CN109387205A - Obtain attitude angle amplitude of variation method, equipment and storage medium - Google Patents
Obtain attitude angle amplitude of variation method, equipment and storage medium Download PDFInfo
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- CN109387205A CN109387205A CN201811459619.3A CN201811459619A CN109387205A CN 109387205 A CN109387205 A CN 109387205A CN 201811459619 A CN201811459619 A CN 201811459619A CN 109387205 A CN109387205 A CN 109387205A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The embodiment of the present application provides a kind of attitude angle amplitude of variation method, equipment and storage medium.In some exemplary embodiments of the application, the motion information of the sensor acquisition terminal equipment on terminal device is utilized；The motion information of terminal device based on acquisition obtains the attitude angle at each moment of the terminal device in seclected time period；Based on the attitude angle at moment each in seclected time period, the variation tendency of attitude angle and the state outcome of threshold value are determined；According to the state outcome of the variation tendency of the attitude angle in seclected time period and threshold value, the accurate variation tendency for obtaining attitude angle, the amplitude of variation of most determining terminal device attitude angle in seclected time period, to improve the accuracy that the amplitude of variation of attitude angle calculates.
Description
Technical field
This application involves technical field of data processing more particularly to a kind of acquisition attitude angle amplitude of variation method, equipment and
Storage medium.
Background technique
Currently, acceleration transducer can be all used in the smart machines such as VR/AR, handle, wrist strap, earphone, unmanned plane,
Such as the combination of accelerometer and gyroscope, magnetometer.Regardless of calculating the speed of these equipment or calculating the angle of these equipment
Acceleration all will inevitably be related to the variation of attitude angle.
In general, in the attitude angle change procedure based on attitude algorithm, different angle is by antitrigonometric function
It may be fallen in after reason on point, when this point is a line of demarcation, it indicates 180 °, and indicates -180 °, at this time appearance
The variation at state angle is difficult accurately to calculate.
Summary of the invention
The many aspects of the application provide a kind of method for obtaining attitude angle amplitude of variation, obtain attitude angle change to improve
The accuracy rate of change amplitude.
The embodiment of the present application provides a kind of acquisition attitude angle amplitude of variation method, comprising:
Utilize the motion information of the sensor acquisition terminal equipment on terminal device；
According to the motion information of terminal device, the attitude angle at each moment of the terminal device in seclected time period is obtained；
Determine the variation tendency of the attitude angle in the seclected time period and the state outcome of threshold value；
According to the state outcome of the variation tendency of the attitude angle in the seclected time period and threshold value, terminal device is determined
The amplitude of variation of attitude angle in the seclected time period.
The embodiment of the present application also provides a kind of terminal device, comprising: sensor, one or more processors and one
Or the memory of multiple storage computer programs；
The sensor utilizes the motion information of the sensor acquisition terminal equipment on terminal device；
One or more of processors, for executing the computer program, to be used for:
According to the motion information of terminal device, the attitude angle at each moment of the terminal device in seclected time period is obtained；
Determine the variation tendency of the attitude angle in the seclected time period and the state outcome of threshold value；
According to the state outcome of the variation tendency of the attitude angle in the seclected time period and threshold value, terminal device is determined
The amplitude of variation of attitude angle in the seclected time period.
The embodiment of the present application also provides a kind of computer readable storage medium for being stored with computer program, when the calculating
When machine program is executed by one or more processors, causing one or more of processors to execute includes movement below:
Utilize the motion information of the sensor acquisition terminal equipment on terminal device；
According to the motion information of terminal device, the attitude angle at each moment of the terminal device in seclected time period is obtained；
Determine the variation tendency of the attitude angle in the seclected time period and the state outcome of threshold value；
According to the state outcome of the variation tendency of the attitude angle in the seclected time period and threshold value, terminal device is determined
The amplitude of variation of attitude angle in the seclected time period.
