CN115575890A - Method and device for identifying electromagnetic space quadrant, storage medium and electronic equipment - Google Patents
Method and device for identifying electromagnetic space quadrant, storage medium and electronic equipment Download PDFInfo
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Abstract
The application relates to the technical field of electromagnetism, and discloses a method and a device for identifying electromagnetic space quadrants, a storage medium and electronic equipment. The identification method of the electromagnetic space quadrant comprises the steps of obtaining and decomposing the absolute value of a space coordinate, obtaining and converting the actual speed value of a tracked object and judging the quadrant position of the tracked object. The method comprises the steps of obtaining an actual speed value of a tracked object, carrying out one-to-one difference between the actual speed value of the tracked object and a possible speed value (formed by resolving an absolute value of a space coordinate) of a space coordinate system to obtain various difference values, and comparing the magnitude of the various difference values to judge the actual quadrant position of the tracked object. The identification method is quick and accurate, and can solve the problem of quadrant ambiguity of electromagnetic tracking.
Description
Technical Field
The present application relates to the field of electromagnetic technologies, and in particular, to a method and an apparatus for identifying an electromagnetic space quadrant, a storage medium, and an electronic device.
Background
The traditional indoor space positioning mainly depends on optical, UWB or Bluetooth and other modes for positioning. The optical positioning precision is high, the millimeter level is achieved, and the technology is mature. But are susceptible to ambient light and when object occlusion occurs, the tracked object is lost. UWB is a wireless carrier communication technology, and the device distance is measured and calculated by sending nanosecond-level non-sine wave transmission data and calculating electric wave return time based on TOF technology, the precision can reach centimeter level, and the UWB can penetrate through a sheltering object to perform space positioning. In a traditional wireless electromagnetic positioning system, due to hemisphere ambiguity and phase-locked loop ambiguity, only an absolute value of a space coordinate can be acquired, and a corresponding phase cannot be acquired. This application fuses wireless electromagnetic positioning technique and nine motion sensor mutually, can effectually remedy this defect, reaches the space quadrant discernment through multisource data fusion.
Disclosure of Invention
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
The present application aims to overcome the above disadvantages and provide a method and an apparatus for identifying electromagnetic space quadrants, a storage medium, and an electronic device.
In a first aspect, the present application provides a method for identifying quadrants in an electromagnetic space. The identification method comprises
S1, acquiring and decomposing an absolute value of a space coordinate, acquiring the absolute value of the space coordinate, and decomposing the acquired absolute value of the space coordinate into a possible speed value of a space coordinate system;
s2, acquiring and converting an actual speed value of the tracked object, acquiring the actual speed value of the tracked object and converting the acquired actual speed value of the tracked object into a speed value of a world coordinate system;
and S3, judging the quadrant position of the tracked object, namely, subtracting the speed value of the world coordinate system from the possible speed value of the space coordinate system to obtain a difference value, and comparing the difference value to judge the quadrant position of the tracked object.
In some embodiments, the velocity value is an acceleration, a linear acceleration, or an angular velocity.
In some embodiments, the possible acceleration of the spatial coordinate system is calculated by the formula:
in the x-axis, the x-axis coordinate at time t1 is x1, the x-axis coordinate at time t2 is x2, and the time interval is
，
In the y-axis, the y-axis coordinate at time t1 is y1, the y-axis coordinate at time t2 is y2, and the time interval is
，
In the z-axis, the z-axis coordinate at time t1 is z1, the z-axis coordinate at time t2 is z2, and the time interval is
，
In some embodiments, the spatial coordinate system may calculate linear acceleration according to the following formula:
in the x-axis, the x-axis coordinate at time t1 is x1, the x-axis coordinate at time t2 is x2, the x-axis coordinate at time t3 is x3, and the time interval is
，
In the y-axis, the y-axis coordinate at time t1 is y1, the y-axis coordinate at time t2 is y2, the y-axis coordinate at time t3 is y3, and the time interval is
，
In the z-axis, the z-axis coordinate at time t1 is z1, the z-axis coordinate at time t2 is z2, the z-axis coordinate at time t3 is z3, and the time interval is
，
In some embodiments, the acceleration of the world coordinate system is calculated as
Wherein, the first and the second end of the pipe are connected with each other,
in order for the tracked object to actually accelerate,
a rotation matrix of euler angles or quaternions.
In some embodiments, the linear acceleration of the world coordinate system is calculated by the formula
Wherein, the first and the second end of the pipe are connected with each other,
in order for the tracked object to actually linearly accelerate,
a rotation matrix of euler angles or quaternions.
In some embodiments, the angular velocity of the world coordinate system is calculated by
Wherein, the first and the second end of the pipe are connected with each other,
in order to be the actual angular velocity of the tracked object,
a rotation matrix of euler angles or quaternions.
