CN108414978A - A kind of expansible base station array, optical tracking system and its tracking - Google Patents
A kind of expansible base station array, optical tracking system and its tracking Download PDFInfo
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- CN108414978A CN108414978A CN201810126032.4A CN201810126032A CN108414978A CN 108414978 A CN108414978 A CN 108414978A CN 201810126032 A CN201810126032 A CN 201810126032A CN 108414978 A CN108414978 A CN 108414978A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention discloses a kind of expansible base station array, optical tracking system and its trackings, realize the extension of base station, and more accurate, quick signal sorting is realized by preset offset layout, to obtain more accurate, efficient tracking system and tracking.The technical scheme is that：A kind of expansible base station array is arranged total m × n base station and is formed by m rows, n, and wherein scanning range has overlapping between adjacent base station, and with same row base station, when being arranged in a straight line with a line base station, each base station present position is in situ.Line number and columns are all odd number or are all that the base station of even number is set to original position.The line number base station different with the odd even of columns is set at the offset of lower right setting in situ.Scanning range has overlapping between the offset of setting ensures adjacent base station.The present invention provides corresponding optical tracking system and its tracking for the base station array.
Description
Technical field
The present invention designs optical tracking technology field, and in particular to a kind of expansible base station array, optical tracking system
And its tracking.
Background technology
HTC VIVE are made of transmitter base station and photoreceiver.Ejector system can send out periodicity light signal to
Track region is scanned, and after receiver receives the scanning signal of transmitter, converts optical signals to digital signal, to obtain
Image coordinate of the receiver relative to transmitter, after a certain number of receivers are scanned, using computer vision algorithms make
Obtain the spatial pose of the rigid body of receiver composition.
The operation principle of HTC VIVE is specially：
The tracking system of HTC VIVE includes 2 transmitter base stations, 1 Helmet Mounted Display and 2 handles.The helmet is shown
Dozens of photoreceiver is installed, when the infrared light scanning signal of base station is received by a certain number of receivers on device and handle
When, the spatial position of Helmet Mounted Display and handle can be calculated, to realize the posture tracking of user.Wherein HTC VIVE's
The composed structure of tracking system is as shown in Figure 2.
Although as long as the optical signal that receiver receives a Base Transmitter can be achieved with tracking, in order to avoid blocking and
Expand following range, system has used two transmitter base stations, shared out the work the time by controller, to ensure in the same period
Only tracing area is scanned there are one transmitter.For a transmitter, when work, allows its built-in infrared LED light to be dodged first
It is bright primary, entire tracing area is illuminated, receiver receives starting of the signal as a frame information, and subsequent transmitter using face swashs
Light device is in X direction scanned tracing area, is received between X-direction scanning signal and initial signal under receiver is recordable
Time difference t1.Subsequent transmitter emits a frame start signal again, after device to be received receives, along the Y direction using planar laser
Scanning receives the time difference t between Y-direction scanning signal and the frame start signal under receiver is recordable2, one of hair
Receiver response wave shape figure when emitter works is as shown in Figure 3.
It can be seen that the wider of the pulse width ratio scanning signal of initial signal in Fig. 3, initial signal can be distinguished accordingly
And scanning signal.If the angular scanning speed of planar laser is ω, image coordinate of the receiver in the transmitter is represented by：
Two base stations can be attached at work by synchronous cable, to ensure that the two signal will not interfere with each other,
Two transmitters one are operated under b patterns at this time, and one is operated under a patterns, and scanning signal and the receiver of base station receive
Pulse signal it is available as shown in Figure 4.
