CN108414979B - Optical tracking method based on extensible base station array - Google Patents
Optical tracking method based on extensible base station array Download PDFInfo
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- CN108414979B CN108414979B CN201810130187.5A CN201810130187A CN108414979B CN 108414979 B CN108414979 B CN 108414979B CN 201810130187 A CN201810130187 A CN 201810130187A CN 108414979 B CN108414979 B CN 108414979B
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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 provides an optical tracking method based on an expandable base station array, which reduces the difficulty of signal sorting and doubles the signal sampling rate of a scanning range overlapping region by setting two scanning working modes with staggered periodsAThe duty cycle of the class B base station is set to TBThe operation time sequence of the expandable base station array is TATBTATB……TATBPerforming interleaving; and 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 calculating the pose of the receiver according to the transmitting 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.
Description
Technical Field
The invention relates to the technical field of optical tracking, in particular to an optical tracking method based on an extensible base station array.
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. 1.
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 2.
As can be seen in fig. 2, 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 the signals of the two base stations do not interfere with each other, and at this time, one of the two transmitters operates in a b mode and the other operates in an a mode, and the scanning signal of the base station and the pulse signal received by the receiver can be used as shown in fig. 3.
As can be seen from fig. 3, 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. 3 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 base station to send a frame of synchronous scanning signal first and then scan the horizontal and vertical directions in sequence when tracking. When a plurality of base stations are used in cascade, in order to avoid signal interference, only one base station can work in the same time period, which results in that the refresh rate of the system is reduced by times when the plurality of base stations are used in cascade. Since the larger the tracking area, the more base stations are required, current HTC VIVE systems use only two transmitters, and their tracking area is limited to a space of 5mx5m 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 the base station may be adopted, and the existing extended layout structure of the base station has two forms as shown in fig. 4 and fig. 5
In fig. 4, the central position is the base station, and the numbers thereon are the numbers of the base stations, i.e., 00, 01, 10, 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.
Compared with fig. 4, in the scheme, the base station codes are pre-classified once by changing the arrangement mode of the base stations, so that the calculation of the identification of the main program on the PC is simpler, and the speed of the tracking algorithm is further optimized.
However, for the two structures of fig. 4 and 5, a period is used for encoding, and a period is used for the scanning operation mode, so that the signal sampling rate is reduced by one time, the refresh rate of the original signal data is reduced, and finally the refresh rate of the tracking system is reduced.
Disclosure of Invention
In view of this, the present invention provides an optical tracking method based on an expandable base station array, which realizes the expansion of base stations, and by setting two scanning operation modes with staggered periods, the signal sampling rate is doubled, and finally the tracking speed is increased.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an optical tracking method based on an expandable base station array is used for tracking a target to be tracked; the method comprises the following steps:
and S1, arranging a receiver on the target to be tracked.
And S2, scanning the target to be tracked by adopting the expandable base station array.
The expandable base station array is composed of m × n base stations with m rows and n columns, wherein the scanning ranges between adjacent base stations are overlapped.
In the expandable base station array, each row of base stations are formed by arranging A-type base stations and B-type base stations at intervals.
Wherein the duty cycle of the class A base station is set to TAThe duty cycle of the class B base station is set to TBThe operation time sequence of the expandable base station array is TATBTATB……TATBThe interleaving is performed.
In the working period TAIn time, the class-A base station firstly scans in the x direction and then scans in the y direction, and respectively records the receiving time of the target to be tracked to the scanning signals in the x direction and the y direction.
A stroboscope is arranged on a base station, and is used for transmitting a scanning start signal which is received by a receiver.
And S3, 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 S4, 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 calibrated internal and external parameters of the base station.
Furthermore, the base stations in the same column and the base stations in the same row in the expandable base station array are all arranged in a straight line;
each column of base stations is also formed by a class a base station and a class B base station which are spaced apart.
Further, S3 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; the first area is an area which can be covered by the scanning range of only one type A base station; the second area is an area which can be covered by the scanning range of only one B-type base station; the third area is an area simultaneously covered by the scanning ranges of a class A base station and a class B base station; the fourth area is an area simultaneously covered by the scanning ranges of two class a base stations and two class B 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 in the first area of the unit array, the target to be tracked is only in TAAnd receiving one x-direction scanning signal and one y-direction scanning signal of a class A base station in a period.
