CN110044352A - A kind of inertial navigation system and method with Digital Holography - Google Patents
A kind of inertial navigation system and method with Digital Holography Download PDFInfo
- Publication number
- CN110044352A CN110044352A CN201910336966.5A CN201910336966A CN110044352A CN 110044352 A CN110044352 A CN 110044352A CN 201910336966 A CN201910336966 A CN 201910336966A CN 110044352 A CN110044352 A CN 110044352A
- Authority
- CN
- China
- Prior art keywords
- sensing unit
- module
- inertial
- sensor
- inertial sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001093 holography Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 210000000707 wrist Anatomy 0.000 claims abstract description 9
- 210000003127 knee Anatomy 0.000 claims abstract description 8
- 210000001699 lower leg Anatomy 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000004422 calculation algorithm Methods 0.000 claims description 4
- 238000003786 synthesis reaction Methods 0.000 claims description 4
- 238000006757 chemical reactions by type Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 238000012876 topography Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 241001062009 Indigofera Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
-
- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- 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
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03H—HOLOGRAPHIC PROCESSES OR APPARATUS
- G03H1/00—Holographic processes or apparatus using light, infrared or ultraviolet waves for obtaining holograms or for obtaining an image from them; Details peculiar thereto
- G03H1/22—Processes or apparatus for obtaining an optical image from holograms
- G03H1/2294—Addressing the hologram to an active spatial light modulator
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of inertial navigation systems and method with Digital Holography, the system includes: sensor module, communication module and digital holography module, sensor module is connected by communication module with digital hologram module, sensor module includes the first sensing unit, second sensing unit, third sensing unit, 4th sensing unit, 5th sensing unit, 6th sensing unit, 7th sensing unit, 8th sensing unit and the 9th sensing unit, it is worn on the left finesse of user respectively, right finesse, left hand elbow, right hand elbow, left knee, right knee, left foot wrist, on right crus of diaphragm wrist and waist center, digital hologram module includes host and projection device, 9th sensing unit is connect with host by communication module.The present invention is based on inertial navigation systems to overcome defect of the conventional satellite positioning system indoor satellite signal vulnerable to interference, more accurate navigation data can be obtained not against external information, and it can reflect the motion state of wearer in real time, be suitable for a varied topography, the fire-fighting scene more than barrier.
Description
Technical field
The present invention relates to inertial navigation and line holographic projections field, especially a kind of inertial navigation with Digital Holography
System and method.
Background technique
Individual soldier's navigation system is suitable for fire-fighting, and the scenes such as rescue and relief work, after especially catching fire indoors, rescue action work is difficult
With the occasion of progress.A kind of individual soldier's navigation system is needed, can be fire-fighting under emergency relief, the emergency cases such as target tracking
Member provides high level safety guarantee.
Traditional global position system, due to the influence of indoor wall barrier, satellite-signal is highly prone to interfere, so
Global position system can not accurately know the securing position of fireman.Later it has been developed that inertial navigation system, due to
Inertial navigation system is independent of external information, also not to external radiation energy, passes through measurement based on Newtonian mechanics completely
Acceleration of the carrier in inertial reference system, the parameter sensings such as deflection integrate and obtain the speed in navigational coordinate system, deflection,
Position, the information such as posture, therefore inertial navigation system become the first choice of indoor fire-fighting positioning.However inertial navigation system can only
The speed of fireman, position are provided, the information such as direction not can accurately reflect the human motion state of fireman, can not be preferably
Grasp the indoor rescue situations of firefighters.
Summary of the invention
Goal of the invention: for overcome the deficiencies in the prior art, the present invention provides a kind of inertia with Digital Holography
The problem of navigation system and method, which can solve navigation information and human motion state disconnection.