In some embodiments, the actual angular velocity of the tracked object is calculated by acquiring a quaternion of the tracked object by an electromagnetic positioning system and converting the quaternion into an euler angle, specifically:
acquisition of quaternion of tracked object by electromagnetic positioning system
，
The euler angle is obtained by converting the formula,
the angular velocity is calculated by means of the euler angle,
in a second aspect, the present application provides an apparatus for identification of electromagnetic space quadrants. The identification device comprises
The acquisition module is used for acquiring an absolute value of the space coordinate and an actual speed value of the tracked object;
the processing module is used for decomposing the space coordinate absolute value into a space coordinate system possible speed value and converting the tracked object actual speed value into a world coordinate system speed value;
and the judging module is used for subtracting the world coordinate system speed value from the space coordinate system possible speed value to obtain a difference value, and comparing the difference value to judge the quadrant position of the tracked object.
In some embodiments, the processing module comprises
The decomposition unit is used for decomposing the space coordinate absolute value into a space coordinate system possible speed value;
and the conversion unit is used for converting the actual speed value of the tracked object into the speed value of the world coordinate system.
In a third aspect, the present application provides a computer storage medium storing computer-executable instructions for performing the method for identifying quadrants of an electromagnetic space as described above.
In a fourth aspect, the present application provides an electronic device comprising
At least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for identifying electromagnetic space quadrants as described above.
Through adopting foretell technical scheme, the beneficial effect of this application is:
the actual speed value of the tracked object is obtained, the actual speed value of the tracked object is subjected to difference with the possible speed value (formed by decomposition of the absolute value of the space coordinate) of the space coordinate system one by one, all difference values are obtained, and then the magnitude of each difference value is compared to judge the actual quadrant position of the tracked object. The identification method is quick and accurate, and can solve the problem of quadrant ambiguity of electromagnetic tracking.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Clearly, such objects and other objects of the present application will become more apparent after a detailed description of the preferred embodiments thereof as illustrated in the various figures and drawings.
These and other objects, features and advantages of the present application will become more apparent from the following detailed description of one or more preferred embodiments, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not to limit the application.
In the drawings, like parts are designated with like reference numerals, and the drawings are schematic and not necessarily drawn to scale.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only one or several embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for identification of electromagnetic space quadrants according to some embodiments of the present application;
FIG. 2 is a flowchart of a method for identifying quadrants in an electromagnetic space according to embodiment 1 of the present application;
FIG. 3 is a flowchart of a method for identifying quadrants in an electromagnetic space according to embodiment 2 of the present application;
FIG. 4 is a flowchart of a method for identifying quadrants in an electromagnetic space according to embodiment 3 of the present application;
FIG. 5 is a block diagram of an identification device of electromagnetic space quadrants according to some embodiments of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail with reference to the following detailed description. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration only.
In addition, in the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; either directly or indirectly through intervening media, either internally or in any other relationship. However, the direct connection means that the two bodies are not connected through a transition structure, but are connected through a connection structure to form a whole. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, a first feature is "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediary. In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, fig. 1 is a flow chart of a method for identifying electromagnetic space quadrants according to some embodiments of the present application.
According to some embodiments of the present application, a method of identification of electromagnetic space quadrants is provided. The identification method comprises the following steps:
s1, acquiring and decomposing absolute value of space coordinate
The method comprises the steps of receiving wireless alternating electromagnetic waves by transmitting the wireless alternating electromagnetic waves, and calculating and acquiring an absolute value of a space coordinate through the change of electromagnetic signals; and decomposing the acquired absolute value of the space coordinate into possible velocity values of the space coordinate system.
S2, acquiring and converting actual speed value of tracked object
Acquiring an actual speed value of a tracked object by a nine-axis motion sensor (the nine-axis motion sensor is installed in the tracked object); and converting the obtained actual speed value of the tracked object into a world coordinate system speed value.
S3, judging quadrant position of tracked object
And (3) subtracting the world coordinate system speed value from the possible space coordinate system speed value to obtain a difference value, and comparing the obtained difference value to judge the quadrant position of the tracked object.
Therein, a spaceThe absolute value of the coordinate is (# |)
|，
，
). The possible velocity values of the space coordinate system may be (
，
，
）、（
，
，
）、（
，
，
）、（
，-
，
）、（
，
，
）、（
，
，
）、（
，
，
）、（
，
，
）。
According to some embodiments of the application, optionally, the velocity value is an acceleration, a linear acceleration or an angular velocity. Specifically, the spatial coordinate system possible velocity value includes, but is not limited to, a spatial coordinate system possible acceleration, a spatial coordinate system possible linear acceleration, or a spatial coordinate system possible angular velocity; the tracked object actual speed value includes, but is not limited to, a tracked object actual acceleration, a tracked object actual linear acceleration or a tracked object actual angular velocity; the world coordinate system velocity value includes, but is not limited to, a world coordinate system acceleration, a world coordinate system linear acceleration, or a world coordinate system angular velocity.
