction and static course angular direction, and it is default second to obtain the gyro sensor
Second course angle average value of the course angular data reported in duration；It is moved in pitching angular direction in the display equipment of wearing,
And at roll angular direction and static course angular direction, the boat that the gyro sensor reports in third preset duration is obtained
To the third course angle average value of angular data；From the first course angle average value, the second course angle average value and described
It is maximized in third course angle average value as the course angle data threshold, and the course angle data threshold is stored in
It is described to wear in display equipment.
One or more technical solution in the embodiment of the present invention, at least has the following technical effect that or advantage：
In the scheme of the embodiment of the present invention, wear display equipment be in predetermined state when, by wearing display equipment
Magnetometer data be modified, then, according to revised current magnetometer data, accurately control and wear display equipment and regard
Angle, it is seen then that said program solves number existing in the prior art, the magnetometer sensor due to wearing display equipment reports
According to shaking, HMD is caused the technical issues of picture generates shake occur, wears display equipment visual angle to accurately control, carry
High viewing effect.
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
The invention is not limited in specific implementation modes above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. a kind of method at the visual angles control HMD, which is characterized in that including：
Differentiate the motion state for wearing display equipment in course angular direction；
If the display equipment of wearing is in predetermined state in the course angular direction, to the magnetometer for wearing display equipment
The current magnetometer data that sensor reports is modified, and obtains revised current magnetometer data；
According to revised current magnetometer data, the visual angle of display equipment is worn described in control.
2. the method as described in claim 1, which is characterized in that reported to the magnetometer sensor for wearing display equipment
Current magnetometer data is modified, and obtains revised current magnetometer data, including：
It is in the initial time of predetermined state in the course angular direction identifying the display equipment of wearing, obtains the magnetic
The reference magnetometer data that power flowmeter sensor reports under the corresponding initial reference posture of the initial time；
In the predetermined state duration, this is counted with reference to magnetometer data as revised current magnetic force
According to.
3. method as claimed in claim 2, which is characterized in that it is described according to revised current magnetometer data, control institute
It states to wear and shows that the visual angle of equipment includes：
The reference direction of rotation reported under the initial reference posture according to the gyro sensor for wearing display equipment
Coordinate conversion is carried out with reference to magnetometer data to described, is obtained transformed with reference to magnetometer data；
The revised current magnetometer data is sat in the current direction of rotation reported according to the gyro sensor
Mark conversion, obtains transformed current magnetometer data；
Calculate the transformed angle data with reference to magnetometer data between the transformed current magnetometer data；
The current direction of rotation of the gyro sensor is compensated according to the angle data, the rotation after being compensated
Direction, and according to the visual angle for wearing display equipment described in the direction of rotation control after the compensation；
Wherein, described with reference to magnetometer data and the current magnetometer data is the body coordinate system for wearing display equipment
Under data, it is described it is transformed with reference to magnetometer data and the transformed current magnetometer data be under world coordinate system
Data.
4. the method as described in claim 1, which is characterized in that movement of the display equipment in course angular direction is worn in the discriminating
State includes：
It is worn described in record and shows that the course angular data that the gyro sensor of equipment reports is less than or equal to course angular data
The duration of threshold value；
If the duration is more than or equal to pre-set time threshold, it is determined that the display equipment of wearing is described
Course angular direction is in the predetermined state.
5. method as described in claim 1 or 4, which is characterized in that the predetermined state, which includes stationary state, wears display sets
For the state only moved on roll angular direction and wear the three kinds of states of state for showing that equipment only moves on pitching angular direction
In it is one or more.
6. method as claimed in claim 5, which is characterized in that the method for calculating the course angle data threshold includes：
According to one or more of the first course angle average value, the second course angle average value and third course angle average value, really
The fixed course angle data threshold；
Wherein, the first course angle average value be it is described wear display equipment remain static when, according to the gyro
The average value that the course angular data that instrument sensor reports in the first preset duration is calculated；
The second course angle average value is to wear display equipment only when being moved on roll angular direction, according to the top described
The average value that the course angular data that spiral shell instrument sensor reports in the second preset duration is calculated；
The third course angle average value is to wear display equipment only when being moved on pitching angular direction, according to the top described
The average value that the course angular data that spiral shell instrument sensor reports in third preset duration is calculated.
7. one kind wearing display equipment, which is characterized in that including：
Motion state identification module, for differentiating the motion state for wearing display equipment in course angular direction；
Magnetometer data correcting module, for showing equipment when the course angular direction is in predetermined state in described wear,
The current magnetometer data reported to the magnetometer sensor for wearing display equipment is modified, and is obtained revised current
Magnetometer data；
Viewing angle control module, for according to revised current magnetometer data, the visual angle of display equipment to be worn described in control.
8. wearing display equipment as claimed in claim 7, which is characterized in that the magnetometer data correcting module is used for：
It is in the initial time of predetermined state in the course angular direction identifying the display equipment of wearing, obtains the magnetic
The reference magnetometer data that power flowmeter sensor reports under the corresponding initial reference posture of the initial time, and by the reference
Magnetometer data is stored in described wear in display equipment；In the predetermined state duration, this is referred into magnetic force
It counts as revised current magnetometer data.
9. wearing display equipment as claimed in claim 8, which is characterized in that the viewing angle control module is used for：
The reference direction of rotation reported under the initial reference posture according to the gyro sensor for wearing display equipment
Coordinate conversion is carried out with reference to magnetometer data to described, is obtained transformed with reference to magnetometer data；
The revised current magnetometer data is sat in the current direction of rotation reported according to the gyro sensor
Mark conversion, obtains transformed current magnetometer data；
Calculate the transformed angle data with reference to magnetometer data between the transformed current magnetometer data；
The current direction of rotation of the gyro sensor is compensated according to the angle data, the rotation after being compensated
Direction, and according to the visual angle for wearing display equipment described in the direction of rotation control after the compensation；
Wherein, described with reference to magnetometer data and the current magnetometer data is the body coordinate system for wearing display equipment
Under data, it is described it is transformed with reference to magnetometer data and the transformed current magnetometer data be under world coordinate system
Data.
10. wearing display equipment as claimed in claim 7, which is characterized in that the motion state identification module includes storage
Unit and motion state discriminating unit, wherein
The storage unit is for storing course angle data threshold；
The motion state discriminating unit, the course angle number reported for recording the gyro sensor for wearing display equipment
According to the duration less than or equal to course angle data threshold；And it is more than or equal in the duration pre-set
When time threshold, display equipment is worn described in determination and is in the predetermined state in the course angular direction.
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| CN201710012497 | 2017-01-09 | ||
| CN2017100124972 | 2017-01-09 |
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| CN108287607B (en) | 2021-05-11 |
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