Technical solution: the inertial navigation system of the present invention with Digital Holography, the system include: sensor
Module, communication module and digital holography module, the sensor module are connected by communication module with the digital hologram module,
The sensor module includes the first sensing unit, the second sensing unit, third sensing unit, the 4th sensing unit, the 5th biography
Feel unit, the 6th sensing unit, the 7th sensing unit, the 8th sensing unit and the 9th sensing unit, is worn on user respectively
Left finesse, right finesse, left hand elbow, right hand elbow, left knee, right knee, left foot wrist, right crus of diaphragm wrist and waist center on, the number
Word holography module includes host and projection device, and the 9th sensing unit is connect with host by the communication module, described
Host is connected with projection device.
Further, comprising:
First sensing unit includes sequentially connected first inertial sensor, the first Kalman filter, the first ARM
Controller and the first bluetooth transceiver；Second sensing unit includes sequentially connected second inertial sensor, the second karr
Graceful filter, the second ARM controller and the second bluetooth transceiver；The third sensing unit includes sequentially connected third inertia
Sensor, third Kalman filter, third ARM controller and third bluetooth transceiver；4th sensing unit include according to
4th inertial sensor of secondary connection, the 4th Kalman filter, the 4th ARM controller and the 4th bluetooth transceiver；Described
Five sensing units include sequentially connected 5th inertial sensor, the 5th Kalman filter, the 5th ARM controller and the 5th indigo plant
Tooth transceiver；6th sensing unit includes sequentially connected 6th inertial sensor, the 6th Kalman filter, and the 6th
ARM controller and the 6th bluetooth transceiver；7th sensing unit includes sequentially connected 7th inertial sensor, the 7th card
Thalmann filter, the 7th ARM controller and the 7th bluetooth transceiver；8th sensing unit includes the sequentially connected 8th used
Property sensor, the 8th Kalman filter, the 8th ARM controller and the 8th bluetooth transceiver, the 9th sensing unit include
Sequentially connected 9th inertial sensor, the 9th Kalman filter, the 9th ARM controller and the 9th bluetooth transceiver, it is described
9th sensing unit further includes wireless communication unit, and the wireless communication unit is connect with the 9th ARM controller.
Further, comprising:
First inertial sensor, the second inertial sensor, third inertial sensor, the 4th inertial sensor, the 5th
Inertial sensor, the 6th inertial sensor, the 7th inertial sensor, the 8th inertial sensor and the 9th inertial sensor are adopted
With nine axis inertial sensors, the nine axis inertial sensor includes three-axis gyroscope, three axis magnetometers, three axis accelerometer.
Further, comprising:
The projection device includes laser and spatial light modulator (SLM), the laser beam irradiation that the laser issues
Onto spatial light modulator, then the hologram modulates being loaded into spatial light modulator are diffracted into digital hologram image.
Further, comprising:
The spatial light modulator has multiple.
A kind of inertial navigation system and method with Digital Holography, comprising the following steps:
(1) by the first sensing unit, the second sensing unit, third sensing unit, the 4th sensing on the body for acquiring user
Space orientation data in unit, the 5th sensing unit, the 6th sensing unit, the 7th sensing unit and the 8th sensing unit are sent
To the 9th sensing unit,
(2) the 9th sensing units are sent in all hosts of digital hologram module together with the space orientation data of itself unit；
(3) host obtains the space orientation data of 9 sensing units by communication module, uses Maya 3D software development
It fabricates human body three-dimensional motion model and establishes three-dimensional coordinate system, using three-dimensional modeling data, made and counted by fast algorithm
Hologram is calculated, hologram is loaded on projection device through host process, Video coding synthesis digitlization hologram；
Further, comprising:
The step (1) specifically includes:
The sensing data in the first inertial sensor of the first sensing unit is acquired, is controlled by the first ARM controller, sensing
Data carry out reaction type calibration by the first Kalman filter, obtain left hand wrist joint in navigational coordinate system by integral operation
The data of acquisition are sent to the 9th sensing unit by the first bluetooth transceiver by the space orientation data of node, corresponding, are adopted
Collect the space orientation data of the correspondence human synovial node in the second to the 8th inertial sensor, and is sent to the 9th sensing unit
The 9th bluetooth transceiver.