According to some embodiments of the application, optionally, the calculation formula of the possible acceleration of the spatial coordinate system is:
in the x-axis, the x-axis coordinate at time t1 is x1, the x-axis coordinate at time t2 is x2, and the time interval is
，
When the space coordinate system has possible acceleration of
Then the x-axis is positive; when the space coordinate system has possible acceleration of
Then the x-axis is negative.
In the y-axis, the y-axis coordinate at time t1 is y1, the y-axis coordinate at time t2 is y2, and the time interval is
，
When the space coordinate system has possible acceleration of
When so, then the y-axis is positive; when the space coordinate system has possible acceleration of
Then the y-axis is negative.
In the z-axis, the z-axis coordinate at time t1 is z1, the z-axis coordinate at time t2 is z2, and the time interval is
，
When the space coordinate system has possible acceleration of
If so, then the z-axis is positive; when the space coordinate system has possible acceleration of
Then the z-axis is negative.
According to some embodiments of the application, optionally, the spatial coordinate system may calculate the linear acceleration according to the following formula:
in the x-axis, the x-axis coordinate at time t1 is x1, the x-axis coordinate at time t2 is x2, the x-axis coordinate at time t3 is x3, and the time interval is
，
Possible linear acceleration in a space coordinate system is
Then the x-axis is positive; possible linear acceleration in a space coordinate system is
Then the x-axis is negative.
In the y-axis, the y-axis coordinate at time t1 is y1, the y-axis coordinate at time t2 is y2, and the y-axis coordinate at time t3 is yCoordinate y3, time interval of
，
Possible linear acceleration in a space coordinate system is
When so, then the y-axis is positive; possible linear acceleration in a space coordinate system is
The y-axis is negative.
In the z-axis, the z-axis coordinate at time t1 is z1, the z-axis coordinate at time t2 is z2, the z-axis coordinate at time t3 is z3, and the time interval is
，
Possible linear acceleration in a space coordinate system is
If so, then the z-axis is positive; possible linear acceleration in a space coordinate system of
Then the z-axis is negative.
According to some embodiments of the application, optionally, the world coordinate system acceleration is calculated as
Wherein the content of the first and second substances,
in order for the tracked object to actually accelerate,
a rotation matrix of euler angles or quaternions.
According to some embodiments of the application, optionally, the linear acceleration of the world coordinate system is calculated by
Wherein the content of the first and second substances,
in order for the tracked object to actually linearly accelerate,
a rotation matrix of euler angles or quaternions.
According to some embodiments of the application, optionally, the calculation formula of the world coordinate system angular velocity is
Wherein, the first and the second end of the pipe are connected with each other,
in order for the actual angular velocity of the tracked object,
a rotation matrix of euler angles or quaternions.
According to some embodiments of the present application, optionally, the actual angular velocity of the tracked object is calculated by acquiring a quaternion of the tracked object by an electromagnetic positioning system and converting the quaternion into an euler angle, specifically:
acquisition of quaternion of tracked object by electromagnetic positioning system
，
The euler angle is obtained by converting the formula,
the angular velocity is calculated by the euler angle,
referring to FIG. 5, FIG. 5 is a block diagram of an identification device of electromagnetic space quadrants according to some embodiments of the present application.
According to some embodiments of the present application, there is provided an apparatus for identification of electromagnetic space quadrants. The identification device comprises
The acquisition module is used for acquiring an absolute value of the space coordinate and an actual speed value of the tracked object;
the processing module is used for decomposing the space coordinate absolute value into a space coordinate system possible speed value and converting the tracked object actual speed value into a world coordinate system speed value;
and the judging module is used for subtracting the world coordinate system speed value from the space coordinate system possible speed value to obtain a difference value, and comparing the difference value to judge the quadrant position of the tracked object.
According to some embodiments of the present application, optionally, the processing module comprises a decomposition unit and a conversion unit. The decomposition unit is used for decomposing the absolute value of the space coordinate into possible speed values of a space coordinate system; the conversion unit is used for converting the actual speed value of the tracked object into a world coordinate system speed value.
According to some embodiments of the present application, the spatial coordinate system possible velocity values optionally include, but are not limited to, spatial coordinate system possible acceleration, spatial coordinate system possible linear acceleration, or spatial coordinate system possible angular velocity.
According to some embodiments of the present application, optionally, the tracked object actual velocity value includes, but is not limited to, a tracked object actual acceleration, a tracked object actual linear acceleration, or a tracked object actual angular velocity.
According to some embodiments of the present application, optionally, the world coordinate system velocity value includes, but is not limited to, a world coordinate system acceleration, a world coordinate system linear acceleration, or a world coordinate system angular velocity.
According to some embodiments of the present application, a computer storage medium is provided. The computer storage medium stores computer-executable instructions for performing the above-described method for identification of electromagnetic space quadrants.
According to some embodiments of the present application, an electronic device is provided. The electronic device includes at least one processor and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for identification of electromagnetic space quadrants as described above.