In some exemplary embodiments of the application, believed using the movement of the sensor acquisition terminal equipment on terminal device
Breath；The motion information of terminal device based on acquisition obtains the attitude angle at each moment of the terminal device in seclected time period；Base
In the attitude angle at moment each in seclected time period, the variation tendency of attitude angle and the state outcome of threshold value are determined；According to choosing
The variation tendency for the attitude angle fixed time in section and the state outcome of threshold value, the accurate variation tendency for obtaining attitude angle, most really
The amplitude of variation of terminal device attitude angle in seclected time period is determined, to improve the accuracy that the amplitude of variation of attitude angle calculates.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is a kind of method flow diagram for obtaining attitude angle amplitude of variation method provided by the embodiments of the present application；
Fig. 2 is the schematic diagram of attitude angle variation tendency provided by the embodiments of the present application；
Fig. 3 is the schematic diagram for the attitude angle variation tendency that the another embodiment of the application provides；
Fig. 4 is the schematic diagram for the attitude angle variation tendency that the another embodiment of the application provides；
Fig. 5 is the schematic diagram for the attitude angle variation tendency that the another embodiment of the application provides；
Fig. 6 is the schematic diagram for the attitude angle variation tendency that the another embodiment of the application provides；
Fig. 7 is the codomain quadrant schematic diagram of atan2 function provided by the embodiments of the present application and asin function；
Fig. 8 is the schematic diagram of several attitude angles provided by the embodiments of the present application；
Fig. 9 is that the amplitude of variation provided by the embodiments of the present application using course angle rendering apparatus in two-dimensional surface map is gone through
The schematic diagram of history course track；
Figure 10 is the more detailed method stream for obtaining attitude angle amplitude of variation method of one kind provided by the embodiments of the present application
Cheng Tu；
Figure 11 is the more detailed side for obtaining attitude angle amplitude of variation method of one kind that the another embodiment of the application provides
Method flow chart；
Figure 12 is a kind of structural block diagram for terminal device that the application exemplary embodiment provides.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the application one
Section Example, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall in the protection scope of this application.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning, " a variety of " generally comprise at least two, but not
It excludes to include at least one situation.
Depending on context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determination " or " in response to detection ".Similarly, context is depended on, phrase " if it is determined that " or " such as
Fruit detection (condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Include, so that commodity or system including a series of elements not only include those elements, but also including not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that in the commodity or system for including the element also
There are other identical elements.
Currently, smart machine, in the attitude angle change procedure based on attitude algorithm, different angle passes through antitrigonometric function
It may be fallen in after processing on point, when this point is a line of demarcation, it indicates 180 °, and indicates -180 °, at this time
The variation of attitude angle is difficult accurately to calculate.
Aiming at the problem that above-mentioned attitude angle amplitude of variation is difficult to calculate, in some exemplary embodiments of the application
In, utilize the motion information of the sensor acquisition terminal equipment on terminal device；The motion information of terminal device based on acquisition,
Obtain the attitude angle at each moment of the terminal device in seclected time period；Based on the attitude angle at moment each in seclected time period,
Determine the variation tendency of attitude angle and the state outcome of threshold value；According to the variation tendency and door of the attitude angle in seclected time period
The state outcome of limit value, the accurate variation tendency for obtaining attitude angle, most determining terminal device attitude angle in seclected time period
Amplitude of variation, to improve the accuracy that the amplitude of variation of attitude angle calculates.
Below in conjunction with attached drawing, the technical scheme provided by various embodiments of the present application will be described in detail.
Fig. 1 is a kind of method flow diagram for obtaining attitude angle amplitude of variation method provided by the embodiments of the present application.Such as Fig. 1 institute
Show, this method comprises:
S101: in the course of work, the motion information of the sensor acquisition terminal equipment on terminal device is utilized；
S102: according to the motion information of terminal device, the posture at each moment of the terminal device in seclected time period is obtained
Angle；
S103: the variation tendency of the attitude angle in seclected time period and the state outcome of threshold value are determined；
S104: according to the state outcome of the variation tendency of the attitude angle in seclected time period and threshold value, determine that terminal is set
The amplitude of variation of the standby attitude angle in seclected time period.
In the present embodiment, terminal device can be unmanned plane, the VR helmet, VR glasses, AR glasses, handle, wrist strap, intelligence
Earphone etc..The embodiment of the present application does not limit the type of terminal device.
In the present embodiment, the motion information of the sensor acquisition terminal equipment on terminal device is utilized；Based on acquisition
The motion information of terminal device obtains the attitude angle at each moment of the terminal device in seclected time period；Based in seclected time
The attitude angle at each moment, determines the variation tendency of attitude angle and the state outcome of threshold value in section；According in seclected time period
The variation tendency of attitude angle and the state outcome of threshold value, the accurate variation tendency for obtaining attitude angle, most determining terminal device exist
The amplitude of variation of attitude angle in seclected time period, to improve the accuracy that the amplitude of variation of attitude angle calculates.
In the above-described embodiments, terminal device during the work time, is set using the sensor acquisition terminal on terminal device
Standby motion information.For example, using three axis angular rate data of the available terminal device of three-axis gyroscope, three axis accelerometer
The 3-axis acceleration data of available terminal device, three axis magnetic components of the available terminal device of magnetometer.
In the above-described embodiments, the accelerometer on this terminal device can acquisition terminal equipment in real time 3-axis acceleration
It is worth, the magnetometer on terminal device can acquire three axis magnetic components in real time.Three axis at each moment in interception seclected time period add
Velocity amplitude and three axis magnetic components calculate the posture for obtaining each moment of the terminal device in seclected time period by following equation
Angle, the attitude angle of terminal device include pitch angle pitch, roll angle roll and course angle yaw, pitch angle pitch, roll angle
The calculation formula of roll and course angle yaw at a time is as follows:
Pitch angle
Roll angle
Course angle
Wherein, GX, GY,GZFor the 3-axis acceleration value of accelerometer acquisition, MX, MY,MZFor three axis magnetic of magnetometer acquisition
Component, g are acceleration of gravity 9.8m/s.
