CN108414978B - Extensible base station array, optical tracking system and tracking method thereof - Google Patents
Extensible base station array, optical tracking system and tracking method thereof Download PDFInfo
- Publication number
- CN108414978B CN108414978B CN201810126032.4A CN201810126032A CN108414978B CN 108414978 B CN108414978 B CN 108414978B CN 201810126032 A CN201810126032 A CN 201810126032A CN 108414978 B CN108414978 B CN 108414978B
- Authority
- CN
- China
- Prior art keywords
- base station
- base stations
- tracked
- target
- scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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 an expandable base station array, an optical tracking system and a tracking method thereof, which realize the expansion of base stations and realize more accurate and rapid signal sorting by presetting offset layout, thereby obtaining a more accurate and efficient tracking system and a tracking method. The technical scheme of the invention is as follows: an expandable base station array is composed of m rows and n columns of m x n base stations, where the scanning ranges of adjacent base stations are overlapped and the positions of all base stations are in original position when the base stations in the same row and the base stations in the same row are all arranged in straight line. The base stations with odd or even numbers of rows and columns are disposed in the home position. Base stations with different parity numbers of rows and columns are arranged at offset set at the lower right of the home position. The set offset ensures that the scanning ranges between adjacent base stations are overlapped. The invention provides a corresponding optical tracking system and a tracking method thereof aiming at the base station array.
Description
Technical Field
The invention relates to the technical field of optical tracking, in particular to an extensible base station array, an optical tracking system and a tracking method thereof.
Background
The HTC VIVE consists of a transmitter base station and a photoreceiver. The emitter system can emit periodic optical signals to scan the tracking area, the receiver converts the optical signals into digital signals after receiving the scanning signals of the emitter, and therefore image coordinates of the receiver relative to the emitter are obtained, and when a certain number of receivers are scanned, the space pose of a rigid body formed by the receivers can be obtained through a computer vision algorithm.
The working principle of the HTC VIVE is as follows:
the tracking system of the HTC VIVE comprises 2 transmitter base stations, 1 helmet display and 2 handles. Tens of photosensitive receivers are arranged on the helmet display and the handle, and when infrared scanning signals of the base station are received by a certain number of receivers, the spatial positions of the helmet display and the handle can be calculated, so that the pose tracking of a user is realized. The component structure of the tracking system of the HTC VIVE is shown in fig. 2.
Although the receiver can realize tracking by receiving the optical signal transmitted by one base station, in order to avoid blocking and enlarging the tracking range, the system uses two transmitter base stations, and the controller allocates the working time to ensure that only one transmitter scans the tracking area in the same time period. For a transmitter, when in operation, firstly, the built-in infrared LED lamp flickers once to illuminate the whole tracking area, the receiver receives the signal as the start of a frame of information, then the transmitter uses a surface laser to scan the tracking area along the X direction, and the receiver can record the time difference t between the received X-direction scanning signal and the start signal1. Then the emitter emits a frame start signal again, after the receiver receives the frame start signal, the surface laser is used for scanning along the Y direction, and the receiver can record the time difference t between the Y direction scanning signal and the frame start signal2The waveform of the receiver response when one of the transmitters is operating is shown in figure 3.
As can be seen in fig. 3, the pulse width of the start signal is wider than that of the scan signal, whereby the start signal and the scan signal can be distinguished. If the scanning angular velocity of the surface laser is ω, the image coordinates of the receiver in the transmitter can be expressed as:
two base stations can be connected through a synchronous cable during operation to ensure that signals of the two base stations do not interfere with each other, and at the moment, two transmitters work in a mode b and one transmitter works in a mode a, and a scanning signal of the base station and a pulse signal received by a receiver can be used as shown in fig. 4.
As can be seen from fig. 4, the synchronization signals of the b-mode base station and the a-mode base station are normally sent out in each period, and the pulse width of the synchronization signal of the b-mode base station is wider in the 1 st period and narrower in the 2 nd period. The pulse width of the synchronization signal of the a-mode base station is opposite to that of the b-mode base station, and is narrower in the 1 st period and wider in the 2 nd period. The scanning signal of the b-mode base station works only in the 1 st period, and the scanning signal of the a-mode base station works only in the 2 nd period. When two base stations work simultaneously, the receiver can judge which base station the scanning signal sent out according to the width sequence of two synchronous signals before the scanning signal. Taking FIG. 4 as an example, tbxAnd tbyThe pulse width sequence of the synchronous signal before the corresponding scanning signal is narrow first and then wide, the scanning signal is sent by the b-mode base station, taxAnd tayThe pulse width sequence of the synchronous signal before the corresponding scanning signal is firstly wide and then narrow, the scanning signal is sent by the a-mode base station, and therefore the image coordinates of the receiver in 2 base stations can be calculated.
