CN110278371A - Three axial seven variables full freedom degrees of the video camera in space position and tracking - Google Patents
Three axial seven variables full freedom degrees of the video camera in space position and tracking Download PDFInfo
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- CN110278371A CN110278371A CN201910559167.4A CN201910559167A CN110278371A CN 110278371 A CN110278371 A CN 110278371A CN 201910559167 A CN201910559167 A CN 201910559167A CN 110278371 A CN110278371 A CN 110278371A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/663—Remote control of cameras or camera parts, e.g. by remote control devices for controlling interchangeable camera parts based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The three axial full freedom degrees of seven variables the invention discloses a kind of video camera in space position and tracking, comprising steps of locating and tracking environment of one, the building physics video camera to virtual camera；Two, the tracking relationship of physics video camera and virtual camera is established；Three, the initialization of inertial navigation sensors；Four, the real-time acquisition of physics camera motion data；Five, the synchronization process of physics camera motion data；Six, the resolving and data fusion of physics camera motion data；Seven, the full freedom degree parameter delay smoothing processing of axial seven variables of physics video camera three；Eight, multiple circulation step four realizes physics video camera to the three full freedom degree real time location trackings of axial seven variables of virtual camera to step 7.Physics video camera of the present invention to virtual camera track positioning accuracy height, frequency response height, high reliablity, stability is good, delay is small, without accumulated error, the electromagnetic interference without the concern for floor electrical equipment, environment Infrared jamming, strong antijamming capability.
Description
Technical field
The invention belongs to Camera Positioning tracking technique fields, and in particular to a kind of video camera becomes the three axial seven of space
Measure full freedom degree positioning and tracking.
Background technique
The prior art has characteristics of image knowledge to the tracking and positioning technology of space movement, rotation and the lens zoom of video camera etc.
Not (such as grid, circle, rectangle, triangle, star, two dimensional code) tracking and positioning, infrared track positioning and raster rotary coder
Mechanically tracking positions three kinds of modes, and using raster rotary coder mechanically tracking location technology the most reliable as mainstream.Wherein,
Characteristics of image recognition and tracking location technology is the characteristic pattern that special arrangement in site environment is taken by video camera, realization pair
The tracking and positioning of 7 tri- axial-rotations of space X YZ of video camera, displacement and camera lens zoom freedom degrees, if camera shooting
Machine is found a view at the scene with close shot or close-up shot, so that the characteristic pattern number taken in viewfinder range is laterally or longitudinally extremely
Less be three, otherwise, tracking and positioning just fails, such case when multiple who objects appear in camera lens, due to
Reference object blocks characteristic pattern behind, at this moment will fail to the tracking and positioning of video camera；If camera view model
It encloses beyond characteristic pattern region, tracking and positioning can also fail, and which limits the moving range of video camera and angle coverages；Separately
Outside, if camera motion speed, rotation speed or zoom rate are too fast, due to the motion blur of characteristic pattern image, hangover
Unavoidably, tracking and positioning can also fail.
Tri- tri- axial-rotations of space X YZ to video camera, XYZ axial displacements may be implemented in infrared track positioning method
The tracking and positioning of 6 freedom degrees.But the zoom tracking and positioning to camera lens cannot be achieved, generally position system in infrared track
In system, special infrared radiation source will be installed, while 32 infrared photographies to be at least installed in floor space on each seat in the plane
Machine will also configure 4 infrared image processing units (image information of each 8 thermal camera of processing unit processes),
It is possible that obtaining space movement and the rotation information of video camera, undoubtedly system installation and debugging are more troublesome；The meeting in floor
There are a large amount of lighting source, the infrared light of these light sources interferes the imaging of thermal camera at branch, keeps tracking fixed
The precision and reliability of position reduce.
Raster rotary coder mechanically tracking positioning method is utilized in the machines such as fixed tripod head or mechanical rocker arm
The mode for installing raster rotary coder on tool device additional, obtains the pitching of holder, the lifting of yawing and rocker arm and the position that swings
Appearance parameter, realize to the yawing of the physics video camera on the holder for being mounted on tripod or rocker arm, pitching, lifting and swing with
Track positioning, therefore at least there is video camera and be necessarily mounted on holder in raster rotary coder mechanically tracking positioning method, once
Video camera leaves holder, and tracking and positioning function is just not present, therefore can not achieve and video camera is shouldered freely shooting on shoulder
Tracking and positioning；Video camera swing can only do movement in a curve by the brachium of rocker arm, and there is no video cameras for the space other than camber line
Motion profile makes space three-freedom is mobile to become dead zone in the vast space other than arc trajectory, and viewfinder range is by very
Big limitation；Since video camera is fixed on holder, the roll motion of video camera can not achieve, in space three-freedom rotation
Lack a rotary freedom；Video camera does pitching and finds a view when shooting, and the pitching commutation return difference between holder and sensor is difficult to
It eliminates, causes tracking sliding steps；Increase the machining of configuration tripod, holder, the acquisition cost of rocker arm and assembly sensor
Cost.