As seen from Figure 4, the synchronizing signal of b multi-mode base stations and a multi-mode base stations is normally sent out in each period, and b
The pulsewidth of multi-mode base station synchronizing signal is wider and relatively narrow the 2nd period the 1st period.The synchronizing signal arteries and veins of a multi-mode base stations
It is wide with b multi-mode base stations on the contrary, relatively narrow and wider the 2nd period the 1st period.The scanning signal of b multi-mode base stations is only the 1st
A cycling, and the scanning signal of a multi-mode base stations is only in the 2nd cycling.When two base stations work at the same time, receiver
It can judge the scanning signal sends out for which base station according to the width sequence of two synchronizing signals before scanning signal.To scheme
For 4, tbxWith tbySynchronizing signal pulsewidth sequence before corresponding scanning signal is first narrow rear wide, then the scanning signal is by b moulds
Formula base station is sent out, taxWith taySynchronizing signal pulsewidth sequence before corresponding scanning signal be it is first wide after narrow, the then scanning signal
It is sent out by a multi-mode base stations, thus can calculate image coordinate of the receiver in 2 base stations.
It can be seen that HTC VIVE need transmitter first to send out a frame synchronization scanning signal in tracking, it is then right successively again
Both horizontally and vertically it is scanned.When multiple transmitters cascade in use, in order to avoid signal interference, in the same period only
A transmitter job, this refresh rate for causing the system to be cascaded when using in multi-emitter can be allowed to decline at double.Due to tracking
Region is bigger, and the transmitter needed is more, therefore in order to ensure enough tracking data refresh rates, current HTC VIVE systems
Two transmitters are only used, and its tracing area is also limited in the space of 5m × 5m.
The tracking efficiency of HTC VIVE systems is promoted, the extension layout structure of base station may be used, do not have
The base station of preset offset extends layout structure as shown in fig. 7, in Fig. 7, and center position is base station, and number thereon is base station
Number, i.e., 00,01,10,11；Surrounding frame region represents the scanning range of base station, and x, y are the laser scanning side of both direction
To.This expansion mode will not occupy the mobile space of ground user of service completely, and extremely convenient to the progress of each base station
Number reduces many difficulties for the realization of subsequent algorithm.
But after using the layout type of Fig. 7, when being worked, the signal in No. 1 position in figure is as shown in Figure 8.
As can be seen that in the case of no rigging error, only there are one scanning signals (because two base stations in left and right are complete for Y-direction
It is synchronous, so signal overlap is together).Similarly, No. 2 positions, only there are one scanning signals for X-direction.
It is contemplated that when assembly, there may be some errors, lead to Y-direction signal bifurcated, become two close proximities
Scanning signal.It is this kind of when happening, it may be difficult to differentiate which base station Y-signal should belong to, it will drop to a certain extent
The tracking accuracy of low tracking system.
Invention content
In view of this, the present invention provides a kind of expansible base station array, optical tracking system and its tracking, it is real
The extension of base station is showed, and has realized more accurate, quick signal sorting by preset offset layout, to obtain more
Accurately, efficient tracking system and tracking.
In order to achieve the above objectives, the technical scheme is that：
A kind of expansible base station array is arranged total m × n base station and is formed, wherein scanning range between adjacent base station by m rows, n
There is overlapping, each base station present position is in situ with same row base station, when being arranged in a straight line with a line base station.
Line number and columns are all odd number or are all that the base station of even number is set to original position.
The line number base station different with the odd even of columns is set at the offset of lower right setting in situ.
Scanning range has overlapping between the offset of setting ensures adjacent base station.
The embodiment of the present invention additionally provides a kind of optical tracking system based on expansible base station array, and system includes can
Base station array, strobe, receiver, isochronous controller and the central processing unit of extension；System be used for target to be tracked into
Line trace.
Expansible base station array use above-mentioned expansible base station array, expansible base station array be parallel to wait for
Plane residing for track target, and expansible base station array is higher than plane sets height value residing for target to be tracked.
Each base station is correspondingly arranged a strobe in expansible base station array.
Each base station and its corresponding strobe are connected to isochronous controller in expansible base station array.
Isochronous controller control strobe emits commencing signal before respective base station is scanned, and by the hair of commencing signal
Penetrating the time is sent to central processing unit.
Receiver is set in target to be tracked, receives the scanning signal of base station in expansible base station array, and will sweep
The receiving time for retouching signal feeds back to central processing unit.