It can be seen that HTC VIVE requires the transmitter to send a frame synchronization scanning signal before sequentially scanning in the horizontal and vertical directions during tracking. When multiple transmitters are used in cascade, only one transmitter can be operated in the same time period to avoid signal interference, which results in the refresh rate of the system being reduced by times when multiple transmitters are used in cascade. Since the larger the tracking area, the more transmitters are required, current HTC VIVE systems use only two transmitters, and their tracking area is also limited to a 5m x 5m space, in order to guarantee a sufficient tracking data refresh rate.
To improve the tracking efficiency of the HTC VIVE system, an extended layout structure of base stations may be adopted, and the extended layout structure of base stations without preset offsets is shown in fig. 7, where in fig. 7, the central position is a base station, and the numbers on the base station are the numbers of the base stations, i.e., 00, 01, 10, and 11; the surrounding frame area represents the scanning range of the base station, and x and y are the laser scanning directions in two directions. The expansion mode can not occupy the moving space of ground users completely, and each base station is numbered conveniently, so that a plurality of difficulties are reduced for the realization of subsequent algorithms.
However, when the layout of fig. 7 is used, the signal at position No. 1 in the figure is shown in fig. 8 when the operation is performed. It can be seen that there is only one scanning signal in the Y direction without assembly error (since the left and right base stations are fully synchronized, the signals overlap). Similarly, in position 2, there is only one scan signal in the X direction.
However, some errors may exist during assembly, which may cause the Y-direction signal to diverge into two closely spaced scan signals. When such a situation occurs, it is difficult to distinguish which base station the Y signal should belong to, and the tracking accuracy of the tracking system is reduced to some extent.
Disclosure of Invention
In view of this, the present invention provides an expandable base station array, an optical tracking system and a tracking method thereof, which implement expansion of base stations and implement more accurate and fast signal sorting by presetting offset layouts, thereby obtaining a more accurate and efficient tracking system and tracking method.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an expandable base station array is composed of m rows and n columns of m x n base stations, where the scanning ranges of adjacent base stations are overlapped and the positions of all base stations are in original position when the base stations in the same row and the base stations in the same row are all arranged in straight line.
The base stations with odd or even numbers of rows and columns are disposed in the home position.
Base stations with different parity numbers of rows and columns are arranged at offset set at the lower right of the home position.
The set offset ensures that the scanning ranges between adjacent base stations are overlapped.
The embodiment of the invention also provides an optical tracking system based on the expandable base station array, which comprises the expandable base station array, a stroboscope, a receiver, a synchronous controller and a central processing unit; the system is used for tracking the target to be tracked.
The extensible base station array is parallel to the plane where the target to be tracked is located, and the height value of the extensible base station array is set to be higher than the plane where the target to be tracked is located.
Each base station in the expandable base station array is correspondingly provided with a stroboscope.
Each base station in the scalable base station array and its corresponding stroboscope are connected to the synchronization controller.
The synchronous controller controls the stroboscope to transmit a starting signal before scanning of the corresponding base station, and transmits the transmitting time of the starting signal to the central processing unit.
The receiver is arranged on the target to be tracked, receives the scanning signals of the base stations in the extensible base station array, and feeds back the receiving time of the scanning signals to the central processing unit.
And the central processing unit calculates the pose of the receiver according to the emission time of the starting signal, the receiving time of the receiver aiming at the scanning signal of the same base station and the calibrated internal and external parameters of the base station.
The embodiment of the invention also provides an optical tracking method based on the expandable base station array, which is used for tracking the target to be tracked and comprises the following steps:
and S1, arranging a receiver on the target to be tracked.
And S2, transmitting a starting signal by using a stroboscope and receiving the starting signal by a receiver.
S3, scanning the target to be tracked in the x direction and then scanning the target in the y direction by using the expandable base station array provided in the above embodiment, and respectively recording the receiving time of the target to be tracked to the scanning signal in the x direction and the receiving time of the target to be tracked to the scanning signal in the y direction.
And S4, judging that the receiving time of the target to be tracked to the scanning signals in the x direction and the y direction corresponds to the base station.