Summary of the invention
Exist in view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of video camera
The full freedom degree positioning of axial seven variables of the three of space and tracking, acquire three axis of physics video camera using inertial navigation sensors
To the motion pose parameter of six variables；Using the rotation angle parameter of zoom ring rotation angle collecting mechanism acquisition zoom ring, obtain
Take the 7th variable of physics camera view；Receive the optical signal of specified wavelength light source simultaneously using multiple optical sensors,
Physics video camera is obtained in the reference direction in space and refers to pose；It borrows reference direction and refers to pose data, inertia is led
Boat sensor does initialization of calibration；By to multiple optical sensors, inertial navigation sensors and zoom ring pivoting angle data
The initial data of acquisition sensor acquisition corrects, after coordinate transform and time synchronizing, recycles by multiple optical sensings
The real-time reference direction and carry out real time calibration to the data that inertial navigation sensors acquire with reference to pose data that device obtains, are eliminated
The drift of inertial navigation sensors；To video camera after eliminating drift in the mobile data in space, spin data and lens zoom number
According to resolving and Data Fusion is carried out, the three full freedom degree running parameters of axial seven variables of physics video camera, object have just been obtained
Manage video camera to track positioning accuracy height of virtual camera, frequency response height, high reliablity, stability is good, delay is small, without accumulating mistake
Difference, the electromagnetic interference without the concern for floor electrical equipment, environment Infrared jamming, to use environment require it is low, it is anti-interference
Ability is strong, convenient for promoting the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: three axial seven variables of the video camera in space
Full freedom degree positioning and tracking, which is characterized in that method includes the following steps:
Step 1: locating and tracking environment of the building physics video camera to virtual camera: installing specified wavelength in space
Light source, the installation data handle box on physics video camera, data processing box includes shell and being fixed on the intracorporal electricity of the shell
Road plate is equipped with the different optical sensor of multiple height on the shell, for receiving the specified wavelength light source
Optical signal；The inertial navigation sensors for being integrated with microprocessor on the circuit board and being connect with the microprocessor, in physics
Zoom ring pivoting angle data collecting mechanism for obtaining zoom ring rotation angle is installed on the camera lens of video camera；
Step 2: establishing the tracking relationship of physics video camera and virtual camera: virtual camera is established in a computer,
The subtended angle size of the spatial position of virtual camera, Space Rotating angle and camera lens is in real time by the correspondence parameter of physics video camera
It determines, to realize that virtual camera submits to physics video camera, is done in the axial direction of three, space complete with physics video camera
The synchronous zoom of synchronous movement, synchronous rotary and camera lens；
Step 3: the initialization of inertial navigation sensors: being received simultaneously by multiple optical sensors and be mounted on space
The optical signal of specified wavelength light source obtains physics video camera in the reference direction in space and refers to pose data；It is led using inertia
Navigate sensor, acquires the acceleration and angular speed of physics video camera, and AHRS resolves ginseng of the module by physics video camera in space
It examines direction and refers to pose data, and inertial navigation sensors are initialized by data fusion computing module；
Step 4: the real-time acquisition of physics camera motion data: multiple optical sensors receive specified wavelength simultaneously
Optical signal acquires simultaneously decoding data in real time；Inertial navigation sensors acquire the acceleration and angular speed number of physics video camera in real time
According to；Zoom ring pivoting angle data collecting mechanism on zoom ring acquires the zoom number of optical lens on physics video camera in real time
According to；
Step 5: the synchronization process of physics camera motion data: the object that microprocessor acquires multiple optical sensors
Video camera is managed in the reference direction in space, position and pivoting angle data, to the physics video camera of inertial navigation sensors acquisition
Acceleration and angular speed data in space, and the physics video camera to the acquisition of zoom ring pivoting angle data collecting mechanism
The zoom data of camera lens are corrected；And the data after these corrections of physics video camera are subjected to coordinate conversion, take the photograph physics
Data after these corrections of camera are located in the same coordinate system；Again to after these corrections of physics video camera, through coordinate transform,