After the attitude angle for obtaining each moment of the terminal device in seclected time period, the posture in seclected time period is determined
The variation tendency at angle and the state outcome of threshold value, according to the shape of the variation tendency of the attitude angle in seclected time period and threshold value
State is as a result, determine the amplitude of variation of terminal device attitude angle in seclected time period.
In the above-described embodiments, as shown in Fig. 2, in the arcsin function needed for calculating pitch angle, domain [- 1,
1] in, the codomain of arcsin function is in [- pi/2, pi/2].As can be seen that in plane right-angle coordinate, pitch angle is from the 4th
Quadrant is a monotonic increasing function when changing to first quartile, is also a monotone increasing when changing to the second quadrant from third quadrant
Function, i.e. arcsin function are exactly a monotonic function in [- pi/2, pi/2].Therefore, two angles are not present in arcsin function
The problem of spending line of demarcation, and be dull in its domain.
As shown in fig. 7, in the atan2 function needed for calculating course angle yaw, roll angle roll, the codomain of tan2 function
For (- π, π], can see by comparing two figure of left and right of Fig. 7, first quartile and fourth quadrant codomain be it is identical, it is different
It is second and third quadrant.Assuming that θ is the angle of our calculating of left figure in Fig. 7, then mapping mode according to the following formula carries out θ
Processing:
Left figure in Fig. 7 can be made to be mapped to the effect of right figure, finally handled in the way of asin, such roll angle
The angle change amplitude of roll and course angle yaw and the amplitude of variation calculation of pitch angle pitch angle pitch are just identical.
Description based on the above embodiment, after the attitude angle for obtaining each moment of the terminal device in seclected time period, really
The variation tendency of the attitude angle in seclected time period and the state outcome of threshold value are determined, according to the attitude angle in seclected time period
The state outcome of variation tendency and threshold value determines the amplitude of variation of terminal device attitude angle in seclected time period.One kind can
Selecting embodiment is attitude angle each in seclected time period to be mapped to target angle, the angular range of target angle is [- pi/2, pi/2]；Root
According to target angle each in seclected time period, judge the variation tendency of attitude angle of the terminal device within seclected time whether cross pi/2 and/
Or-pi/2；According to the state outcome of the variation tendency of the posture in seclected time period and pi/2 and-pi/2, determine that terminal device is selecting
The amplitude of variation of pitch angle in section of fixing time.
It should be noted that judging that the variation of attitude angle of the terminal device within seclected time becomes in each embodiment of the application
Whether gesture crosses pi/2 and/or-pi/2, judges end indeed through the collected continuous discrete attitude angle numerical value of terminal device
Whether actual change track of the attitude angle of end equipment in two-dimensional coordinate system passes through the line of demarcation of first quartile and the second quadrant
(line of demarcation i.e. where pi/2), and/or whether pass through the line of demarcation (boundary where i.e.-pi/2 of third quadrant and fourth quadrant
Line).Specific judgment mode is detailed in the following example.
In the above-described embodiments, attitude angle each in seclected time period is mapped to target angle may include following two kinds of feelings
Condition:
Situation one: if attitude angle is pitch angle, directly using pitch angle as target angle；
Situation two: if attitude angle be roll angle perhaps course angle roll angle or course angle are first mapped to [- pi/2, π/
2] in, mapping roll angle or mapping course angle are formed；Roll angle or mapping course angle will be mapped as target angle.In conjunction with figure
7 and previous embodiment description, mapping roll angle and map course angle achievable mode be to judge roll angle or course
Angle whether belong to [pi/2, π] or (- π ,-pi/2], if roll angle or course angle belong to [pi/2, π], then by π and roll angle or
The difference of person's course angle is as mapping roll angle or mapping course angle；If roll angle or course angle belong to (- π ,-pi/2], then
Using the difference of-π and roll angle or course angle as mapping roll angle or mapping course angle.In this way, roll angle roll and boat
The amplitude of variation calculation of angle change amplitude and pitch angle pitch angle pitch to angle yaw is just identical.
According to target angle each in seclected time period, judge that the variation tendency of attitude angle of the terminal device within seclected time is
It is no to cross pi/2 and/or-pi/2.A kind of achievable mode is, by target angle each in seclected time period respectively with first object threshold value
It is compared with the second targets threshold, wherein first object threshold value is less than or equal to pi/2, and is greater than 0；Second targets threshold is greater than
Equal to-pi/2, and less than 0；It is more than or equal to the target angle of first object threshold value if it exists, it is determined that terminal device is in seclected time
The variation tendency of attitude angle in section crosses pi/2；It is less than or equal to the target angle of the second targets threshold if it exists, it is determined that terminal device
Variation tendency mistake-pi/2 of attitude angle in seclected time period.It should be noted that the application is to first object threshold value and
Two targets thresholds are not construed as limiting, and first object threshold value and the second targets threshold can make according to the actual situation and be adaptively adjusted.