And S5, calculating the pose of the receiver according to the emission time of the start signal, the receiving time of the scanning signal of the receiver aiming at the same base station and the set height value.
Further, S4 specifically includes:
the minimum unit of the base station array is a unit array consisting of 4 base stations in 2 rows and 2 columns; the scanning areas of the unit array are divided into 4 types, namely a first area, a second area, a third area and a fourth area; wherein the first area is an area which can be covered by the scanning range of only one base station; the second area is an area which can be covered by the scanning ranges of the two base stations; the third area is an area which can be covered by the scanning ranges of the three base stations; the fourth area is an area that can be covered by the scanning ranges of four base stations.
Projecting the scanning range of the base station array to a plane where a target to be tracked is located, and judging a unit array to which the position of the target to be tracked belongs, wherein the following four conditions exist:
if the target to be tracked is located in the first area of the cell array, the target to be tracked only receives one x-direction scanning signal and one y-direction scanning signal of one base station.
If the position of the target to be tracked is in the second area of the unit array, the target to be tracked receives two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to the two base stations, and the base station corresponding to the receiving time of the two times of x-direction scanning signals and the base station corresponding to the receiving time of the two times of y-direction scanning signals are judged according to the position of the target to be tracked in the second area.
If the position of the target to be tracked is in the third area of the unit array, the target to be tracked receives the three times of x-direction scanning signals and the three times of y-direction scanning signals corresponding to the three base stations, and the receiving time of the scanning signals is fed back to the central processing unit, and the central processing unit judges the base station corresponding to the receiving time of the three times of x-direction scanning signals and the base station corresponding to the receiving time of the three times of y-direction scanning signals according to the position of the target to be tracked in the third area.
If the position of the target to be tracked is in the fourth area of the unit array, the target to be tracked receives four times of x-direction scanning signals and four times of y-direction scanning signals corresponding to the four base stations, and the receiving time of the scanning signals is fed back to the central processing unit, and the central processing unit judges the base station corresponding to the receiving time of the four times of x-direction scanning signals and the base station corresponding to the receiving time of the four times of y-direction scanning signals according to the position of the target to be tracked in the fourth area.
Has the advantages that:
1. the embodiment of the invention provides an extensible base station array, which adopts a preset offset layout mode, all base station signals can be successfully sorted, no problem is caused when the base stations are extended due to the periodicity of the layout, the infinite extension of the base stations is still ensured, and the large-scale extension of the tracking range is ensured. And the preset offset layout realizes more accurate and rapid signal sorting and provides a basis for the subsequent formation of a more accurate and efficient tracking system and a tracking method.
2. The embodiment of the invention also provides an optical tracking system based on the expandable base station array, which aims at the system design of the optical tracking of the expandable base station array, and can realize more accurate and rapid signal sorting due to the adoption of the base station array layout form of the preset offset layout, so that the optical tracking system can rapidly distinguish the scanning signal time of each base station, thereby being capable of performing accurate and efficient optical tracking.
3. The embodiment of the invention provides an optical tracking method based on an expandable base station array, which is based on an optical tracking system of the expandable base station array to perform optical tracking, provides a method for performing accurate and rapid signal sorting, and can rapidly distinguish scanning signal time of each base station, thereby performing accurate and efficient optical tracking.