When the reception for the scanning signal that central processing unit is directed to same base station according to the launch time of commencing signal, receiver
Between and the inside and outside parameter of calibrated base station calculate the pose of the receiver.
The embodiment of the present invention additionally provides a kind of optical tracking method based on expansible base station array, and tracking is used
In, into line trace, including the following steps to target to be tracked：
S1, receiver is set in target to be tracked.
S2, commencing signal is emitted using strobe, is received by receiver.
S3, the expansible base station array provided using above-described embodiment first carry out target to be tracked the directions x scanning, again
The scanning for carrying out the directions y, records receiving time of the target to be tracked to the directions x and the directions y scanning signal respectively.
S4, judge receiving time respective base station of the target to be tracked to the directions x and the directions y scanning signal.
S5, according to launch time of commencing signal, receiver for the scanning signal of same base station receiving time and
Setting height value calculates the pose of receiver.
Further, S4 is specially：
The minimum unit of base station array is by the 2 rows 2 row cell array that totally 4 base stations form；The scanning area of cell array
Domain is divided into 4 classes, respectively first area, second area, third region and the fourth region；Wherein first area is to be only capable of by one
The region of the scanning range covering of a base station；Second area is can be by the region of the scanning range covering of two base stations；Third area
Domain is can be by the region of the scanning range covering of three base stations；The fourth region is can be by the area of the scanning range covering of four base stations
Domain.
The scanning range of base station array is projected to plane residing for target to be tracked, is judged single belonging to target location to be tracked
Element array, and there are following four kinds of situations：
If target location to be tracked, in the first area of said units array, target to be tracked only receives a base station
The directions an x scanning signal and the directions a y scanning signal.
If target location to be tracked is in the second area of said units array, intended recipient to be tracked to corresponding two bases
The direction scanning signals of x twice stood and the twice directions y scanning signal, according to target to be tracked position judgment two in the second area
The corresponding base station of receiving time of the secondary directions x scanning signal, and the corresponding base of receiving time of the directions y scanning signal twice
It stands.
If target location to be tracked is in the third region of said units array, intended recipient to be tracked to corresponding three bases
The direction scanning signals of x three times stood and the three times directions y scanning signal, and the receiving time of scanning signal is fed back into central processing
Device, receiving time pair of the central processing unit according to the target to be tracked position judgment directions x scanning signal three times in third region
The base station answered, and the corresponding base station of receiving time of the directions y scanning signal three times.
If target location to be tracked is in the fourth region of said units array, intended recipient to be tracked to corresponding four bases
Four directions the x scanning signals and four directions y scanning signals stood, and the receiving time of scanning signal is fed back into central processing
Device, receiving time pair of the central processing unit according to target to be tracked four directions x scanning signals of position judgment in the fourth region
The base station answered and the corresponding base station of receiving time of four directions y scanning signals.
Advantageous effect：
1, an embodiment of the present invention provides a kind of expansible base station arrays is owned using the form of preset offset layout
Base station signal can smoothly be sorted very much, and due to the periodicity of its layout, when extended base station, there will not be any
Problem still ensure that the infinite expanding of base station, ensure the significantly extension of following range.And this kind of preset offset layout is realized
More accurate, quick signal sorting provides base for more accurate, the efficient tracking system of follow-up composition and tracking
Plinth.
2, the embodiment of the present invention additionally provides a kind of optical tracking system based on expansible base station array, the system needle
Optically tracked system design is carried out to expansible base station array, is laid out as a result of the base station array of preset offset layout
Form can realize more accurate, quick signal sorting, therefore the optical tracking system can quickly distinguish each base station
The scanning signal time thus allows for accurate, efficient optical tracking.
3, an embodiment of the present invention provides a kind of base station array based on extension optical tracking method, this method is based on
The optical tracking system of expansible base station array carries out optical tracking, gives the side for carrying out the sorting of signal accurately and fast
Method can quickly distinguish the scanning signal time of each base station, thus allow for accurate, efficient optical tracking.