For example, whether the variation tendency of attitude angle of the terminal device in seclected time period crosses pi/2.In general application
For guarantee real-time a bit of window data can only be carried out, the selection accelerometer sampling interval be 200HZ, can be used 0.1s or
0.2 ask for a window data amplitude of variation of attitude angle, for example, the data volume for selecting 0.2s then to contain is 200*0.1
=20, the angular speed calculated at this time=angle change amplitude is divided by 0.1s.Since selected time window is shorter, it is believed that
In the so short time, rotation is all to the same direction.In subsequent calculating, can use window data whether mistake
90 ° and -90 ° of this key positions, and in the two positions for crossing of which data of window data.Fig. 8 assumes that calculating
Obtain 9 angles, it can be seen that, the 6th data cross 90 ° of particular point.It is emphasized that in actually calculating, due to accelerating
Degree count be it is discrete, first object threshold value is 89.5 ° and was used as 90 ° of marks.Similarly, same way judgement can be used,
The variation tendency of attitude angle of the terminal device in seclected time period whether mistake-pi/2.
It is determined in conjunction with Fig. 2-6 according to the state outcome of the variation tendency of the posture in seclected time period and pi/2 and-pi/2
The amplitude of variation of terminal device pitch angle in seclected time period, including following four kinds of situations, and make an explanation to each situation:
Situation one: if the variation tendency of the attitude angle in seclected time period does not cross pi/2, and non-mistake-pi/2, then maximum is chosen
Target angle and minimum target angle, using the difference at maximum target angle and minimum target angle as the amplitude of variation of attitude angle.Such as Fig. 2 institute
Show, such entire window data of situation is in a dull section, and demand goes out maximum value max in target angle and most
Small value min, then makes the difference the amplitude of variation that attitude angle can be obtained are as follows: max-min.
Situation two: if the variation tendency of the attitude angle in seclected time period crosses pi/2, and the attitude angle in seclected time period
Non- mistake-the pi/2 of variation tendency then chooses minimum target angle, as first object in the target angle belonged in [0, pi/2] section
Angle, belong to [- pi/2,0) choose minimum target angle in target angle in section, as the second target angle；Calculate separately pi/2 with
First difference and the second difference at first object angle and the second target angle regard the sum of the first difference and the second difference as attitude angle
Amplitude of variation.As shown in figure 3, entire data are divided into dull two parts with the longitudinal axis, this two parts be all it is dull,
In it is confirmed that 90 ° of maximum value, uncertain is the minimum value in two sections, so only needing to find out two sections respectively most
Small value min1 and min2, the amplitude of variation of attitude angle are as follows: (90 ° of-min1)+(90 ° of-min2).
Situation three, if the variation tendency of the attitude angle in seclected time period does not cross pi/2, and the attitude angle in seclected time period
Variation tendency mistake-pi/2；Maximum target angle is then chosen in the target angle belonged in [0, pi/2] section, as third target
Angle, belong to [- pi/2,0) maximum target angle in target angle in section, as the 4th target angle；Calculate separately pi/2 and third
First and the value and second and value of target angle and the 4th target angle, the change by first and value and the sum of second and value as attitude angle
Change amplitude.As shown in figure 4, entire data are divided into dull two parts with the longitudinal axis, this two parts be all it is dull, wherein really
Fixed is 90 ° of maximum value, and uncertain is the maximum value in two sections, so only needing to find out the minimum value in two sections respectively
Max1 and max2, the amplitude of variation of attitude angle are as follows: (90 ° of+max1)+(90 ° of+max2).
Situation four: as shown in figure 5, if the variation tendency of the attitude angle in seclected time period crosses pi/2, and in seclected time period
Attitude angle variation tendency mistake-pi/2；Minimum target angle is then chosen in the target angle belonged in [0, pi/2] section, as the
Five target angles, belong to [- pi/2,0) choose maximum target angle in target angle in section, as the 6th target angle；Calculate pi/2
With the third difference of the 5th target angle, the third and value of pi/2 and the 6th target angle are calculated, by π, third difference, third and is worth it
With the amplitude of variation as attitude angle.As shown in Figure 5,6, under this situation, entire data are divided into dull three with the longitudinal axis
Point, first quartile part (90 ° of-min), 180 ° of second and third quadrants, fourth quadrant part (max- (- 90 °)), and finally, appearance
The amplitude of variation at state angle are as follows:+180 ° of (90 ° of-min)+(max+90 °).