Drawings
Fig. 1 is a diagram of a cell array layout structure of an expandable base station array according to an embodiment of the present invention;
FIG. 2 is a block diagram of the components of the tracking system of the HTC VIVE to which the present invention is directed;
FIG. 3 is a waveform illustrating a receiver response when one of the transmitters of the HTC VIVE of the present invention is operating;
FIG. 4 is a graph of base station scanning signals versus receiver response in an HTC VIVE to which the present invention is directed;
FIG. 5 is a flowchart of a tracking method provided by an embodiment of the invention;
FIG. 6 is a diagram of a layout structure of an optical tracking system using an expandable base station array according to the present invention;
FIG. 7 is a diagram of an extended layout of a base station without a preset offset;
FIG. 8 is a signal diagram of a signal overlapping region under a conventional base station expansion layout structure;
fig. 9 is a diagram of a layout structure of an expandable base station array according to an embodiment of the present invention;
fig. 10 is a region distribution diagram of a scalable base station array layout according to an embodiment of the present invention;
fig. 11(a) is a state diagram of x and y direction scanning signals for the case that the position of the target to be tracked is in the first region of the cell array according to the embodiment of the present invention;
fig. 11(b) is a receiving time sequence chart of x and y direction scanning signals for the case that the position of the target to be tracked is in the first region of the cell array according to the embodiment of the present invention;
fig. 12(a) is a state diagram of x and y direction scanning signals for the case that the position of the target to be tracked is in the second region of the cell array provided by the embodiment of the present invention;
fig. 12(b) is a receiving time sequence chart of x and y direction scanning signals for the case that the position of the target to be tracked is in the second area of the cell array provided by the embodiment of the invention;
fig. 13(a) is a state diagram of x and y direction scanning signals for the case that the position of the target to be tracked is in the third area of the cell array according to the embodiment of the present invention;
fig. 13(b) is a receiving time sequence chart of x and y direction scanning signals for the case that the position of the target to be tracked is in the third area of the cell array according to the embodiment of the present invention;
fig. 14(a) is a state diagram of x and y direction scanning signals for the case that the position of the target to be tracked is in the fourth area of the cell array provided by the embodiment of the present invention;
fig. 14(b) is a receiving time sequence chart of x and y direction scanning signals for the case that the target position to be tracked is in the fourth area of the cell array according to the embodiment of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1
The invention provides an expandable base station array, the layout structure of which is shown in fig. 9 and consists of m rows and n columns of m multiplied by n base stations, wherein the scanning ranges of adjacent base stations are overlapped, and the positions of the base stations are original positions when the base stations in the same row and the base stations in the same row are all arranged in a straight line.
The base stations with odd or even numbers of rows and columns are disposed in the home position.
Base stations with different parity numbers of rows and columns are arranged at offset set at the lower right of the home position. The offset is a preset value.
The set offset ensures that the scanning ranges between adjacent base stations are overlapped.
The minimum unit of the expandable base station array provided by the embodiment of the invention is a unit array consisting of 4 base stations in 2 rows and 2 columns, and the layout structure of the unit array is shown in fig. 1.
The embodiment of the invention provides a specific setting mode: the distance between the base station origins is 4 meters, the height from the ground is 4 meters, and the preset offset of the base station is 25 centimeters.
The base station layout method provided in the embodiment of the present invention is a preset offset layout, the base stations are divided into (0, 1, 2, …, m) rows and (0, 1, 2, …, n) columns, the base stations are numbered according to the number of rows and columns, then the base stations with all rows and columns being odd numbers or even numbers are kept in place, and the base stations with different parity numbers are moved to the lower right by a small distance, as shown in fig. 9, in the embodiment of the present invention, the base stations may be moved by 20cm to the right and to the lower. And ensuring that the scanning ranges between adjacent base stations have overlapping parts. After the layout is completed, all base station signals can be smoothly sorted, and due to the periodicity of the layout, no problem is caused when the base stations are expanded, the infinite expansion of the base stations is still ensured, and the large-amplitude expansion of the tracking range is ensured.
Example 2
The embodiment of the invention provides an optical tracking system as shown in fig. 6 based on the expandable base station array, wherein the system comprises the expandable base station array, a stroboscope, a receiver, a synchronous controller and a central processing unit; the system is used for tracking the target to be tracked.
The expandable base station array adopts the expandable base station array as claimed in claim 1, the expandable base station array is parallel to the plane where the target to be tracked is located, and the expandable base station array sets a height value higher than the plane where the target to be tracked is located.
Each base station in the expandable base station array is correspondingly provided with a stroboscope.
Each base station in the scalable base station array and its corresponding stroboscope are connected to the synchronization controller.
The synchronous controller controls the stroboscope to transmit a starting signal before scanning of the corresponding base station, and transmits the transmitting time of the starting signal to the central processing unit.
The receiver is arranged on the target to be tracked, receives the scanning signals of the base stations in the extensible base station array, and feeds back the receiving time of the scanning signals to the central processing unit.
And the central processing unit calculates the pose of the receiver according to the emission time of the starting signal, the receiving time of the receiver aiming at the scanning signal of the same base station and the calibrated internal and external parameters of the base station, wherein the calibration of the base station adopts a general method in the field.