Description of the drawings
Fig. 1 is a kind of cell array layout structure figure of expansible base station array provided in an embodiment of the present invention；
Fig. 2 is the composite structural diagram of the tracking system for the HTC VIVE that the present invention is directed to；
Receiver response wave shape figure when Fig. 3 is a transmitter job in the HTC VIVE that the present invention is directed to；
Fig. 4 is base station scans signal and receiver response relation figure in the HTC VIVE that the present invention is directed to；
Fig. 5 is tracking flow chart provided in an embodiment of the present invention；
Fig. 6 is the optical tracking system layout structure figure provided by the invention using expansible base station array；
Fig. 7 is that the base station without preset offset extends layout structure figure；
Fig. 8 is the signal schematic representation that traditional base station extends signal crossover region under layout structure；
Fig. 9 is expansible base station array layout structure figure provided in an embodiment of the present invention；
Figure 10 is the regional distribution chart of expansible base station array layout provided in an embodiment of the present invention；
Figure 11 (a) is directed to target location to be tracked in the first area of said units array to be provided in an embodiment of the present invention
In the case of the scanning signal state diagram of the direction x, y；
Figure 11 (b) is directed to target location to be tracked in the first area of said units array to be provided in an embodiment of the present invention
In the case of the direction x, y scanning signal receiving time precedence diagram；
Figure 12 (a) be it is provided in an embodiment of the present invention for target location to be tracked said units array second area
In the case of the scanning signal state diagram of the direction x, y；
Figure 12 (b) be it is provided in an embodiment of the present invention for target location to be tracked said units array second area
In the case of the direction x, y scanning signal receiving time precedence diagram；
Figure 13 (a) is directed to target location to be tracked in the third region of said units array to be provided in an embodiment of the present invention
In the case of the scanning signal state diagram of the direction x, y；
Figure 13 (b) is directed to target location to be tracked in the third region of said units array to be provided in an embodiment of the present invention
In the case of the direction x, y scanning signal receiving time precedence diagram；
Figure 14 (a) be it is provided in an embodiment of the present invention for target location to be tracked said units array the fourth region
In the case of the scanning signal state diagram of the direction x, y；
Figure 14 (b) be it is provided in an embodiment of the present invention for target location to be tracked said units array the fourth region
In the case of the direction x, y scanning signal receiving time precedence diagram.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Embodiment 1
The present invention provides a kind of expansible base station array, the layout structure of the array by m rows, n as shown in figure 9, arranged
Total m × n base station composition, wherein scanning range has overlapping between adjacent base station, with same row base station, be straight line with a line base station
Each base station present position is in situ when arrangement.
Line number and columns are all odd number or are all that the base station of even number is set to original position.
The line number base station different with the odd even of columns is set at the offset of lower right setting in situ.Offset is advance
The numerical value of setting.
Scanning range has overlapping between the offset of setting ensures adjacent base station.
The minimum unit of expansible base station array provided in an embodiment of the present invention arranges totally 4 base stations by 2 rows 2 and forms
Cell array, cell array layout structure are as shown in Figure 1.
The embodiment of the present invention provides a kind of specific set-up mode：At a distance of 4 meters between the origin of base station, apart from ground level 4
The preset offset of rice, base station is 25 centimetres.
Station layout mode provided in an embodiment of the present invention is preset offset layout, and base station is divided into (0,1,2 ..., m) row
It is arranged with (0,1,2 ..., n), base station is numbered according to its ranks number, be all then odd number by all ranks numbers or be all idol
Several base stations keeps in situ, a distance is moved in the different base station of odd even by a small margin to the right, as shown in figure 9, of the invention
Can also be arranged in embodiment to the right with each mobile 20cm in lower section.Scanning range has lap between ensureing adjacent base station.
After completing the layout, all base station signals can be sorted smoothly very much, and due to the periodicity of its layout, extend base
It there will not be any problem when standing, still ensure that the infinite expanding of base station, ensure the significantly extension of following range.