The amplitude of variation of attitude angle can accurately be obtained by obtaining attitude angle amplitude of variation method using the various embodiments described above.Under
It enumerates several use the application and obtains attitude angle amplitude of variation method, obtain the amplitude of variation of the attitude angle in seclected time period
Afterwards, the scene that the amplitude of variation of the attitude angle can be applied.
Application scenarios one: using the amplitude of variation of course angle in two-dimensional surface map rendering apparatus history course track.
The change of attitude angle in seclected time period is obtained in the acquisition attitude angle amplitude of variation method using the various embodiments described above
After change amplitude, it may also be used for, according to the amplitude of variation of the attitude angle in seclected time period, drawing terminal device existing two is
Course track in plane map.
It optionally, is plane map based on existing two, drawing terminal device existing two is the start position of plane map；
Original motion information based on terminal device obtains the amplitude of variation of course angle of the terminal device in seclected time period；If boat
It is greater than to the amplitude of variation at angle and turns to locating threshold, then is track drafting anchor point in plane map two.The present embodiment is not right
It turns to locating threshold to limit, steering locating threshold is made according to the actual situation to be adaptively adjusted.As shown in figure 9, drawing first
The start position of terminal device obtains attitude angle amplitude of variation method using above-described embodiment and obtains 90 ° of course angle turning, draws
The line of track anchor point, starting point and each track anchor point forms the history course track of equipment.
In conjunction with the description of the various embodiments described above, Figure 10 is a kind of more detailed acquisition posture provided by the embodiments of the present application
The method flow diagram of angle amplitude of variation method.As shown in Figure 10, this method comprises:
S1001: in the course of work, the motion information of the sensor acquisition terminal equipment on terminal device is utilized；
S1002: according to the motion information of terminal device, the course at each moment of the terminal device in seclected time period is obtained
Angle；
S1003: the variation tendency of the course angle in seclected time period and the state outcome of threshold value are determined；
S1004: according to the state outcome of the variation tendency of the course angle in seclected time period and threshold value, determine that terminal is set
The amplitude of variation of the standby course angle in seclected time period；
S1005: according to the amplitude of variation of the course angle in seclected time period, drawing terminal device existing two is plane earth
History course track in figure.
Application scenarios two: using the amplitude of variation of attitude angle in three-dimensional map drawing three-dimensional motion profile.
The amplitude of variation of attitude angle in seclected time period is obtained in the method for the acquisition attitude angle using the various embodiments described above
Later, it may also be used for: according to the amplitude of variation of the attitude angle in seclected time period, drawing terminal device existing two is plane earth
3 D motion trace in figure.
Optionally, based on existing three-dimensional map, terminal device is drawn in the start position of existing three-dimensional map；Based on terminal
The original motion information of equipment obtains the amplitude of variation of attitude angle of the terminal device in seclected time period；If the change of attitude angle
Change amplitude is greater than attitude orientation threshold value, then the track drafting anchor point in three-dimensional map.Wherein, attitude orientation threshold value includes course
Angle locating threshold, roll angle locating threshold and pitch angle locating threshold, if the amplitude of variation of course angle be greater than attitude orientation threshold value,
The amplitude of variation of roll angle is greater than roll angle locating threshold and the amplitude of variation of pitch angle is greater than in pitch angle locating threshold extremely
Few one is set up, then the track drafting anchor point in three-dimensional map.
In conjunction with the description of the various embodiments described above, Figure 11 is a kind of more detailed acquisition posture provided by the embodiments of the present application
The method flow diagram of angle amplitude of variation method.As shown in figure 11, this method comprises:
S1101: in the course of work, the motion information of the sensor acquisition terminal equipment on terminal device is utilized；
S1102: according to the motion information of terminal device, the posture at each moment of the terminal device in seclected time period is obtained
Angle；
S1103: the variation tendency of the attitude angle in seclected time period and the state outcome of threshold value are determined；
S1104: according to the state outcome of the variation tendency of the attitude angle in seclected time period and threshold value, determine that terminal is set
The amplitude of variation of the standby attitude angle in seclected time period.
S1105: according to the amplitude of variation of the attitude angle in seclected time period, terminal device is drawn in existing three-dimensional map
3 D motion trace.
Figure 12 is a kind of structural block diagram for terminal device that the application exemplary embodiment provides.The terminal device includes:
The memory 1203 of sensor 1201, one or more processors 1202 and one or more storage computer programs；
Sensor 1201 utilizes the motion information of the sensor acquisition terminal equipment on terminal device.Wherein, sensor
1201 can be accelerometer and/or magnetometer.Accelerometer on terminal device acquires 3-axis acceleration value, is set using terminal
Standby upper magnetometer acquires three axis magnetic components.Terminal device can also include the necessity such as audio component 1204, power supply module 1205
Component.