Example 3
For the optical tracking system based on the expandable base station array, an embodiment of the present invention further provides an optical tracking method based on the expandable base station array, a flow of which is shown in fig. 5, where the tracking method is used for tracking a target to be tracked;
s1, arranging a receiver on the target to be tracked;
s2, transmitting a starting signal by adopting a stroboscope arranged at a set height, and receiving the starting signal by a receiver;
s3, scanning the target to be tracked in the x direction and then in the y direction by using the expandable base station array set at the set height as in claim 1, and respectively recording the receiving time of the target to be tracked to the scanning signals in the x direction and the y direction;
s4, judging the receiving time of the target to be tracked to the scanning signals in the x direction and the y direction to correspond to the base station;
and S5, calculating the pose of the receiver according to the emission time of the starting signal, the receiving time of the scanning signal of the receiver aiming at the same base station and the set height.
Wherein S4 specifically is:
the minimum unit of the base station array is a unit array consisting of 4 base stations in 2 rows and 2 columns.
The scanning areas of the cell array are divided into 4 types, which are respectively a first area, a second area, a third area and a fourth area.
Wherein the first area is an area which can be covered by the scanning range of only one base station; the second area is an area which can be covered by the scanning ranges of the two base stations; the third area is an area which can be covered by the scanning ranges of the three base stations; the fourth area is an area which can be covered by the scanning ranges of the four base stations; the distribution of the regions is shown in fig. 10.
Projecting the scanning range of the base station array to a plane where a target to be tracked is located, and judging a unit array to which the position of the target to be tracked belongs, wherein the following four conditions exist:
if the target to be tracked is located in the first area of the cell array, the target to be tracked only receives one x-direction scanning signal and one y-direction scanning signal of one base station. The receiving time of the scanning signal belonging to the same base station can be directly judged.
If the position of the target to be tracked is in the second area of the unit array, the target to be tracked receives two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to the two base stations, and the receiving time of the scanning signals is fed back to the central processing unit, the central processing unit judges the base station corresponding to the receiving time of the two times of x-direction scanning signals and the base station corresponding to the receiving time of the two times of y-direction scanning signals according to the position of the target to be tracked in the second area, and therefore the receiving time of the scanning signals of the receiver aiming at the same base station is obtained.
If the position of the target to be tracked is in the third area of the cell array, the target to be tracked receives the three times of x-direction scanning signals and the three times of y-direction scanning signals corresponding to the three base stations, and the receiving time of the scanning signals is fed back to the central processing unit, the central processing unit judges the base station corresponding to the receiving time of the three times of x-direction scanning signals and the base station corresponding to the receiving time of the three times of y-direction scanning signals according to the position of the target to be tracked in the third area, and therefore the receiving time of the scanning signals of the receiver aiming at the same base station is obtained.
If the position of the target to be tracked is in the fourth area of the unit array, the target to be tracked receives four times of x-direction scanning signals and four times of y-direction scanning signals corresponding to four base stations, the receiving time of the scanning signals is fed back to the central processing unit, the central processing unit judges the base station corresponding to the receiving time of the four times of x-direction scanning signals and the base station corresponding to the receiving time of the four times of y-direction scanning signals according to the position of the target to be tracked in the fourth area, and calculates the pose of the receiver according to the transmitting time of the starting signal, the receiving time of the scanning signals of the same base station by the receiver and the set height value.
In the embodiment of the present invention, four points are selected as specific examples in all regions to be stated: as shown in fig. 10, location No. 1 is in the first area and can only be scanned by base station No. (0, 0); the position No. 2 is in a second area and can be scanned by the base station No. 0, 1 and the base station No. 1, 1 simultaneously; the position 3 is in the third area and can be scanned by the base stations (0, 1), (1, 0) and (1, 1) at the same time; position 4 is in the fourth area and can be scanned by base stations (0, 0), (0, 1), (1, 0) and (1, 1) at the same time.
Position No. 1 was first analyzed. The scanning state is shown in fig. 11(a), and the scanning optical signal received by the receiver R is shown in fig. 11 (b). According to the technical scheme 2, after two pieces of time information are obtained, the pose of the point (receiver R) can be calculated by combining the known height H.
Position No. 2 was then analyzed. As shown in fig. 12(a), the scanning states are different in the x and y directions in the overlapping case; the scanning optical signal received by the receiver R is shown in fig. 12 (b). According to the known scanning sequence, which base station each signal in fig. 12(b) comes from can be distinguished, then the problem is the same as the position of the reference numeral 1, no matter which scanning signal corresponding to which base station is extracted, according to the technical scheme 2, after two pieces of time information are obtained, the known height H is combined, and the pose of the point can be calculated.