Further, comprising:
The step (2) specifically includes:
The space orientation data of the 9th ARM controller control acquisition in 9th sensing unit, are received and dispatched by the 9th bluetooth
Device receives the space orientation data from other eight sensing units, and by wireless communication module, together with the sky of itself unit
Between location data, the data of collected nine sensing units are sent in the host of digital hologram module；
Further, comprising:
It further include that the hologram is input in the spatial light modulator of projection device, laser beam is irradiated to the spatial light
On modulator, then the hologram modulates being loaded into spatial light modulator are diffracted into digital hologram image.
The utility model has the advantages that compared with prior art, the present invention its remarkable advantage is: 1, the present invention is based on inertial navigation systems gram
Defect of the conventional satellite positioning system indoor satellite signal vulnerable to interference has been taken, can have been obtained not against external information more accurate
Navigation data, be suitable for a varied topography, the fire-fighting scene more than barrier；2, the present invention can be supervised using multiple inertial sensors
The spatial position of human synovial node is controlled, and then captures human motion state, takes full advantage of inertial navigation system high sensitivity
Characteristic；3, the present invention combines Digital Holography, using Maya 3D software development human body three-dimensional motion model, and synthesizes complete
Retire into private life view, more can intuitively naked eye fireman rescue action.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is analogue simulation figure of the invention；
Fig. 3 is the structural schematic diagram of sensor of the invention module；
Fig. 4 is the work flow diagram of digital hologram module of the invention；
Fig. 5 is flow chart of the method for the present invention.
Specific embodiment
The present invention will be describe below in further detail with reference to the accompanying drawings, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
All other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
As shown in Figure 1, the inertial navigation system of the present invention with Digital Holography, which includes: sensing
Device module, communication module and digital holography module, the sensor module pass through communication module and the digital hologram module phase
Even,
As shown in Figures 2 and 3, sensor module includes the first sensing unit, the second sensing unit, third sensing unit, the
Four sensing units, the 5th sensing unit, the 6th sensing unit, the 7th sensing unit, the 8th sensing unit and the 9th sensing unit,
It is worn on left finesse, right finesse, left hand elbow, right hand elbow, left knee, right knee, left foot wrist, right crus of diaphragm wrist and the waist of user respectively
On portion center.
The digital hologram module includes host and projection device, and the 9th sensing unit and host pass through the communication
Module connection, the host are connected with projection device, and calculating main frame realizes 3D modeling, quickly calculate holographic, Video coding, host
In carry image processing unit (GPU), modeling software, be used for computergenerated hologram (CGH), the present invention use but be not limited to make
With Maya 3D.
Communication module can be GPRS module, 3G module, 4G module, NB-IOT module, LoRa module, ethernet module, indigo plant
Tooth module, WIFI module etc., the present invention are simultaneously not limited thereof, and the network that the module of heterogeneous networks is also just transmitted is different, compares
As 4G module be naturally carried out data transmission with the 4G network of operator, lora module be by 433MHz frequency range or other
Band transmissions, similarly ethernet module is exactly to use Ethernet (Internet).
First sensing unit includes sequentially connected first inertial sensor, the first Kalman filter, the first ARM control
Device and the first bluetooth transceiver；Second sensing unit includes sequentially connected second inertial sensor, the second Kalman filter
Wave device, the second ARM controller and the second bluetooth transceiver；The third sensing unit includes sequentially connected third inertia sensing
Device, third Kalman filter, third ARM controller and third bluetooth transceiver；4th sensing unit includes successively connecting
The 4th inertial sensor connect, the 4th Kalman filter, the 4th ARM controller and the 4th bluetooth transceiver；Described 5th passes
Sense unit includes sequentially connected 5th inertial sensor, and the 5th Kalman filter, the 5th ARM controller and the 5th bluetooth are received
Send out device；6th sensing unit includes sequentially connected 6th inertial sensor, the 6th Kalman filter, the 6th ARM control
Device processed and the 6th bluetooth transceiver；7th sensing unit includes sequentially connected 7th inertial sensor, the 7th Kalman
Filter, the 7th ARM controller and the 7th bluetooth transceiver；8th sensing unit includes that sequentially connected 8th inertia passes
Sensor, the 8th Kalman filter, the 8th ARM controller and the 8th bluetooth transceiver, the 9th sensing unit include successively
9th inertial sensor of connection, the 9th Kalman filter, the 9th ARM controller and the 9th bluetooth transceiver, the described 9th
Sensing unit further includes wireless communication unit, and the wireless communication unit is connect with the 9th ARM controller, the wireless communication
Unit is preferably 4G wireless telecommunications.