One or more processors 1202, for executing computer program, to be used for:
According to the motion information of terminal device, the attitude angle at each moment of the terminal device in seclected time period is obtained；
Determine the variation tendency of the attitude angle in seclected time period and the state outcome of threshold value；
According to the state outcome of the variation tendency of the attitude angle in seclected time period and threshold value, determine that terminal device is selecting
The amplitude of variation of attitude angle in section of fixing time.
Optionally, one or more processors 1202 obtain terminal device selected according to the angle information of terminal device
The attitude angle at each moment in the period, to be used for: terminal device during the work time, utilizes the accelerometer on terminal device
3-axis acceleration value is acquired, acquires three axis magnetic components using the magnetometer on terminal device；When according to each in seclected time period
The 3-axis acceleration value at quarter and three axis magnetic components obtain the attitude angle at each moment of the terminal device in seclected time period.
Optionally, one or more processors 1202 determine the variation tendency and thresholding of the attitude angle in seclected time period
The state outcome of value, to be used for: attitude angle each in seclected time period is mapped to target angle, the angular range of target angle be [- π/
2, pi/2]；According to target angle each in seclected time period, judge that the variation tendency of attitude angle of the terminal device within seclected time is
It is no to cross pi/2 and/or-pi/2.
Optionally, each attitude angle in the seclected time period is mapped to target angle by one or more processors 1202, with
For: if attitude angle is pitch angle, directly using the pitch angle as the target angle；If attitude angle is roll angle or course
Angle maps to roll angle or course angle in [- pi/2, pi/2], forms mapping roll angle or mapping course angle；Mapping is turned over
Roll angle or mapping course angle are as target angle.
Optionally, one or more processors 1202 map to roll angle or course angle in [- pi/2, pi/2], are formed
Mapping roll angle map course angle perhaps to be used for: judge roll angle perhaps course angle whether belong to [pi/2 π] or (- π ,-
Pi/2], if roll angle or course angle belong to [pi/2, π], then roll the difference of π and roll angle or course angle as mapping
Angle or mapping course angle；If roll angle or course angle belong to (- π ,-pi/2], then by-π and roll angle or the difference of course angle
Value is as mapping roll angle or mapping course angle.
Optionally, one or more processors 1202 judge that terminal device is selecting according to target angle each in seclected time period
Whether the variation tendency of the attitude angle in fixing time crosses pi/2 and/or-pi/2, to be used for: by target angle each in seclected time period point
It is not compared with first object threshold value and the second targets threshold, wherein first object threshold value is less than or equal to pi/2, and is greater than 0；
Second targets threshold is more than or equal to-pi/2, and less than 0；It is more than or equal to the target angle of first object threshold value if it exists, it is determined that eventually
The variation tendency of attitude angle of the end equipment in seclected time period crosses pi/2；It is less than or equal to the target of the second targets threshold if it exists
Angle, it is determined that variation tendency mistake-pi/2 of attitude angle of the terminal device in seclected time period.
Optionally, one or more processors 1202, according to the variation tendency and thresholding of the attitude angle in seclected time period
The state outcome of value determines the amplitude of variation of terminal device attitude angle in seclected time period, to be used for: if in seclected time period
The variation tendency of attitude angle do not cross pi/2, and non-mistake-pi/2 then chooses maximum target angle and minimum target angle, by maximum target
Amplitude of variation of the difference at angle and minimum target angle as attitude angle；If the variation tendency of the attitude angle in seclected time period cross π/
2, and the non-mistake-pi/2 of variation tendency of the attitude angle in seclected time period, it is chosen in the target angle belonged in [0, pi/2] section
Minimum target angle, as first object angle, belong to [- pi/2,0) choose minimum target angle in target angle in section, as the
Two target angles；The first difference and the second difference for calculating separately pi/2 Yu first object angle and the second target angle, by the first difference and
Amplitude of variation of the sum of second difference as attitude angle；If the variation tendency of the attitude angle in seclected time period does not cross pi/2, and selects
Variation tendency mistake-the pi/2 for the attitude angle fixed time in section；Maximum target is chosen in the target angle belonged in [0, pi/2] section
Angle, as third target angle, belong to [- pi/2,0) maximum target angle in target angle in section, as the 4th target angle；Point
Not Ji Suan pi/2 and third target angle and the 4th target angle first and value and second and value, by first and value and second and value
With the amplitude of variation as attitude angle；If the variation tendency of the attitude angle in seclected time period crosses pi/2, and in seclected time period
Variation tendency mistake-pi/2 of attitude angle；Minimum target angle is chosen in the target angle belonged in [0, pi/2] section, as the 5th mesh
Mark angle, belong to [- pi/2,0) choose maximum target angle in target angle in section, as the 6th target angle；Calculate pi/2 and the
The third difference of five target angles calculates the third and value of pi/2 and the 6th target angle, and the sum of π, third difference, third and value are made
For the amplitude of variation of attitude angle.