Embodiment 2
The embodiment of the present invention proposes optical tracking system as shown in FIG. 6 based on above-mentioned expansible base station array, is
System includes expansible base station array, strobe, receiver, isochronous controller and central processing unit；System for treat with
Track target is into line trace.
For expansible base station array using expansible base station array as claimed in claim 1, expansible base station array is flat
Row plane residing for target to be tracked, and expansible base station array is higher than plane sets height value residing for target to be tracked.
Each base station is correspondingly arranged a strobe in expansible base station array.
Each base station and its corresponding strobe are connected to isochronous controller in expansible base station array.
Isochronous controller control strobe emits commencing signal before respective base station is scanned, and by the hair of commencing signal
Penetrating the time is sent to central processing unit.
Receiver is set in target to be tracked, receives the scanning signal of base station in expansible base station array, and will sweep
The receiving time for retouching signal feeds back to central processing unit.
When the reception for the scanning signal that central processing unit is directed to same base station according to the launch time of commencing signal, receiver
Between and the inside and outside parameter of calibrated base station calculate the pose of the receiver, wherein the calibration for base station uses this field
Universal method.
Embodiment 3
For the above-mentioned optical tracking system based on expansible base station array, the embodiment of the present invention additionally provides a kind of base
In the optical tracking method of expansible base station array, flow as shown in figure 5, the tracking be used for target to be tracked into
Line trace；
S1, receiver is set in target to be tracked；
S2, commencing signal is emitted using the strobe being arranged in setting height, is received by receiver；
It is S3, advanced to target to be tracked using the expansible base station array as claimed in claim 1 being arranged in setting height
The scanning of the directions row x, the scanning for carrying out the directions y again, record reception of the target to be tracked to the directions x and the directions y scanning signal respectively
Time；
S4, judge receiving time respective base station of the target to be tracked to the directions x and the directions y scanning signal；
S5, according to launch time of commencing signal, receiver for the scanning signal of same base station receiving time and
Setting height calculates the pose of receiver.
Wherein S4 is specially：
The minimum unit of base station array is by the 2 rows 2 row cell array that totally 4 base stations form.
The scanning area of cell array is divided into 4 classes, respectively first area, second area, third region and the 4th area
Domain.
Wherein first area is to be only capable of by the region of the scanning range covering of a base station；Second area is can be by two bases
The region for the scanning range covering stood；Third region is can be by the region of the scanning range covering of three base stations；The fourth region is
It can be by the region of the scanning range covering of four base stations；Area distribution is as shown in Figure 10.
The scanning range of base station array is projected to plane residing for target to be tracked, is judged single belonging to target location to be tracked
Element array, and there are following four kinds of situations：
If target location to be tracked, in the first area of said units array, target to be tracked only receives a base station
The directions an x scanning signal and the directions a y scanning signal.It can directly judge that the scanning signal for belonging to the same base station connects
Between time receiving.
If target location to be tracked is in the second area of said units array, intended recipient to be tracked to corresponding two bases
The direction scanning signals of x twice stood and the twice directions y scanning signal, and the receiving time of scanning signal is fed back into central processing
Device, receiving time pair of the central processing unit according to the target to be tracked position judgment directions x scanning signal twice in the second area
The base station answered, and the corresponding base station of receiving time of the directions y scanning signal twice are directed to same base station to obtain receiver
Scanning signal receiving time.
If target location to be tracked is in the third region of said units array, intended recipient to be tracked to corresponding three bases
The direction scanning signals of x three times stood and the three times directions y scanning signal, and the receiving time of scanning signal is fed back into central processing
Device, receiving time pair of the central processing unit according to the target to be tracked position judgment directions x scanning signal three times in third region
The base station answered, and the corresponding base station of receiving time of the directions y scanning signal three times are directed to same base station to obtain receiver
Scanning signal receiving time.
If target location to be tracked is in the fourth region of said units array, intended recipient to be tracked to corresponding four bases
Four directions the x scanning signals and four directions y scanning signals stood, and the receiving time of scanning signal is fed back into central processing
Device, receiving time pair of the central processing unit according to target to be tracked four directions x scanning signals of position judgment in the fourth region
The base station answered and the corresponding base station of receiving time of four directions y scanning signals, and according to the launch time of commencing signal,
Receiver calculates the pose of receiver for the receiving time and setting height value of the scanning signal of same base station.