First inertial sensor, the second inertial sensor, third inertial sensor, the 4th inertial sensor, the 5th
Inertial sensor, the 6th inertial sensor, the 7th inertial sensor, the 8th inertial sensor and the 9th inertial sensor are adopted
With nine axis inertial sensors, the nine axis inertial sensor includes three-axis gyroscope, three axis magnetometers, three axis accelerometer.
The present invention can monitor the spatial position of human body articulation nodes using multiple nine axis inertial sensors, and then capture people
Body motion state takes full advantage of the characteristic of inertial navigation system high sensitivity.
Further, in the embodiment of the present invention, the projection device includes laser and spatial light modulator, the laser
The laser beam that device issues is irradiated in spatial light modulator, then the hologram modulates being loaded into spatial light modulator spread out
Penetrate into digital hologram image.
Further, it in the embodiment of the present invention, in order to reach good 3-d reproduction effect, can be used high-resolution
Spatial light modulator；It can also improve and differentiate using time-multiplexed and space multiplexing technique by multiple spatial light modulators
Rate.
As shown in figure 4, host obtains the real-time spatial orientation information of 9 inertial sensors by 4G network, closed using 9
The real-time spatial orientation information simulation trunk movement put successively, fabricates human body three-dimensional movement by Maya 3D software development
Model simultaneously establishes three-dimensional coordinate system, and obtain three-dimensional modeling data can be used at included image due to requiring real-time display
The main frame for managing unit (GPU) solves this problem, hologram by fast algorithm production computed hologram (CGH)
It is handled through computer, Video coding synthesis digitlization hologram is loaded into spatial light modulator.
It is worth noting that the system construction drawing in the embodiment of the present invention is to clearly illustrate implementation of the present invention
Technical solution in example, does not constitute the limitation to technical solution provided in an embodiment of the present invention, also, in the embodiment of the present invention
It is also not limited to the application of inertial navigation system, it is provided in an embodiment of the present invention for other system structures and service application
Technical solution is equally applicable for similar problem.
As shown in figure 5, a kind of inertial navigation method with Digital Holography, comprising the following steps:
S100 senses the first sensing unit, the second sensing unit, third sensing unit, the 4th on the body for acquiring user
Space orientation data in unit, the 5th sensing unit, the 6th sensing unit, the 7th sensing unit and the 8th sensing unit are sent
To the 9th sensing unit.
The 9th sensing unit of S110 is sent to the host of digital hologram module together with the space orientation data of itself unit
In；
S120 host obtains the space orientation data of 9 sensing units by communication module, makes and fabricates human body three-dimensional fortune
Movable model simultaneously establishes three-dimensional coordinate system, using three-dimensional modeling data, makes computed hologram, hologram by fast algorithm
Through host process, Video coding synthesis digitlization hologram is loaded on projection device；
Further, comprising:
The step (1) specifically includes:
The sensing data in the first inertial sensor of the first sensing unit is acquired, is controlled by the first ARM controller, sensing
Data carry out reaction type calibration by the first Kalman filter, obtain left hand wrist joint in navigational coordinate system by integral operation
The data of acquisition are sent to the 9th sensing unit by the first bluetooth transceiver by the space orientation data of node, corresponding, are adopted
Collect the space orientation data of the correspondence human synovial node in the second to the 8th inertial sensor, and is sent to the 9th sensing unit
The 9th bluetooth transceiver.