Example 1
Referring to fig. 2, fig. 2 is a flowchart of an identification method of an electromagnetic space quadrant according to embodiment 1 of the present application.
The embodiment provides an identification method of an electromagnetic space quadrant. The identification method comprises the following steps:
s1, acquiring and decomposing absolute value of space coordinate
Calculating and acquiring absolute value of space coordinate (counting through transmission of wireless alternating electromagnetic wave, reception of wireless alternating electromagnetic wave, change of electromagnetic signal
|，
，
) (ii) a Then the obtained space coordinate absolute value (& gtY & lt)
|，
，
) Decomposing the acceleration into possible acceleration of the space coordinate system, and determining the space coordinate system according to the possible acceleration of the space coordinate system. The method specifically comprises the following steps:
s11, obtaining the absolute value of the space coordinate
Calculating and acquiring absolute value of space coordinate (& lt & gtY & gt) by transmitting wireless alternating electromagnetic wave, receiving wireless alternating electromagnetic wave and change of electromagnetic signal
|，
，
）。
S12, calculating the possible acceleration of the space coordinate system
The calculation formula of the possible acceleration of the space coordinate system is as follows:
in the x-axis, the x-axis coordinate at time t1 is x1, the x-axis coordinate at time t2 is x2, and the time interval is
，
In the y-axis, the y-axis coordinate at time t1 is y1, the y-axis coordinate at time t2 is y2, and the time interval is
，
In the z-axis, the z-axis coordinate at time t1 is z1, the z-axis coordinate at time t2 is z2, and the time interval is
，
S13, judging the positive and negative of the possible acceleration of the space coordinate system to determine the space coordinate system
When the space coordinate system on the x-axis has a possible acceleration of
When the space coordinate system on the y-axis may be accelerated by
When the space coordinate system on the z-axis may be accelerated by
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis can beCan accelerate to
When the space coordinate system on the y-axis may be accelerated by
When the space coordinate system on the z-axis may be accelerated by
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis has a possible acceleration of
When the space coordinate system on the y-axis may be accelerated by
When the space coordinate system on the z-axis may be accelerated by
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis canCan accelerate to
When the space coordinate system on the y-axis may be accelerated by
When the space coordinate system on the z-axis may be accelerated by
Then the space coordinate system is (
，-
，
）。
When the space coordinate system on the x-axis has a possible acceleration of
When the space coordinate system on the y-axis may be accelerated by
When the space coordinate system on the z-axis may be accelerated by
Then, the space coordinate system is (
，
，
）。
Space coordinate system on x axisMay be accelerated by
When the space coordinate system on the y-axis may be accelerated by
When the space coordinate system on the z-axis may be accelerated by
Then the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis has a possible acceleration of
When the space coordinate system on the y-axis may be accelerated by
When the space coordinate system on the z-axis may be accelerated by
Then, the space coordinate system is (
，
，
）。
Space coordinate system on x axisMay be accelerated by
When the space coordinate system on the y-axis may be accelerated by
When the space coordinate system on the z-axis may be accelerated by
Then, the space coordinate system is (
，
，
）。
S2, acquiring and converting actual acceleration of tracked object
Acquiring the actual acceleration of the tracked object by a nine-axis motion sensor (the nine-axis motion sensor is installed in the tracked object); and then converting the obtained actual acceleration of the tracked object into the acceleration of a world coordinate system. The method specifically comprises the following steps:
s21, acquiring actual acceleration of the tracked object
A nine-axis motion sensor is arranged in the tracked object, and the actual acceleration of the tracked object is obtained through the nine-axis motion sensor
。
S22, calculating the acceleration of the world coordinate system
The actual acceleration of the tracked object is calculated by a quaternion algorithm or an Euler angle algorithm
Converted into world coordinate system acceleration
。
The acceleration of the world coordinate system is calculated according to the formula
Wherein the content of the first and second substances,
in order for the tracked object to actually accelerate,
a rotation matrix of euler angles or quaternions.
S3, judging the quadrant position of the tracked object, converting the actual acceleration of the tracked object into the acceleration of a world coordinate system
And (3) obtaining a difference value by subtracting the acceleration of the world coordinate system and the possible acceleration of the space coordinate system, and comparing the obtained difference value to judge the quadrant position of the tracked object. The method specifically comprises the following steps:
s31, calculating the difference value between the acceleration of the world coordinate system and the possible acceleration of the space coordinate system
In the x-axis, the possible accelerations of the spatial coordinate system include 2, i.e.
And with
Therefore, the difference between the world coordinate system acceleration and the space coordinate system possible acceleration also includes 2 kinds, i.e. X1 and X2. Wherein, the first and the second end of the pipe are connected with each other,
X1=
-
，
X2=
-（
）。
in the y-axis, the possible accelerations of the spatial coordinate system comprise 2, i.e.
