CN108981690A - A kind of light is used to fusion and positioning method, equipment and system - Google Patents
A kind of light is used to fusion and positioning method, equipment and system Download PDFInfo
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- CN108981690A CN108981690A CN201810577044.9A CN201810577044A CN108981690A CN 108981690 A CN108981690 A CN 108981690A CN 201810577044 A CN201810577044 A CN 201810577044A CN 108981690 A CN108981690 A CN 108981690A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Optical Communication System (AREA)
- Studio Devices (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of light to be used to fusion and positioning method, equipment and system.Specifically, in any space, camera is laid according to space actual demand.Target surface binds light and is used to fusion component, and light, which is used to the attachment of fusion component surface, can actively send out infrared light or can reflect the identification point of infrared light, and built-in inertial sensor.System Synchronization Component is used to fusion component to camera and light in wired and wireless mode respectively and emits synchronization signal, realizes system synchronization mechanism.Based on synchronization mechanism, camera obtains the optical data of located space in real time, and the inertial data of object is obtained by inertial sensor.Optical data is uploaded to server by wired mode, is tentatively resolved, and result is reached computing unit by wireless transmission mode；Meanwhile inertial data is uploaded to computing unit by wired or wireless transmission mode.Computing unit is used to blending algorithm by light and merges optics and inertial data, to calculate the real-time pose information that light is used to fusion component.
Description
Technical field
The present invention relates to space orientation field, specifically a kind of light is used to fusion and positioning method, equipment and system
Background technique
The space orientation technique that the invention patent is mentioned refers to interior space location technology.Indoor positioning refers to ring indoors
Position positioning is realized in border, is mainly integrated to form a set of interior using multiple technologies such as wireless telecommunications, base station location, inertial positionings
Position locating system, to realize the position tracking indoors in space such as personnel, object.Virtual reality technology refers to computer mould
The quasi- virtual world for generating a three-dimensional space, provides simulation of the user about sense organs such as vision, the sense of hearing, tactiles, allows use
Person is as being personally on the scene.In recent years, virtual reality technology flourishes, and produces huge shadow in every field
It rings, such as: education, real estate, shopping, electric business, amusement.A kind of interactive mode of the indoor positioning technologies as virtual reality, makes
User can obtain complete feeling of immersion.The space orientation technique of VR industrial application at present has inertial positioning technology, laser positioning
Technology UWB location technology and optical locating techniques etc..
Inertial positioning technology is using three-axis gyroscope, the Inertial Measurement Unit of three axis accelerometer and three axle magnetometer composition
(IMU, Inertial Measurement Unit) carrys out the kinematic parameter of measurement sensor.And the sensor as measured by IMU is transported
Dynamic parameter has critical noisy interference, and there are apparent zero bias and drifts, so that inertia-type motion capture system can not be for a long time
Ground accurately tracks human body attitude.
Optical locating techniques are using video camera photographic subjects object, according to obtained target image and video camera itself
Location information extrapolates the posture information of target object.Occlusion issue is always that the most common operational failure of optical positioning system is former
One of because.Optical positioning system needs at least two cameras, and determining for the mark point can be realized by photographing same mark point simultaneously
Position, and when infrared light is blocked by user or object, spatial point three-dimensionalreconstruction will be due to lacking in necessary two dimensional image
Characteristic point between corresponding informance, cause locating and tracking to fail.However each identification point is in located space any position any moment
It must be very high requirement there are two the covering of above camera, especially under more people VR interaction scenarios, blocking can be frequent
Occur, causes the discontinuous phenomenon of estimation.In addition, optical locating techniques have that frame per second is lower.
Therefore, it how under large overall motion scene, is carried out with identification point of the high frame per second to located space smooth and accurate
Posture tracking be technical problem urgently to be solved.
Summary of the invention
The object of the invention is that in order to solve the above problem and provides a kind of light and be used to fusion and positioning method, equipment and system,
To realize superhigh precision, the large space virtual reality space of ultralow delay, superpower robustness, low cost, superelevation feeling of immersion is fixed
Position.
According to an aspect of the invention, there is provided a kind of light is used to fusion and positioning method, pass through the used fusion positioning of this kind of light
Method is attained in that
A kind of active optics localization method, specifically includes: based in located space more cameras and object binding
The inertial sensor be used in fusion component of light obtain the optical data and inertial data of object respectively, pass through the used fusion of light and calculate
Method calculates the real-time pose information of object.Specifically, at least two cameras, different phases are equipped in the located space
Position of the machine in the located space is different, constantly obtains the optical data in located space and is uploaded to server.Service
Device tentatively resolves optical data, and calculation result is reached computing unit.At the same time, the light is used in fusion component
Inertial sensor can constantly obtain light be used to fusion component inertial data and be uploaded to computing unit.System is based on wireless pass
Defeated mode realizes that light is used to the synchronization of fusion component, and the synchronization of camera is realized based on wire transmission mode.Under the synchronization mechanism,
Computing unit be based on certain Kalman filter (such as extended Kalman filter (UKF), Unscented kalman filtering device (EKF),
Square root volume Kalman filtering (SCKF)) optical data and inertial data are merged, it calculates object and is working as
The posture information at preceding moment.