Further, comprising:
The step (2) specifically includes:
The space orientation data of the 9th ARM controller control acquisition in 9th sensing unit, are received and dispatched by the 9th bluetooth
Device receives the space orientation data from other eight sensing units, and by wireless communication module, together with the sky of itself unit
Between location data, the data of collected nine sensing units are sent in the host of digital hologram module；
Further, comprising:
S130 further includes that the hologram is input in the spatial light modulator of projection device, and laser beam is irradiated to the sky
Between on optical modulator, then the hologram modulates being loaded into spatial light modulator are diffracted into digital hologram image.
Further, comprising:
First inertial sensor, the second inertial sensor, third inertial sensor, the 4th inertial sensor, the 5th
Inertial sensor, the 6th inertial sensor, the 7th inertial sensor, the 8th inertial sensor and the 9th inertial sensor are adopted
With nine axis inertial sensors, the nine axis inertial sensor includes three-axis gyroscope, three axis magnetometers, three axis accelerometer.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or an operation are distinguished with another entity or another operation, without necessarily requiring or implying these entities
Or there are any actual relationship or orders between operation.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, the reality of complete hardware embodiment, complete Application Example or connected applications and hardware aspect can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, 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.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (9)
1. a kind of inertial navigation system with Digital Holography, which is characterized in that the system includes: sensor module, leads to
Believe that module and digital holography module, the sensor module are connected by communication module with the digital hologram module, the biography
Sensor module include the first sensing unit, the second sensing unit, third sensing unit, the 4th sensing unit, the 5th sensing unit,
6th sensing unit, the 7th sensing unit, the 8th sensing unit and the 9th sensing unit are worn on the left hand of user respectively
On wrist, right finesse, left hand elbow, right hand elbow, left knee, right knee, left foot wrist, right crus of diaphragm wrist and waist center, the digital hologram
Module includes host and projection device, and the 9th sensing unit is connect with host by the communication module, the host and
Projection device connection.
2. the inertial navigation system according to claim 1 with Digital Holography, which is characterized in that described first passes
Sense unit includes sequentially connected first inertial sensor, and the first Kalman filter, the first ARM controller and the first bluetooth are received
Send out device；Second sensing unit includes sequentially connected second inertial sensor, the second Kalman filter, the 2nd ARM control
Device processed and the second bluetooth transceiver；The third sensing unit includes sequentially connected third inertial sensor, third Kalman
Filter, third ARM controller and third bluetooth transceiver；4th sensing unit includes that sequentially connected 4th inertia passes
Sensor, the 4th Kalman filter, the 4th ARM controller and the 4th bluetooth transceiver；5th sensing unit includes successively
5th inertial sensor of connection, the 5th Kalman filter, the 5th ARM controller and the 5th bluetooth transceiver；Described 6th
Sensing unit includes sequentially connected 6th inertial sensor, the 6th Kalman filter, the 6th ARM controller and the 6th bluetooth
Transceiver；7th sensing unit includes sequentially connected 7th inertial sensor, the 7th Kalman filter, the 7th ARM
Controller and the 7th bluetooth transceiver；8th sensing unit includes sequentially connected 8th inertial sensor, the 8th karr
Graceful filter, the 8th ARM controller and the 8th bluetooth transceiver, the 9th sensing unit include sequentially connected 9th inertia
Sensor, the 9th Kalman filter, the 9th ARM controller and the 9th bluetooth transceiver, the 9th sensing unit further include
Wireless communication unit, the wireless communication unit are connect with the 9th ARM controller.
3. the inertial navigation system according to claim 2 with Digital Holography, which is characterized in that described first is used
Property sensor, the second inertial sensor, third inertial sensor, the 4th inertial sensor, the 5th inertial sensor, the 6th inertia
Sensor, the 7th inertial sensor, the 8th inertial sensor and the 9th inertial sensor are all made of nine axis inertial sensors, institute
Stating nine axis inertial sensors includes three-axis gyroscope, three axis magnetometers, three axis accelerometer.