And with
Therefore, the difference between the world coordinate system acceleration and the space coordinate system possible acceleration also includes 2 kinds, i.e., Y1 and Y2. Wherein the content of the first and second substances,
Y1=
-
，
Y2=
-（
）。
in the z-axis, the possible accelerations of the spatial coordinate system include 2, i.e.
And with
Therefore, the difference between the world coordinate system acceleration and the possible acceleration of the space coordinate system also includes 2 types, i.e., Z1 and Z2. Wherein, the first and the second end of the pipe are connected with each other,
Z1=
-
，
Z2=
-（
）。
s32, comparing the difference value between the acceleration of the world coordinate system and the possible acceleration of the space coordinate system, wherein the difference value is small, and the position of the space coordinate system where the possible acceleration of the space coordinate system is located is the actual position of the tracked object
If X1 is less than X2, the coordinate value of the possible acceleration of the space coordinate system on the X axis is positive, namely the actual coordinate value of the tracked object on the X axis is positive;
if X1 is greater than X2, the coordinate value of the possible acceleration of the space coordinate system on the X axis is negative, namely the actual coordinate value of the tracked object on the X axis is negative;
if Y1 is greater than Y2, the coordinate value of the possible acceleration of the space coordinate system on the Y axis is negative, namely the actual coordinate value of the tracked object on the Y axis is negative;
if Y1 is less than Y2, the coordinate value of the possible acceleration of the space coordinate system on the Y axis is positive, namely the actual coordinate value of the tracked object on the Y axis is positive;
if Z1 is less than Z2, the coordinate value of the possible acceleration of the space coordinate system on the Z axis is positive, namely the actual coordinate value of the tracked object on the Z axis is positive;
if Z1 > Z2, the coordinate value of the possible acceleration in the space coordinate system on the Z-axis is negative, i.e. the actual coordinate value of the tracked object on the Z-axis is negative.
Example 2
Referring to fig. 3, fig. 3 is a flowchart of an identification method for electromagnetic space quadrants according to embodiment 2 of the present application.
The embodiment provides an identification method of electromagnetic space quadrants. The identification method comprises the following steps:
s1, acquiring and decomposing absolute value of space coordinate
By transmitting and receiving radio alternating electromagnetic wavesCalculating the change of electromagnetic signal and obtaining the absolute value of space coordinate (& gtnon calculation)
|，
，
) (ii) a Then the obtained space coordinate absolute value (non-counting)
|，
，
) The possible linear acceleration of the space coordinate system is resolved, and then the space coordinate system is determined according to the possible linear acceleration of the space coordinate system. The method specifically comprises the following steps:
s11, obtaining the absolute value of the space coordinate
Calculating and acquiring absolute value of space coordinate (counting through transmission of wireless alternating electromagnetic wave, reception of wireless alternating electromagnetic wave, change of electromagnetic signal
|，
，
）。
S12, calculating the possible linear acceleration of the space coordinate system
The calculation formula of the possible linear acceleration of the space coordinate system is as follows:
in the x-axis, the x-axis coordinate at time t1 is x1, the x-axis coordinate at time t2 is x2, the x-axis coordinate at time t3 is x3, and the time interval is
，
In the y-axis, the y-axis coordinate at time t1 is y1, the y-axis coordinate at time t2 is y2, the y-axis coordinate at time t3 is y3, and the time interval is
，
In the z-axis, the z-axis coordinate at time t1 is z1, the z-axis coordinate at time t2 is z2, the z-axis coordinate at time t3 is z3, and the time interval is
，
S13, judging the positive and negative of the possible linear acceleration of the space coordinate system to determine the space coordinate system
When the space coordinate system on the x-axis can be linearly accelerated by
When the space coordinate system on the y-axis can linearly accelerate to
When the space coordinate system on the z-axis can be linearly accelerated by
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis can be linearly accelerated by
When the space coordinate system on the y-axis can linearly accelerate to
When the space coordinate system on the z-axis can be linearly accelerated by
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis can be linearly accelerated by
When the space coordinate system on the y-axis can linearly accelerate to
When the space coordinate system on the z-axis can be linearly accelerated by
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis can be linearly accelerated by
When the space coordinate system on the y-axis can linearly accelerate to
When the space coordinate system on the z-axis can be linearly accelerated by
Then, the space coordinate system is (
，-
，
）。
When the space coordinate system on the x-axis can be linearly accelerated by
When the space coordinate system on the y-axis can be linearly accelerated by
When the space coordinate system on the z-axis can be linearly accelerated by
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis can be linearly accelerated by
When the space coordinate system on the y-axis can be linearly accelerated by
When the space coordinate system on the z-axis can be linearly accelerated by
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis can be linearly accelerated by
When the space coordinate system on the y-axis can be linearly accelerated by
When the space coordinate system on the z-axis can be linearly accelerated by
Then the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis can be linearly accelerated by
When the space coordinate system on the y-axis can linearly accelerate to
When the space coordinate system on the z-axis can be linearly accelerated by
Then, the space coordinate system is (
，
，
）。
S2, acquiring and converting actual linear acceleration of tracked object
Acquiring actual linear acceleration of a tracked object through a nine-axis motion sensor (the nine-axis motion sensor is installed in the tracked object); and converting the acquired actual linear acceleration of the tracked object into the linear acceleration of the world coordinate system. The method specifically comprises the following steps:
s21, acquiring actual linear acceleration of the tracked object
A nine-axis motion sensor is arranged in the tracked object, and the actual linear acceleration of the tracked object is obtained through the nine-axis motion sensor
。
S22, calculating linear acceleration of world coordinate system
Actual linear acceleration of tracked object by quaternion algorithm or Euler angle algorithm
Converted into linear acceleration of world coordinate system
。
The linear acceleration of the world coordinate system is calculated according to the formula
Wherein the content of the first and second substances,
in order to achieve the actual linear acceleration of the tracked object,
a rotation matrix of euler angles or quaternions.