The position 3 was then analyzed. As shown in fig. 13(a), the scanning states are different in the x and y directions; the scanning optical signal received by the receiver R is shown in fig. 13 (b). According to the known scanning sequence, which base station each signal in fig. 13(b) comes from can be distinguished, then the problem is the same as the position of the reference numeral 1, no matter which scanning signal corresponding to which base station is extracted, according to the technical scheme 2, after two pieces of time information are obtained, the known height H is combined, and the pose of the point can be calculated.
And finally, analyzing the position No. 4. As shown in fig. 14(a), the scanning states are different in the x and y directions in the overlapping case; the scanning optical signal received by the receiver R is shown in fig. 14 (b). According to the known scanning sequence, which base station each signal in fig. 14(b) comes from can be distinguished, then the problem is the same as the position of the reference numeral 1, no matter which scanning signal corresponding to which base station is extracted, according to the technical scheme 2, after two pieces of time information are obtained, the known height H is combined, and the pose of the point can be calculated.
According to the above embodiment, the scanning direction of the signal can be identified according to the period of the position where the signal appears, and meanwhile, the number of the base station sending the signal can be known according to the sequence of the signal appearance, so as to completely distinguish the signal sources of all the signals in the red region, and the spatial position of the tracked object at this time can be calculated by combining the calculation method of technical scheme 2.
By the method of presetting the offset layout, scanning signals are pre-sequenced, so that the later algorithm and the pressure on software are greatly reduced, the calculation speed and the accuracy of the pose are improved, and the method is more beneficial to tracking objects.
Therefore, the problem that signals are too complex to distinguish when multiple base stations simultaneously track is completely solved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An optical tracking system based on an expandable base station array is characterized in that the system comprises the expandable base station array, a stroboscope, a receiver, a synchronous controller and a central processing unit; the system is used for tracking the target to be tracked;
the expandable base station array consists of m rows and n columns of m multiplied by n base stations, wherein scanning ranges of adjacent base stations are overlapped, and the positions of the base stations in the same row and the same row are in situ when the base stations are linearly arranged; base stations with odd or even numbers of rows and columns are arranged in the original position; the base stations with different odd and even numbers of the row numbers and the column numbers are arranged at the offset set at the lower right of the original position; the set offset ensures that the scanning ranges of the adjacent base stations are overlapped;
the extensible base station array is parallel to a plane where the target to be tracked is located, and the height value of the extensible base station array is set to be higher than the plane where the target to be tracked is located;
each base station in the expandable base station array is correspondingly provided with a stroboscope;
each base station in the expandable base station array and the corresponding stroboscope thereof are connected to the synchronous controller;
the synchronous controller controls the stroboscope to transmit a starting signal before scanning a corresponding base station and sends the transmitting time of the starting signal to the central processing unit;
the receiver is arranged on a target to be tracked, receives scanning signals of base stations in the extensible base station array, and feeds back the receiving time of the scanning signals to the central processing unit;
and the central processing unit calculates the pose of the receiver according to the emission time of the starting signal, the receiving time of the receiver aiming at the scanning signal of the same base station and the calibrated internal and external parameters of the base station.
2. An optical tracking method based on an expandable base station array is characterized in that the tracking method is used for tracking a target to be tracked; the method comprises the following steps:
s1, arranging a receiver on the target to be tracked;
s2, transmitting a starting signal by using a stroboscope arranged at a set height, and receiving the starting signal by the receiver;
s3, scanning the target to be tracked in the x direction and then in the y direction by adopting the expandable base station array arranged at a set height, and respectively recording the receiving time of the target to be tracked to the scanning signals in the x direction and the y direction;
the expandable base station array consists of m rows and n columns of m multiplied by n base stations, wherein scanning ranges of adjacent base stations are overlapped, and the positions of the base stations in the same row and the same row are in situ when the base stations are linearly arranged; base stations with odd or even numbers of rows and columns are arranged in the original position; the base stations with different odd and even numbers of the row numbers and the column numbers are arranged at the offset set at the lower right of the original position; the set offset ensures that the scanning ranges of the adjacent base stations are overlapped; the extensible base station array is parallel to a plane where the target to be tracked is located, and the height value of the extensible base station array is set to be higher than the plane where the target to be tracked is located;
s4, judging the receiving time of the target to be tracked to the scanning signals in the x direction and the y direction to correspond to the base station;
and S5, calculating the pose of the receiver according to the emission time of the start signal, the receiving time of the receiver aiming at the scanning signal of the same base station and the calibrated internal and external parameters of the base station.