Optionally, one or more processors 1202, attitude angle include course angle, are determining the attitude angle within seclected time
Amplitude of variation after, it may also be used for: according to the amplitude of variation of the attitude angle in seclected time period, draw terminal device existing
3 D motion trace in three-dimensional map.
Optionally, it is drawn eventually according to the amplitude of variation of the attitude angle in seclected time period one or more processors 1202
3 D motion trace of the end equipment in existing three-dimensional map, to be used for: based on existing three-dimensional map, drawing terminal device
There is the start position of three-dimensional map；Original motion information based on terminal device obtains terminal device in seclected time period
The amplitude of variation of attitude angle；If the amplitude of variation of attitude angle is greater than attitude orientation threshold value, track drafting is fixed in three-dimensional map
Site.
In the application terminal device embodiment, believed using the movement of the sensor acquisition terminal equipment on terminal device
Breath；The motion information of terminal device based on acquisition obtains the attitude angle at each moment of the terminal device in seclected time period；Base
In the attitude angle at moment each in seclected time period, the variation tendency of attitude angle and the state outcome of threshold value are determined；According to choosing
The variation tendency for the attitude angle fixed time in section and the state outcome of threshold value, the accurate variation tendency for obtaining attitude angle, most really
The amplitude of variation of terminal device attitude angle in seclected time period is determined, to improve the accuracy that the amplitude of variation of attitude angle calculates.
Correspondingly, the embodiment of the present application also provides a kind of computer readable storage medium for being stored with computer program.When
Computer-readable recording medium storage computer program, and computer program by one or more processors 1202 execute when, cause
One or more processors 1202 are made to execute each step in embodiment of the method shown in corresponding Fig. 1.
Power supply module in above-mentioned Figure 12, the various assemblies of equipment provide electric power where power supply module.Power supply module can
To include power-supply management system, one or more power supplys and other with for equipment where power supply module generate, manage, and distribute electricity
The associated component of power.
Audio component in above-mentioned Figure 12, can be configured to output and/or input audio signal.For example, audio component packet
A microphone (MIC) is included, the equipment where audio component is in operation mode, as call model, logging mode and voice are known
When other mode, microphone is configured as receiving external audio signal.The received audio signal can be further stored in and deposit
Reservoir is sent via communication component.In some embodiments, audio component further includes a loudspeaker, for exporting audio letter
Number.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (11)
1. a kind of acquisition attitude angle amplitude of variation method characterized by comprising
Utilize the motion information of the sensor acquisition terminal equipment on terminal device；
According to the motion information of terminal device, the attitude angle at each moment of the terminal device in seclected time period is obtained；
Determine the variation tendency of the attitude angle in the seclected time period and the state outcome of threshold value；
According to the state outcome of the variation tendency of the attitude angle in the seclected time period and threshold value, determine terminal device in institute
State the amplitude of variation of attitude angle in seclected time period.
2. the method according to claim 1, wherein obtaining terminal device according to the angle information of terminal device
The attitude angle at each moment in seclected time period, comprising:
Terminal device acquires 3-axis acceleration value during the work time, using the accelerometer on terminal device, is set using terminal
Standby upper magnetometer acquires three axis magnetic components；
According to the 3-axis acceleration value at each moment in seclected time period and three axis magnetic components, terminal device is obtained described selected
The attitude angle at each moment in the period.
3. the method according to claim 1, wherein determining that the variation of the attitude angle in the seclected time period becomes
The state outcome of gesture and threshold value, comprising:
Each attitude angle in the seclected time period is mapped to target angle, the angular range of target angle is [- pi/2, pi/2]；
According to each target angle in the seclected time period, judge that the variation of attitude angle of the terminal device within the seclected time becomes
Whether gesture crosses pi/2 and/or-pi/2.
4. according to the method described in claim 3, it is characterized in that, each attitude angle in the seclected time period is mapped to target
Angle, comprising:
If attitude angle is pitch angle, directly using the pitch angle as the target angle；
If attitude angle is that perhaps course angle maps to roll angle or course angle in [- pi/2, pi/2] to roll angle, mapped
Roll angle or mapping course angle；Roll angle or mapping course angle will be mapped as the target angle.
5. according to the method described in claim 4, it is characterized in that, roll angle or course angle are mapped to [- pi/2, pi/2]
It is interior, form mapping roll angle or mapping course angle, comprising:
Judge roll angle perhaps course angle whether belong to [pi/2 π] or (- π ,-pi/2],
If roll angle or course angle belong to [pi/2, π], then π is turned over the difference of the roll angle or course angle as mapping
Roll angle or mapping course angle；
If roll angle or course angle belong to (- π ,-pi/2], then using-π and the difference of the roll angle or course angle as reflecting
Penetrate roll angle or mapping course angle.