S3, judging the quadrant position of the tracked object, converting the actual linear acceleration of the tracked object into the linear acceleration of a world coordinate system
And (3) subtracting the linear acceleration of the world coordinate system from the possible linear acceleration of the space coordinate system to obtain a difference value, and comparing the difference value to judge the quadrant position of the tracked object. The method specifically comprises the following steps:
s31, calculating the difference value between the linear acceleration of the world coordinate system and the possible linear acceleration of the space coordinate system
In the x-axis, the possible linear accelerations of the spatial coordinate system include 2, i.e.
And with
Therefore, the difference between the linear acceleration of the world coordinate system and the possible linear acceleration of the space coordinate system also includes 2 types, i.e. X1 and X2. Wherein the content of the first and second substances,
X1=
-
，
X2=
-（
）。
in the y-axis, the possible linear accelerations of the spatial coordinate system include 2, i.e.
And
therefore, the difference between the linear acceleration of the world coordinate system and the possible linear acceleration of the space coordinate system also includes 2 types, i.e., Y1 and Y2. Wherein the content of the first and second substances,
Y1=
-
，
Y2=
-（
）。
in the z-axis, the possible linear accelerations of the spatial coordinate system include 2, i.e.
And
therefore, the difference between the linear acceleration of the world coordinate system and the possible linear acceleration of the space coordinate system also includes 2 types, i.e., Z1 and Z2. Wherein the content of the first and second substances,
Z1=
-
，
Z2=
-（
）。
s31, comparing the difference value between the linear acceleration of the world coordinate system and the possible linear acceleration of the space coordinate system, wherein the difference value is small, and the position of the space coordinate system where the possible linear acceleration of the space coordinate system is located is the actual position of the tracked object
If X1 < X2, the coordinate value of the possible linear acceleration of the space coordinate system on the X axis is positive, namely the actual coordinate value of the tracked object on the X axis is positive;
if X1 is greater than X2, the coordinate value of the possible linear acceleration of the space coordinate system on the X axis is negative, namely the actual coordinate value of the tracked object on the X axis is negative;
if Y1 is greater than Y2, the coordinate value of the possible linear acceleration of the space coordinate system on the Y axis is negative, namely the actual coordinate value of the tracked object on the Y axis is negative;
if Y1 is less than Y2, the coordinate value of the possible linear acceleration of the space coordinate system on the Y axis is positive, namely the actual coordinate value of the tracked object on the Y axis is positive;
if Z1 is less than Z2, the coordinate value of the possible linear acceleration of the space coordinate system on the Z axis is positive, namely the actual coordinate value of the tracked object on the Z axis is positive;
if Z1 > Z2, the coordinate value of the spatial coordinate system of the possible linear acceleration on the Z-axis is negative, i.e. the actual coordinate value of the tracked object on the Z-axis is negative.
Example 3
Referring to fig. 4, fig. 4 is a flowchart of an identification method for electromagnetic space quadrants according to embodiment 3 of the present application.