If the target to be tracked is in the second area of the unit array, the target to be tracked is only in TBReceiving a scanning signal in the x direction and a scanning signal in the y direction of a B-type base station in a period;
if the target to be tracked is positioned in the third area of the unit array, the target to be tracked is positioned in TAReceiving one time of x direction scanning signal and one time of y direction scanning signal of corresponding A type base station in a period and at TBAnd receiving one x-direction scanning signal and one y-direction scanning signal of the corresponding B-type base station in a period.
If the target to be tracked is in the fourth area of the unit array, the target to be tracked is in TAReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two A-type base stations in a period and obtaining a scanning signal in TBAnd the central processing unit judges the base station corresponding to the receiving time of the x-direction scanning signal and the base station corresponding to the receiving time of the y-direction scanning signal according to the position of the target to be tracked in the fourth area.
Furthermore, the expandable base station array takes the position of each base station as an original position when the base stations in the same row and the base stations in the same row are all 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 between adjacent base stations have overlap
For the base stations in the expandable base station array, the base stations with odd columns are marked as A type, and the base stations with even columns are marked as B type.
Further, S3 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 cell array are divided into 6 types, namely area No. 1, area No. 2, area No. 3, area No. 4, area No. 5 and area No. 6.
Area No. 1 is an area that can be covered by the scanning range of only one class a base station.
Area No. 4 is an area simultaneously covered by the scanning ranges of two base stations of class B.
The area 6 is an area simultaneously covered by the scanning ranges of two base stations of class a and two base stations of class B.
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 six conditions exist:
if the target to be tracked is positioned in the No. 1 area of the unit array, the target to be tracked is only positioned in TAAnd receiving one x-direction scanning signal and one y-direction scanning signal of a class A base station in a period.
If the target to be tracked is positioned in the No. 2 area of the unit array, the target to be tracked is only positioned in TBReceiving a scanning signal in the x direction and a scanning signal in the y direction of a B-type base station in a period;
if the target to be tracked is positioned in the No. 3 area of the unit array, the target to be tracked is positioned in TAAnd the central processing unit judges the A-type base station corresponding to the receiving time of the x-direction scanning signal and the A-type base station corresponding to the receiving time of the y-direction scanning signal according to the position of the target to be tracked in the fourth area.
If the target to be tracked is positioned in the No. 4 area of the unit array, the target to be tracked is positioned in TBAnd the central processing unit judges the B-type base station corresponding to the receiving time of the x-direction scanning signal and the B-type base station corresponding to the receiving time of the y-direction scanning signal according to the position of the target to be tracked in the No. 4 area.
If the target to be tracked is positioned in the No. 5 area of the unit array, the target to be tracked is positioned in TAReceiving one x direction scanning signal and one y direction scanning signal corresponding to one A type base station in a period and obtaining a scanning signal in TBAnd receiving one x-direction scanning signal and one y-direction scanning signal of a corresponding B-type base station in a period.
If the position of the target to be tracked is in the No. 6 area of the unit array, the target to be tracked is in TAReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two A-type base stations in a period and obtaining a scanning signal in TBAnd the central processing unit judges the base station corresponding to the receiving time of the x-direction scanning signal and the base station corresponding to the receiving time of the y-direction scanning signal according to the position of the target to be tracked in the No. 4 area.
Has the advantages that:
1. the invention relates to an optical tracking method based on an expandable base station array, which adds a synchronous controller and a flash device to a base station, the device realizes the synchronization of signals of multiple base stations, increases the number of the base stations which work simultaneously from the original 2 to tens of base stations (theoretically without upper limit), because the effective working range of the tracking system is in direct proportion to the number of the base stations, the invention can greatly improve the tracking range of the tracking system, and the invention adopts a control mode of 'AB base station time-sharing working', while ensuring that each time period has scanning signals, the HTC VIVE multi-base station signals received by the laser sensor are in one-to-one correspondence, therefore, the corresponding relation matching problem of multiple signals of the sensor and the signal source is solved while the refresh rate is ensured, and the tracking accuracy and the tracking speed are ensured to be unchanged under the condition of increasing the tracking range.
The invention can be used in the application fields of motion capture, surgical navigation, virtual reality and the like which need to be tracked and positioned.