3. The optical tracking method as claimed in claim 2, wherein said S4 is specifically:
the minimum unit of the base station array is a unit array consisting of 4 base stations in 2 rows and 2 columns; the scanning areas of the unit array are divided into 4 types, namely a first area, a second area, a third area and a fourth area; wherein the first area is an area which can be covered by the scanning range of only one base station; the second area is an area which can be covered by the scanning ranges of the two base stations; the third area is an area which can be covered by the scanning ranges of the three base stations; the fourth area is an area which can be covered by the scanning ranges of the four base stations;
projecting the scanning range of the base station array to a plane where the target to be tracked is located, and judging the unit array to which the position of the target to be tracked belongs, wherein the following four conditions exist:
if the target to be tracked is located in the first area of the unit array, the target to be tracked only receives one scanning signal in the x direction and one scanning signal in the y direction of one base station;
if the position of the target to be tracked is in a second area of the unit array, the target to be tracked receives two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two base stations, and the base station corresponding to the receiving time of the two times of x-direction scanning signals and the base station corresponding to the receiving time of the two times of y-direction scanning signals are judged according to the position of the target to be tracked in the second area;
if the position of the target to be tracked is in the third area of the cell array, the target to be tracked receives three times of x-direction scanning signals and three times of y-direction scanning signals corresponding to three base stations, and the receiving time of the scanning signals is fed back to a central processing unit, and the central processing unit judges the base stations corresponding to the receiving time of the three times of x-direction scanning signals and the base stations corresponding to the receiving time of the three times of y-direction scanning signals according to the position of the target to be tracked in the third area;
if the position of the target to be tracked is in the fourth area of the unit array, the target to be tracked receives four times of x-direction scanning signals and four times of y-direction scanning signals corresponding to the four base stations, and feeds back the receiving time of the scanning signals to the central processing unit, and the central processing unit judges the base station corresponding to the receiving time of the four times of x-direction scanning signals and the base station corresponding to the receiving time of the four times of y-direction scanning signals according to the position of the target to be tracked in the fourth area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810126032.4A CN108414978B (en) | 2018-02-08 | 2018-02-08 | Extensible base station array, optical tracking system and tracking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810126032.4A CN108414978B (en) | 2018-02-08 | 2018-02-08 | Extensible base station array, optical tracking system and tracking method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108414978A CN108414978A (en) | 2018-08-17 |
| CN108414978B true CN108414978B (en) | 2020-08-11 |
Family
ID=63128059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810126032.4A Active CN108414978B (en) | 2018-02-08 | 2018-02-08 | Extensible base station array, optical tracking system and tracking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108414978B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2084839A1 (en) * | 2006-11-17 | 2009-08-05 | Xg Technology, Inc. | Time coordinated base station and antenna array for integer cycle and impulse modulation systems |
| CN205317940U (en) * | 2016-01-05 | 2016-06-15 | 深圳市易飞行科技有限公司 | Multiaxis unmanned aerial vehicle keeps away barrier system based on laser array |
| CN106131530A (en) * | 2016-08-26 | 2016-11-16 | 万象三维视觉科技（北京）有限公司 | A kind of bore hole 3D virtual reality display system and methods of exhibiting thereof |
| CN106796107A (en) * | 2014-08-10 | 2017-05-31 | 脸谱公司 | For the structure light of 3D sensings |
| CN106772402A (en) * | 2017-03-16 | 2017-05-31 | 小派科技（上海）有限责任公司 | A kind of space positioning system and region cascade space-location method |
| CN106950541A (en) * | 2017-02-23 | 2017-07-14 | 成都理想境界科技有限公司 | A kind of alignment system, locating base station, locating base station network and positioning terminal |
| CN107040990A (en) * | 2017-03-31 | 2017-08-11 | 成都理想境界科技有限公司 | A kind of anti-Dual base stations alignment system blocked, positioning network and positioning terminal |