In the embodiment of the present invention, four points of selection are stated as specific example in all areas：As shown in Figure 10,
No. 1 position is in first area, is only capable of being arrived by (0,0) number base station scans；No. 2 positions are in second area, can be simultaneously by (0,1)
Number base station and (1,1) number base station scans；No. 3 positions are in third region, can be simultaneously by (0,1), (1,0) and (1,1) number base station
It scans；No. 4 positions are in the fourth region, can be arrived simultaneously by (0,0), (0,1), (1,0), (1,1) number base station scans.
No. 1 position is analyzed first.Shown in scanning mode such as Figure 11 (a), the scanning optical signal that receiver R is received is such as
Shown in Figure 11 (b).Then according to two temporal informations in technical solution 2, have been obtained after, in conjunction with known height H, can calculate
Go out the pose of this point (receiver R).
Then No. 2 positions are analyzed.Shown in scanning mode such as Figure 12 (a), in the direction x, y, it is different to overlap situation；It connects
It receives shown in scanning optical signal such as Figure 12 (b) that device R is received.According to known scanning sequency, can distinguish each in Figure 12 (b)
Which base station a signal comes from, and then problem is just identical as No. 1 position, no matter extracting the corresponding scanning letter in that base station
Number, can be according to two temporal informations in technical solution 2, have been obtained after, in conjunction with known height H, this can be calculated
The pose of point.
No. 3 positions are analyzed again.Shown in scanning mode such as Figure 13 (a), in the direction x, y, it is different to overlap situation；It receives
Shown in scanning optical signal such as Figure 13 (b) that device R is received.According to known scanning sequency, can distinguish each in Figure 13 (b)
Which base station signal comes from, and then problem is equally identical as No. 1 position, no matter extracting the corresponding scanning letter in that base station
Number, can be according to two temporal informations in technical solution 2, have been obtained after, in conjunction with known height H, this can be calculated
The pose of point.
Finally No. 4 positions are analyzed.Shown in scanning mode such as Figure 14 (a), in the direction x, y, it is different to overlap situation；It connects
It receives shown in scanning optical signal such as Figure 14 (b) that device R is received.According to known scanning sequency, can distinguish each in Figure 14 (b)
Which base station a signal comes from, and then problem is equally identical as No. 1 position, no matter extracting the corresponding scanning letter in that base station
Number, can be according to two temporal informations in technical solution 2, have been obtained after, in conjunction with known height H, this can be calculated
The pose of point.
According to above-described embodiment, the period where the position occurred according to signal can tell the scanning direction of signal,
Meanwhile may know that the number for the base station for sending out the signal according to the sequence that signal occurs, red color area is just distinguished with this completely
The signal source of all signals in domain, also can combination technology scheme 2 computational methods calculate at this time be tracked object institute
Spatial position.
By the method for this " preset offset layout ", for scanning signal with this " pre- sequence ", greatly reduce
Later stage algorithm and the pressure on software, improve the calculating speed and precision of pose, are more favorable for the tracking of object.
So far, when just completely solving more base stations and being carried out at the same time tracking, signal is excessively complicated and the problem of be difficult to differentiate between.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (4)
1. a kind of expansible base station array is arranged total m × n base station and formed by m rows, n, wherein there is scanning range between adjacent base station
Overlapping, which is characterized in that each base station present position is in situ with same row base station, when being arranged in a straight line with a line base station；
Line number and columns are all odd number or are all that the base station of even number is set to original position；
The line number base station different with the odd even of columns is set at the offset of lower right setting in situ；
Scanning range has overlapping between the offset of the setting ensures adjacent base station.