Drawings
FIG. 1 is a block diagram of the components of the tracking system of the HTC VIVE to which the present invention is directed;
FIG. 2 is a waveform illustrating a receiver response when one of the transmitters of the HTC VIVE of the present invention is operating;
FIG. 3 is a graph of base station scanning signals versus receiver response in an HTC VIVE to which the present invention is directed;
FIG. 4 is a block diagram of a layout of an array of cells of an expandable base station array;
FIG. 5 is a diagram of another layout of an array of cells of an expandable base station array;
fig. 6 is a flowchart of an optical tracking method based on a scalable base station array according to an embodiment of the present invention.
Fig. 7 is a diagram of the arrangement positions of a receiver, a transmitter base station and a stroboscope in the optical tracking method based on the expandable base station array according to the embodiment of the present invention;
fig. 8 is a diagram of an expandable base station array structure used in embodiment 2 of the present invention;
fig. 9 is a diagram illustrating a cell array area division in an expandable base station array structure according to embodiment 2 of the present invention;
fig. 10 is a diagram of a structure of an expandable base station array used in embodiment 3 of the present invention;
fig. 11 is a diagram illustrating a cell array area division in an expandable base station array structure according to embodiment 3 of the present invention;
fig. 12 is a signal diagram corresponding to region No. 1 in embodiment 3 of the present invention;
fig. 13 is a signal diagram corresponding to region No. 2 in embodiment 3 of the present invention;
fig. 14 is a signal diagram corresponding to area No. 3 in embodiment 3 of the present invention;
fig. 15 is a signal diagram corresponding to area No. 4 in embodiment 3 of the present invention;
fig. 16 is a signal diagram corresponding to area No. 5 in embodiment 3 of the present invention;
fig. 17 is a signal diagram corresponding to area No. 6 in embodiment 3 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 embodiment of the invention provides an optical tracking method based on an expandable base station array, and the specific flow is shown in fig. 6; the method comprises the following steps:
and S1, arranging a receiver on the target to be tracked.
And S2, scanning the target to be tracked by adopting the expandable base station array.
The expandable base station array is composed of m × n base stations with m rows and n columns, wherein the scanning ranges between adjacent base stations are overlapped.
In the expandable base station array, each row of base stations are formed by arranging A-type base stations and B-type base stations at intervals.
Wherein the duty cycle of the class A base station is set to TAThe duty cycle of the class B base station is set to TBThe operation time sequence of the expandable base station array is TATBTATB……TATBThe interleaving is performed.
In the working period TAIn time, the class-A base station firstly scans in the x direction and then scans in the y direction, and respectively records the receiving time of the target to be tracked to the scanning signals in the x direction and the y direction.
A stroboscope is arranged on a base station, and is used for transmitting a scanning start signal which is received by a receiver. In which a scanning start signal is issued once for each of the x-direction and y-direction scanning in one period.
In the embodiment of the present invention, the arrangement of the receiver, the transmitter base station, and the stroboscope is shown in fig. 7.
And S3, 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 S4, calculating the pose of the receiver according to the calibrated internal and external parameters of the base station according to the emission time of the start signal and the receiving time of the scanning signal of the receiver aiming at the same base station.
According to the invention, by adopting a control mode of 'AB base station time-sharing work', scanning signals are ensured to exist in each time period, and simultaneously, HTC VIVE multi-base station signals received by the laser sensor are in one-to-one correspondence, so that the refresh rate is ensured, the problem of matching of the corresponding relation between the sensor multi-signals and the signal source is solved, and the tracking accuracy and the tracking speed are ensured to be unchanged under the condition of increasing the tracking range. The invention can be used in the application fields of motion capture, surgical navigation, virtual reality and the like which need to be tracked and positioned.
Example 2
On the basis of embodiment 1, an expandable base station array structure adopted by the embodiment of the invention is shown in fig. 8, wherein base stations in the same column and the same row in the expandable base station array are all arranged in a straight line;
each column of base stations is also formed by a class a base station and a class B base station which are spaced apart.
In the embodiment of the present invention, S3 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, wherein the structure of the unit array is shown in fig. 9; 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, and fig. 9 adopts 1, 2, 3 and 4 for marking the first area, the second area, the third area and the fourth area respectively.