6. according to the described in any item methods of claim 3-5, which is characterized in that according to each target in the seclected time period
Angle, judges whether the variation tendency of attitude angle of the terminal device within the seclected time crosses pi/2 and/or-pi/2, comprising:
Target angle each in seclected time period is compared with first object threshold value and the second targets threshold respectively, wherein first
Targets threshold is less than or equal to pi/2, and is greater than 0；Second targets threshold is more than or equal to-pi/2, and less than 0；
It is more than or equal to the target angle of first object threshold value if it exists, it is determined that attitude angle of the terminal device in seclected time period
Variation tendency crosses pi/2；
It is less than or equal to the target angle of the second targets threshold if it exists, it is determined that attitude angle of the terminal device in seclected time period
Variation tendency mistake-pi/2.
7. according to the method described in claim 6, it is characterized in that, being become according to the variation of the attitude angle in the seclected time period
The state outcome of gesture and threshold value determines the amplitude of variation of terminal device attitude angle in the seclected time period, comprising:
If the variation tendency of the attitude angle in seclected time period does not cross pi/2, and non-mistake-pi/2, then maximum target angle and minimum are chosen
Target angle, using the difference at maximum target angle and minimum target angle as the amplitude of variation of attitude angle；
If the variation tendency of the attitude angle in seclected time period crosses pi/2, and the variation tendency of the attitude angle in seclected time period is not
Cross-pi/2, minimum target angle chosen in the target angle belonged in [0, pi/2] section, as first object angle, belong to [- π/
2,0) minimum target angle is chosen in the target angle in section, as the second target angle；Calculate separately pi/2 and first object angle and the
The first difference and the second difference of two target angles, the amplitude of variation by the sum of the first difference and the second difference as attitude angle；
If the variation tendency of the attitude angle in seclected time period does not cross pi/2, and the variation tendency of the attitude angle in seclected time period
Cross-pi/2, maximum target angle chosen in the target angle belonged in [0, pi/2] section, as third target angle, belong to [- π/
2,0) maximum target angle in the target angle in section, as the 4th target angle；Calculate separately pi/2 and third target angle and the 4th mesh
Mark first and value and second and value at angle, the amplitude of variation by first and value and the sum of second and value as attitude angle；
If the variation tendency of the attitude angle in seclected time period crosses pi/2, and the variation tendency mistake-of the attitude angle in seclected time period
Pi/2 chooses minimum target angle in the target angle belonged in [0, pi/2] section, as the 5th target angle, belong to [- pi/2,0)
Maximum target angle is chosen in target angle in section, as the 6th target angle；The third difference of pi/2 and the 5th target angle is calculated,
Calculate the third and value of pi/2 and the 6th target angle, the amplitude of variation by the sum of π, third difference, third and value as attitude angle.
8. the method according to claim 1, wherein the attitude angle includes course angle,
It is determining within the seclected time after the amplitude of variation of attitude angle, further includes:
According to the amplitude of variation of the attitude angle in the seclected time period, three-dimensional of the terminal device in existing three-dimensional map is drawn
Motion profile.
9. according to the method described in claim 8, it is characterized in that, according to the variation width of the attitude angle in the seclected time period
Degree draws 3 D motion trace of the terminal device in existing three-dimensional map, comprising:
Based on existing three-dimensional map, terminal device is drawn in the start position of existing three-dimensional map；
Original motion information based on terminal device obtains the amplitude of variation of attitude angle of the terminal device in seclected time period；
If the amplitude of variation of attitude angle is greater than attitude orientation threshold value, the track drafting anchor point in three-dimensional map.
10. a kind of terminal device characterized by comprising sensor, one or more processors and one or more are deposited
Store up the memory of computer program；
The sensor utilizes the motion information of the sensor acquisition terminal equipment on terminal device；
One or more of processors, for executing the computer program, to be used for:
According to the motion information of terminal device, the attitude angle at each moment of the terminal device in seclected time period is obtained；
Determine the variation tendency of the attitude angle in the seclected time period and the state outcome of threshold value；
According to the state outcome of the variation tendency of the attitude angle in the seclected time period and threshold value, determine terminal device in institute
State the amplitude of variation of attitude angle in seclected time period.
11. a kind of computer readable storage medium for being stored with computer program, which is characterized in that when the computer program quilt
When one or more processors execute, causing one or more of processors to execute includes movement below:
Utilize the motion information of the sensor acquisition terminal equipment on terminal device；
According to the motion information of terminal device, the attitude angle at each moment of the terminal device in seclected time period is obtained；
Determine the variation tendency of the attitude angle in the seclected time period and the state outcome of threshold value；
According to the state outcome of the variation tendency of the attitude angle in the seclected time period and threshold value, determine terminal device in institute
State the amplitude of variation of attitude angle in seclected time period.
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