Specifically:
S11: at least two cameras are equipped in the located space, position of the different cameras in the located space is not
Together, it constantly obtains the optical data in located space and server is uploaded to by wired transmission mode and tentatively resolved,
And calculation result is reached into computing unit.
S12: the inertial sensor that the light is used in fusion component at the same time can constantly obtain light and be used to fusion component
Inertial data is simultaneously uploaded to computing unit by wired or wireless transmission mode.
S13: system realizes synchronization mechanism based on wireless and wired transmission mode.
S14: under the synchronization mechanism, computing unit handles optical data and inertial data, and is based on certain
Kalman filter is merged, and calculates object in the posture information at current time.
S15: pass through the disposal of gentle filter, the object trace information of output smoothing again.
According to another aspect of the present invention, provide a kind of used fusion positioning device of light, including more cameras, server,
Light is used to fusion component, system Synchronization Component, computing unit.The more cameras are laid in the different location of the located space,
Visual range covers the entire located space, and more cameras expose simultaneously, obtain the optical data of located space and be uploaded to
Server is tentatively resolved, and calculation result is reached computing unit.
It mainly includes identification point, inertial sensor, wireless communication module and control unit that the light, which is used to fusion component,.Light is used
Fusion component surface is laid with no less than 3 identification points, and the identification point actively emits the infrared light or described of specific band
Identification point passively reflects the infrared light of special wave band.In rigid connection between the multiple identification point.Light is used to built in fusion component
There are wireless communication module and USB wire communication module, is used to the communication between fusion component and computing unit for realizing the light.
Light is used to fusion component both can be by transmitting the inertial sensor data between wire communication module and computing unit, can also be with
By transmitting data between USB wire communication module and computing unit.Light is used to fusion component module and system by wireless communication
Synchronization module communication, realizes system synchronization mechanism.System Synchronization Component can be used to independently of camera, light the systems such as fusion component its
His equipment, can also be built in the other equipment of system, such as be built in certain camera.System Synchronization Component passes through
Wireless and wire communication mode continues to be used to fusion component and camera transmitting synchronization signal to light respectively, guarantees camera and light
The clock of used fusion component is synchronous, to guarantee the synchronization of system optics data, inertial data.
According to another aspect of the present invention, a kind of used fusion positioning system of light is additionally provided, for in located space
Object is positioned, which includes: that at least two cameras are laid in located space, and different cameras is in the positioning
Position in space is different, constantly obtains the optical data in located space and is uploaded to service by wired transmission mode
Device.Server tentatively resolves optical data, and calculation result is reached computing unit.The light is used in fusion component
Inertial sensor can constantly obtain light and be used to the inertial data of fusion component and be uploaded by wired or wireless transmission mode
To computing unit.System realizes synchronization mechanism based on wireless and wired transmission mode.Under the synchronization mechanism, calculate single
Member handles optical data and inertial data, and is merged based on certain Kalman filter, calculates object and exists
The posture information at current time.Pass through the disposal of gentle filter, the object trace information of output smoothing again；And it is wanted according to right
Active optics positioning device described in asking 2.
To sum up, the beneficial effects of the present invention are: this system using the used fusion location technology of light, both can be to avoid simple
Occlusion issue in optical alignment scheme, but can to avoid inertial positioning can not long-time precise positioning the problem of, it is fixed to improve
Position robustness；Another aspect system is not entirely dependent on optical alignment, and compared to simple optical locating techniques, unit area is needed
Camera quantitative requirement to be mounted reduces, to reduce system cost；System can be compatible with active optics positioning and passive simultaneously
Two kinds of positioning methods of optical alignment can select suitable positioning method according to the needs of actual location environment.The present invention has
Positioning accuracy is high, be delayed the advantages such as small, strong robustness, at low cost.
Detailed description of the invention
Fig. 1 is a kind of implementation process of the used fusion locating scheme of light of the present invention；
Fig. 2 is that a kind of used fusion positioning light of light of the present invention is used to fusion component schematic diagram；
Fig. 3 is a kind of used fusion positioning system schematic diagram of a scenario of light of the present invention.
Specific embodiment:
Below in conjunction with attached drawing, the content of the present invention will be further explained.
As shown in figure 3, a kind of used fusion positioning system schematic diagram of light of the present invention.More are laid in located space
Camera is laid in the different location of located space respectively, guarantees that the range of exposures of camera can cover entire located space.Positioning
System Synchronization Component in space is wirelessly used to fusion component transmitting synchronization signal to light, by wired mode to
Camera emits synchronization signal, to guarantee that system is synchronous.