Data in the same coordinate system carry out time synchronization；
Step 6: the resolving and data fusion of physics camera motion data: the data of multiple optical sensor acquisitions, by
Microcontroller resolve and obtained after coordinate transform and time synchronization physics video camera space reference direction of motion data,
Reference position and refer to pivoting angle data；The physics video camera of inertial navigation sensors acquisition is in the acceleration in space and angle speed
Degree evidence, resolves module and resolves to obtain video camera and exist after coordinate transform and time synchronization, again by microcontroller using AHRS
The shift position in space and pivoting angle data；The camera lens of the physics video camera of zoom ring pivoting angle data collecting mechanism acquisition
Zoom data, after coordinate transform and time synchronization, then resolved to obtain the change of the camera lens of physics video camera by microcontroller
Burnt data, these data resolved pass through data fusion computing module and do data fusion, obtain the three of physics video camera
The full freedom degree running parameter of axial seven variables；
The axial full freedom degree parameter of seven variables of the physics video camera three includes that physics video camera is sat at space three-dimensional right angle
It marks the real-time dynamic data moved along the x axis in being, the real-time dynamic data moved along the y axis, moved along Z-direction
Real-time dynamic data, the real-time dynamic data rotated around X-direction, the real-time dynamic data rotated around Y direction and side about the z axis
To the real-time dynamic data of rotation and the real-time dynamic data of lens zoom；
The smoothing processing Step 7: the axial full freedom degree parameter of seven variables of physics video camera three is delayed: microcontroller is by physics
The axial full freedom degree parameter of seven variables of the three of video camera is transmitted to virtual camera, and to the three full freedom degree parameters of axial seven variables
The processing of smooth and compensation of delay is carried out, the sky of space movement, the rotation and zoom action and physics video camera of virtual camera is made
Between move, rotate and zoom action it is fully synchronized matching, delay time error be 0 frame；
Step 8: repeatedly circulation step four realizes that physics video camera becomes to the three axial seven of virtual camera to step 7
Measure full freedom degree real time location tracking.
Three axial seven variables full freedom degrees of the above-mentioned video camera in space position and tracking, it is characterised in that: step
Zoom ring pivoting angle data collecting mechanism described in rapid one includes that having on the lens zoom ring of physics video camera is arranged in
The arc code-bar of texture, the light emitting diode that arc code-bar with texture is irradiated, to through arc code with texture
The photoelectric sensor that the optical signal that item is reflected back is identified and the FPGA to photoelectric sensor progress data processing.
Three axial seven variables full freedom degrees of the above-mentioned video camera in space position and tracking, it is characterised in that: step
When in rapid four to physics camera motion real time data acquisition, acceleration, angular velocity data and mirror of the physics video camera in space
Head zoom data are sent into microprocessor by serialization or parallelization packing manner.
Three axial seven variables full freedom degrees of the above-mentioned video camera in space position and tracking, it is characterised in that: institute
The quantity for stating optical sensor is no less than four.
Compared with the prior art, the present invention has the following advantages:
1, the present invention needs to set up physics Camera Positioning tracking environmental before implementing, specified by installing transmitting in space
The light source of wavelength captures specified wave using the different optical sensor of multiple height on data processing box shell simultaneously
It is complete in the reference direction of motion in space, position and rotation angle, registration, function that physics video camera can be obtained in long light source
It is standby, convenient for promoting the use of.
2, the present invention acquires the motion pose data of three axial six variables of physics video camera using inertial navigation sensors,
Since there are accumulated errors for inertial navigation sensors itself, so that physics pose of camera data is there is drift, utilize multiple optics
Sensor receives the optical signal of specified wavelength light source simultaneously, resolves the frequency reference pose data for obtaining physics video camera, then
The frequency reference pose data of physics video camera are recycled, and module and data fusion calculation module are resolved to inertia by AHRS
The real time data of navigation sensor acquisition is resolved and is calibrated, and is eliminated the drift of inertial navigation sensors data, is completed to used
Property navigation sensor initialization, initialization effect it is good, it is reliable and stable.