2. a kind of optical tracking system based on expansible base station array, which is characterized in that the system comprises expansible
Base station array, strobe, receiver, isochronous controller and central processing unit；The system is used to carry out target to be tracked
Tracking；
The expansible base station array is using expansible base station array as described in claim 1, the expansible base
It stands array parallel plane residing for target to be tracked, and the expansible base station array is put down higher than residing for the target to be tracked
Face setting height value；
Each base station is correspondingly arranged a strobe in the expansible base station array；
Each base station and its corresponding strobe are connected to the isochronous controller in the expansible base station array；
The isochronous controller controls the strobe and emits commencing signal before respective base station is scanned, and by the beginning
The launch time of signal is sent to the central processing unit；
The receiver is set in target to be tracked, receives the scanning signal of base station in the expansible base station array, and
The receiving time of the scanning signal is fed back into the central processing unit；
The central processing unit is directed to connecing for the scanning signal of same base station according to the launch time of the commencing signal, receiver
Between time receiving and the inside and outside parameter of calibrated base station calculates the pose of the receiver.
3. a kind of optical tracking method based on expansible base station array, which is characterized in that the tracking is for treating
Target is tracked into line trace；This method comprises the following steps：
S1, receiver is set in the target to be tracked；
S2, commencing signal is emitted using the strobe being arranged in setting height, is received by the receiver；
S3, using the expansible base station array as described in claim 1 in setting height is arranged to the target to be tracked
The scanning for first carrying out x direction scannings, carrying out the directions y again records the target to be tracked to the directions x and the directions y scanning letter respectively
Number receiving time；
S4, judge receiving time respective base station of the target to be tracked to the directions x and the directions y scanning signal；
S5, the launch time according to the commencing signal, receiver for same base station scanning signal receiving time and
The calibrated base station inside and outside parameter calculates the pose of the receiver.
4. optical tracking method as claimed in claim 3, which is characterized in that the S4 is specially：
The minimum unit of the base station array is by the 2 rows 2 row cell array that totally 4 base stations form；The cell array is swept
It retouches region and is divided into 4 classes, respectively first area, second area, third region and the fourth region；Wherein first area is to be only capable of
By the region of the scanning range covering of a base station；Second area is can be by the region of the scanning range covering of two base stations；The
Three regions are can be by the region of the scanning range covering of three base stations；The fourth region is that can be covered by the scanning range of four base stations
Region；
The scanning range of the base station array is projected to plane residing for the target to be tracked, judges the target position to be tracked
Said units array is set, and there are following four kinds of situations：
If the target location to be tracked only receives one in the first area of said units array, the target to be tracked
The directions an x scanning signal of base station and the directions a y scanning signal；
If the target location to be tracked is in the second area of said units array, the intended recipient to be tracked to corresponding two
The direction scanning signals of x twice of a base station and the twice directions y scanning signal, according to the target to be tracked position in the second area
Set the corresponding base station of receiving time for judging the directions x scanning signal twice, and the receiving time pair of the directions y scanning signal twice
The base station answered；
If the target location to be tracked is in the third region of said units array, the intended recipient to be tracked to corresponding three
The direction scanning signals of x three times of a base station and the three times directions y scanning signal, and the receiving time of scanning signal fed back to described
Central processing unit, the central processing unit according to the target to be tracked, scan position judgment three times in third region by the directions x
The corresponding base station of receiving time of signal, and the corresponding base station of receiving time of the directions y scanning signal three times；
If the target location to be tracked is in the fourth region of said units array, the intended recipient to be tracked to corresponding four
Four directions x scanning signals of a base station and four directions y scanning signals, and the receiving time of scanning signal fed back to described
Central processing unit, the central processing unit four directions x scanning of position judgment in the fourth region according to the target to be tracked
The corresponding base station of receiving time of signal and the corresponding base station of receiving time of four directions y scanning signals.
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Inventor after: Weng Dongdong Inventor after: Xun Hang Inventor after: Li Dong Inventor after: Hu Xiang Inventor after: Li Yue Inventor after: Luo Le Inventor before: Weng Dongdong Inventor before: Xun Hang Inventor before: Li Dong Inventor before: Hu Xiang Inventor before: Li Yue |