As shown in Figure 1, a kind of used fusion positioning system operational process of light of the present invention, it is characterised in that: system is opened
Beginning work, system Synchronization Component send synchronization signal, and control light is used to fusion component and camera synchronous working.All cameras expose simultaneously
Light obtains the optical information in located space.The computing unit of camera internal pre-processes the original image information of acquisition
It is uploaded to host computer (i.e. server) as 2D point coordinate information in space, and by wired mode, host computer is to optics number
According to tentatively being resolved, and computing unit is reached by wireless transmission mode.At the same time, light is used to the inertia in fusion component
Sensor constantly obtains inertia initial data, and is wirelessly uploaded to computing unit.Computing unit is to optical data
It is pre-processed with inertial data, then fusion resolving is carried out based on certain Kalman filtering algorithm, obtain the final reality of object
When posture information.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (7)
1. a kind of light is used to fusion and positioning method, specifically include: based in located space more cameras and object binding
The inertial sensor that light is used in fusion component obtains the optical data and inertial data of object respectively, is calculated by the used fusion of light
Method calculates the real-time pose information of object.Wherein:
S11: being equipped at least two cameras in the located space, position of the different cameras in the located space is different,
It constantly obtains the optical data in located space and server is uploaded to by wired transmission mode and tentatively resolved, and will
Calculation result reaches computing unit.
S12: the inertial sensor that the light is used in fusion component at the same time can constantly obtain the inertia that light is used to fusion component
Data are simultaneously uploaded to computing unit by wired or wireless transmission mode.
S13: system realizes synchronization mechanism based on wireless and wired transmission mode.
S14: under the synchronization mechanism, computing unit handles optical data and inertial data, and is based on certain karr
Graceful filter is merged, and calculates object in the posture information at current time.
S15: pass through the disposal of gentle filter, the object trace information of output smoothing again.
Wherein, certain described Kalman filter can be, but not limited to extended Kalman filter (UKF), Unscented kalman filtering
Device (EKF), square root volume Kalman filtering (SCKF) etc..
Wherein, the smothing filtering can be, but not limited to double exponent filterings.
2. a kind of used fusion positioning device of light, which is characterized in that same including more cameras, server, the used fusion component of light, system
Walk component, computing unit.The more cameras are laid in the different location of the located space, the visual model of the more cameras
Enclose the entire located space of covering.The more cameras expose simultaneously, obtain the optical data of located space and are uploaded to clothes
Business device.Server tentatively resolves optical data, and calculation result is reached computing unit by wireless transmission method.
3. a kind of used fusion positioning device of light according to claim 2, which is characterized in that it is main that the light is used to fusion component
Including identification point, inertial sensor, wireless communication module, usb communication module and control unit.
4. a kind of used fusion positioning device of light according to claim 2, which is characterized in that the light is used to fusion component surface
Be laid with no less than 3 identification points, the identification point actively emit specific band infrared light or the identification point it is passively anti-
Penetrate the infrared light of special wave band.In rigid connection between the multiple identification point.
5. a kind of used fusion positioning device of light according to claim 2, which is characterized in that the light is used to built in fusion component
There are wireless communication module and usb communication module, is used to the communication between fusion component and computing unit, i.e. institute for realizing the light
Stating both can be with wired data transfer between the used fusion component of light and computing unit, can also wireless wireless data transmission.
6. a kind of used fusion positioning device of light according to claim 2, which is characterized in that the system Synchronization Component can be with
It is used to the systems other equipment such as fusion component independently of camera, light, can also be built in the other equipment of system, such as be built in
In certain camera.System Synchronization Component is used to fusion component to light by wireless communication mode and sends synchronization signal, passes through
Wired communication mode sends synchronization signal to camera, and camera and light are used to fusion component and are based on synchronization signal adjustment clock, to protect
Demonstrate,prove the synchronization of system optics data, inertial data.
7. a kind of used fusion positioning system of light, for positioning to the object in located space, which includes: fixed
At least two cameras are laid in bit space, position of the different cameras in the located space is different, and it is empty constantly to obtain positioning
Between in optical data and server is uploaded to by wired transmission mode.Server tentatively resolves optical data,
And calculation result is reached into computing unit.The inertial sensor that the light is used in fusion component can constantly obtain light and be used to fusion group
The inertial data of part is simultaneously uploaded to computing unit by wired or wireless transmission mode.System is based on wireless and wired
Transmission mode realizes synchronization mechanism.Under the synchronization mechanism, computing unit handles optical data and inertial data, and
It is merged based on certain Kalman filter, calculates object in the posture information at current time.Pass through smothing filtering again
Processing, the object trace information of output smoothing；And
Active optics positioning device according to claim 2.
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| CN111854770A (en) * | 2019-04-30 | 2020-10-30 | 北京初速度科技有限公司 | Vehicle positioning system and method |
| CN111947650A (en) * | 2020-07-14 | 2020-11-17 | 杭州瑞声海洋仪器有限公司 | Fusion positioning system and method based on optical tracking and inertial tracking |
| CN112179337A (en) * | 2019-07-03 | 2021-01-05 | 中国移动通信有限公司研究院 | Inertial navigation data acquisition method and device and communication equipment |
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Application publication date: 20181211 |