3, when the present invention acquires physics camera motion data in real time, physics camera motion bearing data, fortune
Dynamic pose data and zoom data carry out Data correction, coordinate by serialization or parallelization packing manner feeding microprocessor
Conversion and time synchronization, realization synchronize processing to the signal of different sample frequencys and phase.
4, the present invention receives the optical signal of specified wavelength light source by multiple optical sensors simultaneously, obtains object by resolving
Video camera is managed in the reference direction in space, reference position and with reference to rotation angle；By inertial navigation sensors acquire acceleration,
Angular speed and resolve obtain physics camera motion pose data, pass through zoom ring rotate angle collecting mechanism acquire physics camera shooting
The acquisition processing of machine zoom data, parameters is infrared dry without the concern for the electromagnetic interference of floor electrical equipment, environment
It disturbs, low, strong antijamming capability is required to use environment.
5, the method for the present invention step is simple, by the resolving and data fusion to physics camera motion data, obtains object
The full freedom degree parameter of axial seven variables of video camera three is managed, microcontroller joins the three of the physics video camera axial full freedom degrees of seven variables
Number is transmitted to virtual camera, and makes to the three axial full number of degrees of freedom,s of seven variables acquired in real time according to compensation of delay processing is carried out
The delay matching error of physics video camera and virtual camera is 0 frame；Physics video camera becomes to the three axial seven of virtual camera
Measure that full freedom degree real time location tracking high reliablity, stability is good, delay is small, without accumulated error, convenient for promoting the use of.
In conclusion motion pose of the present invention using axial six variables of inertial navigation sensors acquisition physics video camera three
Parameter acquires zoom ring rotation angle parameter using zoom ring collecting mechanism, obtains the 7th variable of physics camera view,
Receive the optical signal of specified wavelength light source simultaneously using multiple optical sensors, obtain physics video camera the reference direction of motion,
Position and posture eliminate the data dithering of inertial navigation sensors, the physics camera motion bearing data after resolving, motion bit
Appearance data and zoom data pass through data fusion computing module and carry out data fusion, obtain physics video camera in three axis in space
To the real-time dynamic data of seven variables full freedom degree positioning and tracking, installation and debugging are simple, easy to use, and physics video camera is to void
The track positioning accuracy height of quasi- video camera, frequency response height, high reliablity, stability is good, delay is small, without accumulated error, do not need to examine
Consider the electromagnetic interference of floor electrical equipment, environment Infrared jamming, use environment required low, strong antijamming capability is convenient for
It promotes the use of.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the installation of data processing box of the present invention and zoom ring pivoting angle data collecting mechanism on physics video camera
Relation schematic diagram.
Fig. 2 is the schematic block circuit diagram of zoom ring pivoting angle data collecting mechanism of the present invention.
Fig. 3 is the method flow block diagram of the method for the present invention.
Description of symbols:
1-physics video camera；1-1-camera lens；2-video camera handles；
3-data processing boxes；4-arc code-bars；5-optical sensors；
6-light emitting diodes；7-photoelectric sensors； 8—FPGA.
Specific embodiment
As depicted in figs. 1 and 2, video camera of the invention is in the full freedom degrees positioning of three seven variables of axial direction in space and track side
Method, comprising the following steps:
Step 1: locating and tracking environment of the building physics video camera to virtual camera: installing specified wavelength in space
Light source, the installation data handle box 3 on physics video camera 1, data processing box 3 includes shell and to be fixed on the shell intracorporal
Circuit board is equipped with the different optical sensor 5 of multiple height on the shell, for receiving the specified wavelength light source
Optical signal；The inertial navigation sensors for being integrated with microprocessor on the circuit board and being connect with the microprocessor, in object
Manage the zoom ring pivoting angle data collecting mechanism that installation on the camera lens 1-1 of video camera 1 rotates angle for obtaining zoom ring；
In the present embodiment, the collecting mechanism of zoom ring pivoting angle data described in step 1 includes being arranged in physics video camera
Arc code-bar 4 with texture on 1 camera lens 1-1 zoom ring shines two to what arc code-bar 4 with texture was irradiated
Pole pipe 6, the photoelectric sensor 7 that the optical signal being reflected back through arc code-bar 4 with texture is identified and to the photoelectricity
The FPGA8 of the progress data processing of sensor 7.