The first area is an area which can be covered by the scanning range of only one type A base station; the second area is an area which can be covered by the scanning range of only one B-type base station; the third area is an area simultaneously covered by the scanning ranges of a class A base station and a class B base station; the fourth area is an area simultaneously covered by the scanning ranges of two class a base stations and two class B 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 in the first area of the unit array, the target to be tracked is only in TAReceiving a scanning signal in the x direction and a scanning signal in the y direction of a class A base station in a period; at this time, it can be accurately determined that both scanning signals are from the same class a base station.
If the target to be tracked is in the second area of the unit array, the target to be tracked is only in TBReceiving a scanning signal in the x direction and a scanning signal in the y direction of a B-type base station in a period; at this time, it can be accurately determined that both scanning signals are from the same class B base station.
If the target to be tracked is positioned in the third area of the unit array, the target to be tracked is positioned in TAReceiving one time of x direction scanning signal and one time of y direction scanning signal of corresponding A type base station in a period and at TBReceiving a primary x-direction scanning signal and a primary y-direction scanning signal of a corresponding B-type base station in a period; at this time, it can be determined exactly which base station the scanning signals correspond to respectively.
If the target to be tracked is in the fourth area of the unit array, the target to be tracked is in TAReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two A-type base stations in a period and obtaining a scanning signal in TBAnd the central processing unit judges the base station corresponding to the receiving time of the x-direction scanning signal and the base station corresponding to the receiving time of the y-direction scanning signal according to the position of the target to be tracked in the fourth area.
Example 3
The expandable base station array structure adopted in the embodiment of the invention is shown in fig. 10, 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 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 between the adjacent base stations are overlapped;
for the base stations in the expandable base station array, the base stations with odd columns are marked as A type, and the base stations with even columns are marked as B type.
When the base station array structure shown in fig. 10 is adopted, S3 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 structure of the unit array is shown in fig. 11, the scanning areas of the unit array are divided into 6 types which are respectively a No. 1 area, a No. 2 area, a No. 3 area, a No. 4 area, a No. 5 area and a No. 6 area, the No. 1 area, the No. 2 area, the No. 3 area, the No. 4 area, the No. 5 area and the No. 6 area are marked by a symbol ①②③④⑤⑥ in fig. 11, and the base stations are numbered by 00, 01, 10 and 11.
Area No. 1 is an area that can be covered by the scanning range of only one class a base station.
Area No. 4 is an area simultaneously covered by the scanning ranges of two base stations of class B.
The area 6 is an area simultaneously covered by the scanning ranges of two base stations of class a and two base stations of class B.
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 six conditions exist:
if the target to be tracked is positioned in the No. 1 area of the unit array, the target to be tracked is only positioned in TAReceiving a class A base in a cycleOne x-direction scanning signal and one y-direction scanning signal of the station; as shown in fig. 12, the scanning signal and the corresponding base station can be accurately determined at this time.
If the target to be tracked is positioned in the No. 2 area of the unit array, the target to be tracked is only positioned in TBReceiving a scanning signal in the x direction and a scanning signal in the y direction of a B-type base station in a period; as shown in fig. 13, the scanning signal and the corresponding base station can be accurately determined at this time.
If the target to be tracked is positioned in the No. 3 area of the unit array, the target to be tracked is positioned in TAAnd the central processing unit judges the A-type base station corresponding to the receiving time of the x-direction scanning signal and the A-type base station corresponding to the receiving time of the y-direction scanning signal according to the position of the target to be tracked in the fourth area.
The specific judgment method is as follows:
as shown in fig. 14, at this time, the scanning signal and the corresponding base station should be determined according to the position of the target to be tracked in the area No. 3 of the cell array, and at this time, for two base stations 00 and 10, the scanning in the x direction is from left to right, so that the receiver on the target to be tracked should receive the scanning signal of 10 first, so that the first x-direction scanning signal in fig. 14 belongs to 10, and the second x-direction scanning signal belongs to 00; the y-direction scan is from top to bottom, so the receiver on the target to be tracked should receive the scan signal of 10 first, so the first y-direction scan signal in fig. 14 belongs to 10, and the second y-direction scan signal belongs to 00.
The subsequent judgment mode is analogized in the same way.
If the target to be tracked is positioned in the No. 4 area of the unit array, the target to be tracked is positioned in TBReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two B-type base stations in a period, and feeding back the receiving time of the scanning signals to a central processing unit, wherein the central processing unit is positioned in a No. 4 area according to a target to be trackedAnd judging the B-type base station corresponding to the receiving time of the x-direction scanning signal and the B-type base station corresponding to the receiving time of the y-direction scanning signal.