| CN206757033U (en) * | 2017-04-26 | 2017-12-15 | 岭纬公司 | The solid-state laser radar scanner of multiple collector |
| CN107509245A (en) * | 2017-07-06 | 2017-12-22 | 北京理工大学 | A kind of extension tracking based on HTC VIVE |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10078218B2 (en) * | 2016-01-01 | 2018-09-18 | Oculus Vr, Llc | Non-overlapped stereo imaging for virtual reality headset tracking |
| US10684479B2 (en) * | 2016-06-15 | 2020-06-16 | Vrvaorigin Vision Technology Corp. Ltd. | Head-mounted personal multimedia systems and visual assistance devices thereof |
-
2018
- 2018-02-08 CN CN201810126032.4A patent/CN108414978B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2084839A1 (en) * | 2006-11-17 | 2009-08-05 | Xg Technology, Inc. | Time coordinated base station and antenna array for integer cycle and impulse modulation systems |
| CN106796107A (en) * | 2014-08-10 | 2017-05-31 | 脸谱公司 | For the structure light of 3D sensings |
| CN205317940U (en) * | 2016-01-05 | 2016-06-15 | 深圳市易飞行科技有限公司 | Multiaxis unmanned aerial vehicle keeps away barrier system based on laser array |
| CN106131530A (en) * | 2016-08-26 | 2016-11-16 | 万象三维视觉科技（北京）有限公司 | A kind of bore hole 3D virtual reality display system and methods of exhibiting thereof |
| CN106950541A (en) * | 2017-02-23 | 2017-07-14 | 成都理想境界科技有限公司 | A kind of alignment system, locating base station, locating base station network and positioning terminal |
| CN106772402A (en) * | 2017-03-16 | 2017-05-31 | 小派科技（上海）有限责任公司 | A kind of space positioning system and region cascade space-location method |
| CN107040990A (en) * | 2017-03-31 | 2017-08-11 | 成都理想境界科技有限公司 | A kind of anti-Dual base stations alignment system blocked, positioning network and positioning terminal |
| CN206757033U (en) * | 2017-04-26 | 2017-12-15 | 岭纬公司 | The solid-state laser radar scanner of multiple collector |
| CN107509245A (en) * | 2017-07-06 | 2017-12-22 | 北京理工大学 | A kind of extension tracking based on HTC VIVE |
Non-Patent Citations (3)
| Title |
|---|
| A LOW-COST LIGHTHOUSE-BASED VIRTUAL REALITY HEAD TRACKING SYSTEM;Adrian K. T. Ng,et al;《IEEE》;20171231;p1-5 * |
| An Improved Method of Pose Estimation for Lighthouse Base Station Extension;Yi Yang，et al;《sensors》;20171022;p1-14 * |
| 基于Unity3D和htcvive的虚拟现实游戏设计与实现;刘氢;《通信世界》;20170228;第43页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108414978A (en) | 2018-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108132464A (en) | A kind of solid-state face battle array laser radar detection method | |
| JP5757004B2 (en) | Multi-touch recognition device | |
| KR101372423B1 (en) | Multi-touch on touch screen apparatus | |
| CN102375619B (en) | optical position input system and method | |
| CN101322092A (en) | Light pen input system and method, particularly for use with large area non-CRT displays | |
| CN1692370A (en) | A device network having selectable targets | |
| WO2019050604A1 (en) | Time-of-flight augmented structured light range-sensor | |
| CN101430207A (en) | Apparatus and method for generating three-dimensional map using structured light | |
| CN102053757A (en) | Infrared touch screen device and multipoint positioning method thereof | |
| CN101149656A (en) | Infra red touch screen and multiple point touching positioning method | |
| CN107509245B (en) | Extended tracking method based on HTC VIVE | |
| CN106908764B (en) | Multi-target optical tracking method | |
| CN207366739U (en) | A kind of solid-state face battle array laser radar apparatus | |
| US20140354563A1 (en) | Method and device for touch identification, and touch screen | |
| US10705195B2 (en) | Distance measuring apparatus and distance measuring method | |
| CN106406638B (en) | Touch point contour generation method and equipment | |
| KR20130140898A (en) | Structure measuring unit for tracking, measuring and marking edges and corners of adjacent surfaces | |
| CN105302381B (en) | Infrared touch panel precision method of adjustment and device | |
| CN104390633A (en) | Noncontact mechanism spatial motion measuring device and realization method | |
| CN111462247B (en) | Cursor position calibration method and device for screen interaction | |
| CN107346013B (en) | A kind of method and device for calibrating locating base station coordinate system | |
| CN108414978B (en) | Extensible base station array, optical tracking system and tracking method thereof | |
| CN108414979B (en) | Optical tracking method based on extensible base station array | |
| US20150369909A1 (en) | Image sensor for large area ultrasound mapping | |
| CN105849682A (en) | Ghost suppression using hybrid capacitive sensing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
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 |