It should be noted that arc code-bar 4 is circular arc code-bar, the circular arc code-bar is pasted on camera lens 1-1 zoom ring, institute
The striped that the texture on circular arc code-bar is black and white interval is stated, light emitting diode 6 emits beam, and can illuminate arc with texture
Code-bar 4, a part of light that arc code-bar 4 with texture is reflected back are imaged by the micro imager in photoelectric sensor 7,
When rotating camera lens 1-1 zoom ring, arc code-bar 4 with texture is and then rotated synchronously, and motion track will be by photoelectric transfer
Sensor 7 is recorded as the coherent image of one group of high-speed induction, then is handled by FPGA analysis, and then obtains the rotation angle of zoom ring.
The quantity of the optical sensor 5 is no less than four.
It should be noted that needing to set up the locating and tracking environment of physics video camera 1 before implementing, sent out by being installed in space
The light source for penetrating specified wavelength, the installation data handle box 3 on the video camera handle 2 of physics video camera 1, using in data processing box
The different optical sensor of multiple height on 3 shells receives the optical signal of specified wavelength light source, can pass through to resolve and obtains
Physics video camera is in the reference direction of motion in space, position and rotation angle.
Step 2: establishing the tracking relationship of physics video camera and virtual camera: virtual camera is established in a computer,
The subtended angle size of the spatial position of virtual camera, Space Rotating angle and camera lens 1-1 is in real time by the correspondence of physics video camera 1
Parameter determines, to realize that virtual camera submits to physics video camera 1, does and physics video camera in the axial direction of three, space
The synchronous zoom of fully synchronized movement, synchronous rotary and camera lens 1-1；
It should be noted that microprocessor is connect by communication module with computer, computer receives microprocessor and sends
Physics video camera 1 pose parameter and lens zoom parameter, pass through the pose parameter and lens zoom parameter of physics video camera 1
Locating and tracking is carried out to the virtual camera in computer.
Step 3: the initialization of inertial navigation sensors: being received simultaneously by multiple optical sensors 5 and be mounted on space
The optical signal of specified wavelength light source obtains physics video camera 1 in the reference direction in space and refers to pose data；It is led using inertia
Navigate sensor, acquires the acceleration and angular speed of physics video camera 1, and AHRS resolves module by physics video camera 1 in space
Reference direction and reference pose data, and inertial navigation sensors are initialized by data fusion computing module；
It should be noted that utilizing the motion pose number of axial six variables of inertial navigation sensors acquisition physics video camera three
According to keeping the measurement drift of physics pose of camera serious since inertial navigation sensors itself are there are cumulative errors.By to inertia
Navigation sensor initialization, and the physics video camera frequency reference pose data obtained are resolved using multiple optical sensors, lead to
It crosses data fusion computing module and real time calibration is carried out to inertial navigation sensors, eliminate the drift of inertial navigation sensors, obtain
Motion pose data it is reliable and stable.
Step 4: the real-time acquisition of physics camera motion data: multiple optical sensors 5 receive specified wavelength simultaneously
Optical signal acquires simultaneously decoding data in real time；Inertial navigation sensors acquire the acceleration and angular speed of physics video camera 1 in real time
Data；Zoom ring pivoting angle data collecting mechanism on zoom ring acquires the zoom of optical lens on physics video camera 1 in real time
Data；
In the present embodiment, when in step 4 to physics camera motion real time data acquisition, physics video camera 1 is in space
Acceleration, angular velocity data and camera lens 1-1 zoom data are sent into microprocessor by serialization or parallelization packing manner.
Step 5: the synchronization process of physics camera motion data: the object that microprocessor acquires multiple optical sensors 5
Video camera 1 is managed in the reference direction in space, position and pivoting angle data, to the physics video camera of inertial navigation sensors acquisition
1 space acceleration and angular speed data, and to zoom ring pivoting angle data collecting mechanism acquisition physics video camera 1
The zoom data of camera lens 1-1 be corrected；And the data after these corrections of physics video camera 1 are subjected to coordinate conversion, make
Data after these corrections of physics video camera 1 are located in the same coordinate system；Again to after these corrections of physics video camera 1, warp
Coordinate transform, the data in the same coordinate system carry out time synchronization；
It should be noted that receiving the optical signal data of specified wavelength light source by optical sensor 5；Pass through inertial navigation
The acceleration and angular speed of sensor acquisition；The physics video camera 1 acquired by zoom ring pivoting angle data collecting mechanism is burnt
Away from data；The acquisition processing of parameters is without the concern for the electromagnetic interference of floor electrical equipment, environment Infrared jamming, right
Use environment requires low, strong antijamming capability.