The embodiment provides an identification method of electromagnetic space quadrants. The identification method comprises the following steps:
s1, acquiring and decomposing absolute value of space coordinate
Calculating and acquiring absolute value of space coordinate (& lt & gtY & gt) by transmitting wireless alternating electromagnetic wave, receiving wireless alternating electromagnetic wave and change of electromagnetic signal
|，
，
) (ii) a Then the obtained space coordinate absolute value (non-counting)
|，
，
) Decomposing the angular velocity into possible angular velocity of the space coordinate system, and determining the space coordinate system according to the possible angular velocity of the space coordinate system. The method specifically comprises the following steps:
s11, obtaining the absolute value of the space coordinate
Calculating and acquiring absolute value of space coordinate (& lt & gtY & gt) by transmitting wireless alternating electromagnetic wave, receiving wireless alternating electromagnetic wave and change of electromagnetic signal
|，
，
）。
S12, calculating possible angular speed of a space coordinate system
Calculating the possible angular velocity of the space coordinate system
、
、
。
S13, judging the positive and negative of the possible angular velocity of the space coordinate system to determine the space coordinate system
When the space coordinate system on the x-axis has a possible angular velocity of
When the space coordinate system on the y-axis has a possible angular velocity of
When the space coordinate system on the z-axis has a possible angular velocity of
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis has a possible angular velocity of
When the space coordinate system on the y-axis has a possible angular velocity of
When the space coordinate system on the z-axis has a possible angular velocity of
Then the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis has a possible angular velocity of
When the space coordinate system on the y-axis has a possible angular velocity of
When the space coordinate system on the z-axis has a possible angular velocity of
Then the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis has a possible angular velocity of
When the space coordinate system on the y-axis has a possible angular velocity of
When the space coordinate system on the z-axis has a possible angular velocity of
Then the space coordinate system is (
，-
，
）。
When the space coordinate system on the x-axis has a possible angular velocity of
When the space coordinate system on the y-axis has a possible angular velocity of
When the space coordinate system on the z-axis has a possible angular velocity of
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis has a possible angular velocity of
When the space coordinate system on the y-axis has a possible angular velocity of
When the space coordinate system on the z-axis has a possible angular velocity of
Then the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis has a possible angular velocity of
When the space coordinate system on the y-axis has a possible angular velocity of
When the space coordinate system on the z-axis has a possible angular velocity of
Then, the space coordinate system is (
，
，
）。
When the space coordinate system on the x-axis has a possible angular velocity of
When the space coordinate system on the y-axis has a possible angular velocity of
When the space coordinate system on the z-axis has a possible angular velocity of
Then the space coordinate system is (
，
，
）。
S2, acquiring and converting actual angular speed of tracked object
Acquiring the actual angular velocity of the tracked object by a nine-axis motion sensor (the nine-axis motion sensor is installed in the tracked object); and converting the obtained actual angular velocity of the tracked object into the angular velocity of a world coordinate system. The method comprises the following specific steps:
s21, acquiring actual angular velocity of tracked object
A nine-axis motion sensor is arranged in the tracked object, and the actual angular velocity of the tracked object is obtained through the nine-axis motion sensor
。
S22, calculating the angular velocity of the world coordinate system
The actual angular velocity of the tracked object is calculated by quaternion algorithm or Euler angle algorithm
Angular velocity converted into world coordinate systemDegree of rotation
。
The calculation formula of the angular velocity of the world coordinate system is
Wherein, the first and the second end of the pipe are connected with each other,
in order for the actual angular velocity of the tracked object,
a rotation matrix of euler angles or quaternions.
Actual angular velocity of tracked object
The method is obtained by acquiring quaternion of a tracked object by an electromagnetic positioning system, converting the quaternion into Euler angles and calculating, and specifically comprises the following steps:
acquisition of quaternion of tracked object by electromagnetic positioning system
，
The euler angle is obtained by converting the formula,
the angular velocity is calculated by the euler angle,
s3, judging the quadrant position of the tracked object, converting the actual angular velocity of the tracked object into the angular velocity of a world coordinate system
And (3) obtaining a difference value by subtracting the angular speed of the world coordinate system and the possible angular speed of the space coordinate system, and comparing the obtained difference value to judge the quadrant position of the tracked object. The method comprises the following specific steps:
s31, calculating the difference value between the angular velocity of the world coordinate system and the possible angular velocity of the space coordinate system
In the x-axis, the possible angular velocities of the spatial coordinate system include 2, i.e.
And
therefore, the difference between the angular velocity of the world coordinate system and the possible angular velocity of the space coordinate system also includes 2 kinds, i.e., X1 and X2. Wherein the content of the first and second substances,
X1=
-
，
X2=
-（
）。
in the y-axis, the possible angular velocities of the spatial coordinate system include 2, i.e.
And
therefore, the angular velocity of the world coordinate systemThe difference between the degree and the possible angular velocity of the spatial coordinate system also includes 2 kinds, i.e. Y1 and Y2. Wherein the content of the first and second substances,
Y1=
-
，
Y2=
-（
）。
in the z-axis, the possible angular velocities of the spatial coordinate system include 2, i.e.