As shown in fig. 15, the scanning signal and the corresponding base station should be determined according to the position of the target to be tracked in the area No. 4 of the cell array, and at this time, for two base stations 01 and 11, the scanning in the x direction is from left to right, so that the receiver on the target to be tracked should receive the scanning signal 01 first, so that the first x-direction scanning signal in fig. 14 belongs to 01, and the second x-direction scanning signal belongs to 11; the y-direction scan is from top to bottom, so the receiver on the target to be tracked should receive the scan signal of 11 first, so the first y-direction scan signal in fig. 14 belongs to 11, and the second y-direction scan signal belongs to 01.
If the target to be tracked is positioned in the No. 5 area of the unit array, the target to be tracked is positioned in TAReceiving one x direction scanning signal and one y direction scanning signal corresponding to one A type base station in a period and obtaining a scanning signal in TBReceiving a primary x-direction scanning signal and a primary y-direction scanning signal of a corresponding B-type base station in a period; as shown in fig. 16, the scanning signal and the corresponding base station can be accurately determined at this time.
If the position of the target to be tracked is in the No. 6 area of the unit array, the target to be tracked is in TAReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two A-type base stations in a period and obtaining a scanning signal in TBAnd the central processing unit judges the base station corresponding to the receiving time of the x-direction scanning signal and the base station corresponding to the receiving time of the y-direction scanning signal according to the position of the target to be tracked in the No. 4 area.
As shown in fig. 17, the determination may be made according to the determination methods of fig. 14 and 15 described above.
The invention relates to an optical tracking method based on an expandable base station array, which adds a synchronous controller and a flash device to a base station, the device realizes the synchronization of signals of multiple base stations, increases the number of the base stations which work simultaneously from the original 2 to tens of base stations (theoretically without upper limit), because the effective working range of the tracking system is in direct proportion to the number of the base stations, the invention can greatly improve the tracking range of the tracking system, and the invention adopts a control mode of 'AB base station time-sharing working', while ensuring that each time period has scanning signals, the HTCVIVE multi-base station signals received by the laser sensor are in one-to-one correspondence, therefore, the corresponding relation matching problem of multiple signals of the sensor and the signal source is solved while the refresh rate is ensured, and the tracking accuracy and the tracking speed are ensured to be unchanged under the condition of increasing the tracking range. The invention can be used in the application fields of motion capture, surgical navigation, virtual reality and the like which need to be tracked and positioned.
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 (5)
1. 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, scanning the target to be tracked by adopting an extensible base station array;
the expandable base station array consists of m × n base stations with m rows and n columns, wherein scanning ranges of adjacent base stations are overlapped;
in the expandable base station array, each row of base stations are formed by arranging A-type base stations and B-type base stations at intervals;
wherein the duty cycle of the class A base station is set to TAThe duty cycle of the class B base station is set to TBThe working time sequence of the expandable base station array is TATBTATB……TATBPerforming interleaving;
in the working period TAIn time, the class-A base station firstly scans in the x direction and then scans in the y direction, and respectively records the receiving time of the target to be tracked to scanning signals in the x direction and the y direction;
in the working period TBIn time, the B-type base station firstly scans in the x direction and then scans in the y direction, and respectively records the receiving time of the target to be tracked to scanning signals in the x direction and the y direction;
a stroboscope is arranged on a base station, and is used for transmitting a scanning start signal which is received by the receiver;
s3, judging the receiving time of the target to be tracked to the scanning signals in the x direction and the y direction and a corresponding base station thereof;
and S4, 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.
2. The method of claim 1, wherein the same column of base stations and the same row of base stations in the scalable base station array are all arranged in a straight line;
each column of base stations is also formed by a class a base station and a class B base station which are spaced apart.