Step 6: the resolving and data fusion of physics camera motion data: the data that multiple optical sensors 5 acquire,
It is resolved by microcontroller and obtains physics video camera 1 in the reference direction of motion number in space after coordinate transform and time synchronization
According to, reference position and refer to pivoting angle data；Inertial navigation sensors acquisition physics video camera 1 space acceleration and
Angular velocity data is resolved using AHRS resolving module after coordinate transform and time synchronization, again by microcontroller and is imaged
Shift position and pivoting angle data of the machine in space；The physics video camera 1 of zoom ring pivoting angle data collecting mechanism acquisition
Camera lens 1-1 zoom data, after coordinate transform and time synchronization, then resolved to obtain physics video camera 1 by microcontroller
Camera lens 1-1 zoom data, these data resolved pass through data fusion computing module and do data fusion, obtain object
Manage the three full freedom degree running parameters of axial seven variables of video camera 1；
The axial full freedom degree parameter of seven variables of the physics video camera 1 three includes physics video camera 1 at space three-dimensional right angle
The real-time dynamic data that moves along the x axis in coordinate system, the real-time dynamic data moved along the y axis are moved along Z-direction
Real-time dynamic data, the real-time dynamic data rotated around X-direction, the real-time dynamic data that rotates around Y direction and about the z axis
The real-time dynamic data of real-time dynamic data and lens zoom that direction rotates；
The smoothing processing Step 7: the axial full freedom degree parameter of seven variables of physics video camera three is delayed: microcontroller is by physics
The axial full freedom degree parameter of seven variables of the three of video camera 1 is transmitted to virtual camera, and joins to the three axial full freedom degrees of seven variables
Number progress is smooth to be handled with compensation of delay, makes the mobile space of virtual camera, rotation and zoom action and physics video camera 1
Space is mobile, rotate and the fully synchronized matching of zoom action, delay time error are 0 frame；
Step 8: repeatedly circulation step four realizes that physics video camera 1 becomes to the three axial seven of virtual camera to step 7
Measure full freedom degree real time location tracking.
It should be noted that passing through the resolving of movement position attitude data and lens zoom data to physics video camera 1
And data fusion, obtain the three full freedom degree parameters of axial seven variables of physics video camera 1；Microcontroller is by physics video camera 1
The three axial full freedom degree parameters of seven variables are transmitted to virtual camera, and carry out to the three axial full freedom degree parameters of seven variables smooth
With compensation of delay processing, make the space of the space of virtual camera mobile, rotation and zoom action and physics video camera 1 it is mobile,
Rotation and the fully synchronized matching of zoom action, delay time error are 0 frame；Physics video camera 1 is realized to three axis of virtual camera
To the full freedom degree real time location tracking high reliablity of seven variables, stability is good, delay is small, the technical requirements without accumulated error.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (4)
1. video camera is in the full freedom degrees positioning of three axial seven variables in space and tracking, which is characterized in that this method includes
Following steps:
Step 1: locating and tracking environment of the building physics video camera to virtual camera: installing the light of specified wavelength in space
Source, the installation data handle box (3) on physics video camera (1), data processing box (3) include shell and are fixed in the shell
Circuit board, the different optical sensor of multiple height (5) is installed on the shell, for receiving the specified wavelength
The optical signal of light source；The inertial navigation sensors for being integrated with microprocessor on the circuit board and being connect with the microprocessor,
Zoom ring pivoting angle data for obtaining zoom ring rotation angle is installed to adopt on the camera lens (1-1) of physics video camera (1)
Collecting mechanism；
Step 2: establishing the tracking relationship of physics video camera and virtual camera: establishing virtual camera in a computer, virtually
The subtended angle size of the spatial position of video camera, Space Rotating angle and camera lens (1-1) is in real time by the correspondence of physics video camera (1)
Parameter determines, to realize that virtual camera submits to physics video camera (1), does in the axial direction of three, space and physics images
The fully synchronized movement of machine, synchronous rotary and camera lens (1-1) synchronous zoom；
Step 3: the initialization of inertial navigation sensors: receiving the finger for being mounted on space simultaneously by multiple optical sensors (5)
Determine the optical signal of wavelength light source, obtain physics video camera (1) in the reference direction in space and refers to pose data；It is led using inertia
Navigate sensor, acquires the acceleration and angular speed of physics video camera (1), and AHRS resolves module by physics video camera (1) in sky