4. the inertial navigation system according to claim 1 with Digital Holography, which is characterized in that the projection is set
Standby includes laser and spatial light modulator, and the laser beam that the laser issues is irradiated in spatial light modulator, is loaded
Then hologram modulates on to spatial light modulator are diffracted into digital hologram image.
5. the inertial navigation system according to claim 1 with Digital Holography, which is characterized in that the spatial light
Modulator has multiple.
6. a kind of side that the inertial navigation system according to claim 1-5 with Digital Holography is realized
Method, which comprises the following steps:
(1) by the first sensing unit on the body for acquiring user, the second sensing unit, third sensing unit, the 4th sensing unit,
Space orientation data in 5th sensing unit, the 6th sensing unit, the 7th sensing unit and the 8th sensing unit are sent to
Nine sensing units；
(2) the 9th sensing units are sent in the host of digital hologram module together with the space orientation data of itself unit；
(3) host obtains the space orientation data of 9 sensing units by communication module, fabricates people using Maya3D software development
Body three-dimensional motion model simultaneously establishes three-dimensional coordinate system, using three-dimensional modeling data, is made by fast algorithm and calculates holography
Figure, hologram are loaded on projection device through host process, Video coding synthesis digitlization hologram.
7. the inertial navigation method according to claim 6 with Digital Holography, which is characterized in that the step
(1) it specifically includes:
The sensing data in the first inertial sensor of the first sensing unit is acquired, is controlled by the first ARM controller, sensing data
Reaction type calibration is carried out by the first Kalman filter, obtains left finesse articulation nodes in navigational coordinate system by integral operation
Space orientation data, the data of acquisition are sent to by the 9th sensing unit by the first bluetooth transceiver, corresponding, acquisition the
The space orientation data of correspondence human synovial node in two to the 8th inertial sensors, and it is sent to the of the 9th sensing unit
Nine bluetooth transceivers.
8. the inertial navigation method according to claim 7 with Digital Holography, which is characterized in that the step
(2) it specifically includes:
The space orientation data of the 9th ARM controller control acquisition in 9th sensing unit, are connect by the 9th bluetooth transceiver
The space orientation data from other eight sensing units are received, and by wireless communication module, it is fixed together with the space of itself unit
Position data, the data of collected nine sensing units are sent in the host of digital hologram module.
9. the inertial navigation method according to claim 6 with Digital Holography, which is characterized in that further include described
Digitlization hologram is input in the spatial light modulator of projection device, and laser beam is irradiated in the spatial light modulator, quilt
Then the hologram modulates being loaded into spatial light modulator are diffracted into digital hologram image.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910336966.5A CN110044352A (en) | 2019-04-25 | 2019-04-25 | A kind of inertial navigation system and method with Digital Holography |
| PCT/CN2020/082436 WO2020216020A1 (en) | 2019-04-25 | 2020-03-31 | Inertial navigation system and method using digital holography |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910336966.5A CN110044352A (en) | 2019-04-25 | 2019-04-25 | A kind of inertial navigation system and method with Digital Holography |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110044352A true CN110044352A (en) | 2019-07-23 |
Family
ID=67279280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910336966.5A Pending CN110044352A (en) | 2019-04-25 | 2019-04-25 | A kind of inertial navigation system and method with Digital Holography |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110044352A (en) |
| WO (1) | WO2020216020A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020216020A1 (en) * | 2019-04-25 | 2020-10-29 | 边缘智能研究院南京有限公司 | Inertial navigation system and method using digital holography |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103750841A (en) * | 2014-01-20 | 2014-04-30 | 上海交通大学 | Human knee joint angle wireless detection system and method based on MEMS inertial sensors |