3. The method according to claim 2, wherein S3 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; the first area is an area which can be covered by the scanning range of only one type A base station; the second area is an area which can be covered by the scanning range of only one B-type base station; the third area is an area simultaneously covered by the scanning ranges of a class A base station and a class B base station; the fourth area is an area simultaneously covered by the scanning ranges of the two A-type base stations and the two B-type 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 is located only at TAReceiving a scanning signal in the x direction and a scanning signal in the y direction of a class A base station in a period;
if the target to be tracked is located in the second area of the unit array, the target to be tracked is only located at TBReceiving a scanning signal in the x direction and a scanning signal in the y direction of a B-type base station in a period;
if the target to be tracked is positioned in the third area of the unit array, the target to be tracked is positioned in TAReceiving one time of x direction scanning signal and one time of y direction scanning signal of corresponding A type base station in a period and at TBReceiving a primary x-direction scanning signal and a primary y-direction scanning signal of a corresponding B-type base station in a period;
if the target to be tracked is in the fourth area of the unit array, the target to be tracked is in TAReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two A-type base stations in a period and obtaining a scanning signal in TBAnd receiving two times of x-direction scanning signals and two times of y-direction scanning signals of two corresponding B-type base stations in a period, and feeding back the receiving time of the scanning signals to a central processing unit, wherein the central processing unit judges the base station corresponding to the receiving time of the x-direction scanning signals and the base station corresponding to the receiving time of the y-direction scanning signals according to the position of the target to be tracked in the fourth area.
4. The method of claim 1, wherein the scalable base station array is based on the locations of base stations in a same row and a same column when the base stations are all arranged in a straight line; 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;
for the base stations in the expandable base station array, the base stations with odd number of columns are marked as A type, and the base stations with even number of columns are marked as B type.
5. The optical tracking method as claimed in claim 4, wherein said S3 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 arrays are divided into 6 types, namely a No. 1 area, a No. 2 area, a No. 3 area, a No. 4 area, a No. 5 area and a No. 6 area;
the area 1 is an area which can be covered by the scanning range of only one type A base station;
the area 2 is an area which can be covered by the scanning range of only one B-type base station;
the area 3 is an area simultaneously covered by the scanning ranges of the two class A base stations;
the area 4 is an area simultaneously covered by the scanning ranges of the two B-type base stations;
the No. 5 area is an area simultaneously covered by the scanning ranges of a class A base station and a class B base station;
the area 6 is an area simultaneously covered by the scanning ranges of the two base stations of the A type and the two base stations of the B type;
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 six conditions exist:
if the target to be tracked is positioned in the No. 1 area of the unit array, the target to be tracked is only positioned in TAReceiving a scanning signal in the x direction and a scanning signal in the y direction of a class A base station in a period;
if the target to be tracked is positioned in the No. 2 area of the unit array, the target to be tracked is only positioned in TBReceiving a scanning signal in the x direction and a scanning signal in the y direction of a B-type base station in a period;
if the target position to be tracked isIf the target to be tracked is arranged in the No. 3 area of the cell array, the target to be tracked is at TAReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two A-type base stations in a period, and feeding back the receiving time of the scanning signals to a central processing unit, wherein the central processing unit judges the A-type base station corresponding to the receiving time of the x-direction scanning signals and the A-type base station corresponding to the receiving time of the y-direction scanning signals according to the position of the target to be tracked in a fourth area;
if the target to be tracked is positioned in the No. 4 area of the unit array, the target to be tracked is positioned in TBReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two B-type base stations in a period, and feeding back the receiving time of the scanning signals to the central processing unit, wherein the central processing unit judges the B-type base station corresponding to the receiving time of the x-direction scanning signals and the B-type base station corresponding to the receiving time of the y-direction scanning signals according to the position of the target to be tracked in the No. 4 area;
if the target to be tracked is positioned in the No. 5 area of the unit array, the target to be tracked is positioned in TAReceiving one x direction scanning signal and one y direction scanning signal corresponding to one A type base station in a period and obtaining a scanning signal in TBReceiving a primary x-direction scanning signal and a primary y-direction scanning signal of a corresponding B-type base station in a period;
if the position of the target to be tracked is in the No. 6 area of the unit array, the target to be tracked is in TAReceiving two times of x-direction scanning signals and two times of y-direction scanning signals corresponding to two A-type base stations in a period and obtaining a scanning signal in TBAnd receiving two times of x-direction scanning signals and two times of y-direction scanning signals of two corresponding B-type base stations in a period, and feeding back the receiving time of the scanning signals to the central processing unit, wherein the central processing unit judges the base station corresponding to the receiving time of the x-direction scanning signals and the base station corresponding to the receiving time of the y-direction scanning signals according to the position of the target to be tracked in the No. 6 area.
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