And
therefore, the difference between the angular velocity of the world coordinate system and the possible angular velocity of the space coordinate system also includes 2 types, i.e., Z1 and Z2. Wherein, the first and the second end of the pipe are connected with each other,
Z1=
-
，
Z2=
-（
）。
s31, comparing the difference value of the angular velocity of the world coordinate system and the possible angular velocity of the space coordinate system, wherein the difference value is small, and the position of the space coordinate system where the possible angular velocity of the space coordinate system is located is the actual position of the tracked object
If X1 < X2, the coordinate value of the possible angular speed of the space coordinate system on the X axis is positive, namely the actual coordinate value of the tracked object on the X axis is positive;
if X1 is greater than X2, the coordinate value of the possible angular speed of the space coordinate system on the X axis is negative, namely the actual coordinate value of the tracked object on the X axis is negative;
if Y1 is greater than Y2, the coordinate value of the possible angular speed of the space coordinate system on the Y axis is negative, namely the actual coordinate value of the tracked object on the Y axis is negative;
if Y1 is less than Y2, the coordinate value of the possible angular speed of the space coordinate system on the Y axis is positive, namely the actual coordinate value of the tracked object on the Y axis is positive;
if Z1 is less than Z2, the coordinate value of the possible angular speed of the space coordinate system on the Z axis is positive, namely the actual coordinate value of the tracked object on the Z axis is positive;
if Z1 > Z2, the coordinate value of the spatial coordinate system possible angular velocity on the Z-axis is negative, i.e. the actual coordinate value of the tracked object on the Z-axis is negative.
It should be noted that in the description above, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as specifically described herein and, therefore, the scope of the present application should not be limited by the specific embodiments disclosed below.
Claims (11)
1. A method for identifying electromagnetic space quadrants is characterized by comprising
Acquiring and decomposing the absolute value of the space coordinate, acquiring the absolute value of the space coordinate and decomposing the acquired absolute value of the space coordinate into possible speed values of a space coordinate system;
acquiring and converting an actual speed value of a tracked object, acquiring the actual speed value of the tracked object and converting the acquired actual speed value of the tracked object into a speed value of a world coordinate system;
and judging the quadrant position of the tracked object, namely, subtracting the speed value of the world coordinate system and the possible speed value of the space coordinate system to obtain a difference value, and comparing the difference value to judge the quadrant position of the tracked object.
2. Method for identification of electromagnetic space quadrants according to claim 1, characterized in that the speed values are accelerations, linear accelerations or angular velocities.
3. Method for identification of quadrants in an electromagnetic space according to claim 2, characterized in that the possible accelerations of the spatial coordinate system are calculated by the formula:
in the x-axis, the x-axis coordinate at time t1 is x1, the x-axis coordinate at time t2 is x2, and the time interval is
，
In the y-axis, the y-axis coordinate at time t1 is y1, the y-axis coordinate at time t2 is y2, and the time interval is
，
In the z-axis, the z-axis coordinate at time t1 is z1, the z-axis coordinate at time t2 is z2, and the time interval is
，
4. The method for identifying quadrants of an electromagnetic space as claimed in claim 2, wherein the possible linear acceleration of the spatial coordinate system is calculated by the formula:
in the x-axis, the x-axis coordinate at time t1 is x1, the x-axis coordinate at time t2 is x2, the x-axis coordinate at time t3 is x3, and the time interval is
，
In the y-axis, the y-axis coordinate at time t1 is y1, the y-axis coordinate at time t2 is y2, the y-axis coordinate at time t3 is y3, and the time interval is
，
In the z-axis, the z-axis coordinate at time t1 is z1, the z-axis coordinate at time t2 is z2, the z-axis coordinate at time t3 is z3, and the time interval is
，
5. Method for identification of quadrants in an electromagnetic space according to claim 2, characterized in that the acceleration of the world coordinate system is calculated by the formula
Wherein the content of the first and second substances,
is a quilt heelThe actual acceleration of the tracked object is,
a rotation matrix of euler angles or quaternions.
6. Method for identification of quadrants in an electromagnetic space according to claim 2, characterized in that the linear acceleration of the world coordinate system is calculated according to the formula
Wherein, the first and the second end of the pipe are connected with each other,
in order for the tracked object to actually linearly accelerate,
a rotation matrix of euler angles or quaternions.
7. Method for identification of quadrants of an electromagnetic space according to claim 2, characterized in that the calculation of the angular velocity of the world coordinate system is performed by the formula
Wherein the content of the first and second substances,
in order to be the actual angular velocity of the tracked object,
a rotation matrix of euler angles or quaternions.
8. An electromagnetic space quadrant recognition device, comprising
The acquisition module is used for acquiring an absolute value of the space coordinate and an actual speed value of the tracked object;
the processing module is used for decomposing the space coordinate absolute value into a space coordinate system possible speed value and converting the tracked object actual speed value into a world coordinate system speed value;
and the judging module is used for subtracting the world coordinate system speed value from the space coordinate system possible speed value to obtain a difference value, and comparing the difference value to judge the quadrant position of the tracked object.
9. Device for the identification of quadrants of an electromagnetic space according to claim 8, characterized in that said processing module comprises
The decomposition unit is used for decomposing the absolute value of the space coordinate into a possible speed value of the space coordinate system;
and the conversion unit is used for converting the actual speed value of the tracked object into the speed value of the world coordinate system.
10. A computer storage medium having stored thereon computer-executable instructions for performing the method for identification of electromagnetic space quadrants of any of claims 1-7.
11. An electronic device, comprising
At least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for identification of electromagnetic space quadrants of any of claims 1-7.
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