Between reference direction and refer to pose data, and inertial navigation sensors are initialized by data fusion computing module；
Step 4: the real-time acquisition of physics camera motion data: multiple optical sensors (5) receive the light of specified wavelength simultaneously
Signal acquires simultaneously decoding data in real time；Inertial navigation sensors acquire the acceleration and angular speed of physics video camera (1) in real time
Data；Zoom ring pivoting angle data collecting mechanism on zoom ring acquires the change of optical lens on physics video camera (1) in real time
Burnt data；
Step 5: the synchronization process of physics camera motion data: the physics that microprocessor acquires multiple optical sensors (5)
Video camera (1) is in the reference direction in space, position and pivoting angle data, to the physics video camera of inertial navigation sensors acquisition
(1) in the acceleration and angular speed data in space, and the physics of zoom ring pivoting angle data collecting mechanism acquisition is imaged
The zoom data of the camera lens (1-1) of machine (1) are corrected；And the data after these corrections of physics video camera (1) are sat
Mark conversion, the data after making these corrections of physics video camera (1) are located in the same coordinate system；Again to physics video camera (1)
Time synchronization is carried out after these corrections, through coordinate transform, the data in the same coordinate system；
Step 6: the resolving and data fusion of physics camera motion data: the data of multiple optical sensor (5) acquisitions, by
Microcontroller resolves and obtains physics video camera (1) after coordinate transform and time synchronization in the reference direction of motion number in space
According to, reference position and refer to pivoting angle data；Acceleration of the physics video camera (1) of inertial navigation sensors acquisition in space
And angular velocity data, it is resolved and is taken the photograph using AHRS resolving module after coordinate transform and time synchronization, again by microcontroller
Shift position and pivoting angle data of the camera in space；The physics video camera of zoom ring pivoting angle data collecting mechanism acquisition
(1) the zoom data of camera lens (1-1) after coordinate transform and time synchronization, then are resolved to obtain physics and be taken the photograph by microcontroller
The zoom data of the camera lens (1-1) of camera (1), these data resolved, which pass through data fusion computing module, to be done data and melts
It closes, obtains the three full freedom degree running parameters of axial seven variables of physics video camera (1)；
The axial full freedom degree parameter of seven variables of the physics video camera (1) three includes physics video camera (1) at space three-dimensional right angle
The real-time dynamic data that moves along the x axis in coordinate system, the real-time dynamic data moved along the y axis are moved along Z-direction
Real-time dynamic data, the real-time dynamic data rotated around X-direction, the real-time dynamic data that rotates around Y direction and about the z axis
The real-time dynamic data of real-time dynamic data and camera lens (1-1) zoom that direction rotates；
The smoothing processing Step 7: the axial full freedom degree parameter of seven variables of physics video camera three is delayed: microcontroller images physics
The axial full freedom degree parameter of seven variables of the three of machine (1) is transmitted to virtual camera, and to the three full freedom degree parameters of axial seven variables
Progress is smooth to be handled with compensation of delay, makes the mobile space of virtual camera, rotation and zoom action and physics video camera (1)
Space is mobile, rotate and the fully synchronized matching of zoom action, delay time error are 0 frame；
Step 8: repeatedly circulation step four realizes physics video camera (1) to three axial seven variables of virtual camera to step 7
Full freedom degree real time location tracking.
2. three axial seven variables full freedom degrees of the video camera described in accordance with the claim 1 in space position and tracking,
Be characterized in that: the collecting mechanism of zoom ring pivoting angle data described in step 1 includes camera lens of the setting in physics video camera (1)
Arc code-bar (4) with texture on (1-1) zoom ring shines two to what arc code-bar (4) with texture was irradiated
Pole pipe (6), the photoelectric sensor (7) that the optical signal being reflected back through arc code-bar (4) with texture is identified and to institute
State the FPGA (8) that photoelectric sensor (7) carry out data processing.
3. three axial seven variables full freedom degrees of the video camera described in accordance with the claim 1 in space position and tracking,
Be characterized in that: when in step 4 to physics camera motion real time data acquisition, physics video camera (1) space acceleration,
Angular velocity data and camera lens (1-1) zoom data pass through serialization or parallelization packing manner feeding microprocessor.
4. three axial seven variables full freedom degrees of the video camera described in accordance with the claim 1 in space position and tracking,
Be characterized in that: the quantity of the optical sensor (5) is no less than four.
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