| CN104883557A (en) * | 2015-05-27 | 2015-09-02 | 世优（北京）科技有限公司 | Real time holographic projection method, device and system |
| CN107367919A (en) * | 2017-09-01 | 2017-11-21 | 清华大学深圳研究生院 | A kind of digital holographic imaging systems and method |
| CN107898466A (en) * | 2017-10-17 | 2018-04-13 | 深圳大学 | A kind of limb motion based on inertial sensor catches system and method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PT103551A (en) * | 2006-08-07 | 2008-02-29 | Univ Do Minho | SYSTEM FOR KINETIC BODY MONITORING |
| CN101799934A (en) * | 2010-04-02 | 2010-08-11 | 北京大学软件与微电子学院无锡产学研合作教育基地 | Real time human movement capture system based on micro electro mechanical inertia sensing network |
| CN105769210A (en) * | 2016-05-09 | 2016-07-20 | 中科院合肥技术创新工程院 | Wearable home body posture detection Internet of Things terminal |
| CN108939512B (en) * | 2018-07-23 | 2020-05-19 | 大连理工大学 | Swimming posture measuring method based on wearable sensor |
| CN110044352A (en) * | 2019-04-25 | 2019-07-23 | 南京邮电大学 | A kind of inertial navigation system and method with Digital Holography |
-
2019
- 2019-04-25 CN CN201910336966.5A patent/CN110044352A/en active Pending
-
2020
- 2020-03-31 WO PCT/CN2020/082436 patent/WO2020216020A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103750841A (en) * | 2014-01-20 | 2014-04-30 | 上海交通大学 | Human knee joint angle wireless detection system and method based on MEMS inertial sensors |
| CN104883557A (en) * | 2015-05-27 | 2015-09-02 | 世优（北京）科技有限公司 | Real time holographic projection method, device and system |
| CN107367919A (en) * | 2017-09-01 | 2017-11-21 | 清华大学深圳研究生院 | A kind of digital holographic imaging systems and method |
| CN107898466A (en) * | 2017-10-17 | 2018-04-13 | 深圳大学 | A kind of limb motion based on inertial sensor catches system and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020216020A1 (en) * | 2019-04-25 | 2020-10-29 | 边缘智能研究院南京有限公司 | Inertial navigation system and method using digital holography |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020216020A1 (en) | 2020-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206961066U (en) | A kind of virtual reality interactive device | |
| US9747697B2 (en) | System and method for tracking | |
| CN109887369B (en) | Ship dangerous case escape simulation training system | |
| CN108022302B (en) | Stereo display device of Inside-Out space orientation's AR | |
| CN104660995B (en) | A kind of disaster relief rescue visible system | |
| CN101579238B (en) | Human motion capture three dimensional playback system and method thereof | |
| CN105608746B (en) | A method of reality is subjected to Virtual Realization | |
| CN106980368A (en) | A kind of view-based access control model calculating and the virtual reality interactive device of Inertial Measurement Unit | |
| CN204465738U (en) | A kind of disaster relief rescue visible system | |
| CN108846867A (en) | A kind of SLAM system based on more mesh panorama inertial navigations | |
| CN109671118A (en) | A kind of more people's exchange methods of virtual reality, apparatus and system | |
| CN105027030A (en) | Wireless wrist computing and control device and method for 3d imaging, mapping, networking and interfacing | |
| CN106131493A (en) | Come personally based on virtual reality far-end the motion sensing control system of intelligent fire robot | |
| CN108600367A (en) | Internet of Things system and method | |
| TWI755834B (en) | Visual image location system | |
| JP2022543593A (en) | Fast 3D reconstruction using depth information | |
| CN110044352A (en) | A kind of inertial navigation system and method with Digital Holography | |
| CN107471216A (en) | VR body man-controlled mobile robots under hazardous environment | |
| CN111947650A (en) | Fusion positioning system and method based on optical tracking and inertial tracking | |
| CN112256125B (en) | Laser-based large-space positioning and optical-inertial-motion complementary motion capture system and method | |
| CN108981690A (en) | A kind of light is used to fusion and positioning method, equipment and system | |
| Schönauer et al. | Wide area motion tracking using consumer hardware | |
| KR20050052555A (en) | Apparatus and method for motion capture using gyroscope and accelerometer sensor | |
| Moeslund | Interacting with a virtual world through motion capture | |
| Piazza et al. | Predicting missing markers in real-time optical motion capture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190723 |
|
| RJ01 | Rejection of invention patent application after publication |