CN117354924A - Positioning system, positioning terminal and positioning network - Google Patents
Positioning system, positioning terminal and positioning network Download PDFInfo
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- CN117354924A CN117354924A CN202311373259.6A CN202311373259A CN117354924A CN 117354924 A CN117354924 A CN 117354924A CN 202311373259 A CN202311373259 A CN 202311373259A CN 117354924 A CN117354924 A CN 117354924A
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- 238000004422 calculation algorithm Methods 0.000 description 18
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- 238000010586 diagram Methods 0.000 description 12
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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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
- H04N23/50—Constructional details
Abstract
The invention discloses a positioning system, a positioning terminal and a positioning network, wherein the positioning system comprises: a plurality of radio positioning base stations arranged in the virtual reality theme; the positioning terminals comprise cameras, positioning devices and near-eye display devices; the data processing equipment is connected with the radio positioning network and is used for determining the position change information of the positioning terminal in the virtual reality theme through the radio positioning network and sending the position change information and the posture change information of other positioning terminals to each positioning terminal. According to the technical scheme provided by the embodiment of the invention, the pose change information of the terminal is not required to be positioned through the laser scanning signal, so that the technical effect of being capable of determining the pose change information of the positioning terminal without shielding is realized, accordingly, the situation that correspondingly changed pictures can be provided for a plurality of users based on the pose change information of the positioning terminal is ensured, and then immersive interaction experience can be provided for the users.
Description
The application is a divisional application of which the application date is 2016, 11, 28, 201611064874.9 and the name is 'a positioning system, a positioning terminal and a positioning network'.
Technical Field
The present invention relates to the field of spatial positioning, and in particular, to a positioning system, a positioning terminal, and a positioning network.
Background
Virtual Reality (VR) is a computer simulation system capable of creating and experiencing a Virtual world, and generates a simulation environment by using a computer, so that a user is immersed in the environment through interactive three-dimensional dynamic vision and system simulation of physical behaviors, and sensory experience exceeding a real living environment is brought to the user. In visual terms, virtual reality technology utilizes a computer device to generate an image of a virtual scene and to pass image light to the human eye through optics so that a user can visually perceive the virtual scene entirely.
Along with the increasing prosperity of the virtual reality field, the virtual game starts to appear, the virtual game can provide corresponding changing pictures for the user according to the pose changes of the user when using virtual reality equipment such as a head-mounted display or an operation handle, thus providing immersive interaction experience for the user, the pose changes comprise position changes and gesture changes, the position changes refer to the movement of the virtual reality equipment from one place to another place, the gesture changes refer to the rotation and other changes of the virtual reality equipment, therefore, the accurate space positioning tracking technology is particularly critical, in the prior art, when space positioning is performed, a laser scanning signal is generally sent to a positioning terminal such as the head-mounted display and the operation handle through a positioning base station, the position of the positioning terminal relative to the positioning base station is determined according to the time difference of the laser scanning signal received by the positioning terminal, and finally, the position changes of the positioning terminal can be obtained according to the different positions of the positioning terminal at two adjacent time points, and the gesture changes of the positioning terminal are detected through a gyroscope arranged on the positioning terminal.
However, since the directionality of the laser scanning signal is strong, the positioning terminal is extremely easy to be blocked, for example, the positioning terminal cannot receive the laser scanning signal due to the rotation, the movement and the like of the positioning terminal, so that the position change of the positioning terminal cannot be determined, the pose change of the positioning terminal cannot be determined, and accordingly, a correspondingly changed picture cannot be provided for a user based on the position change.
Therefore, the technical problem that the pose change of the positioning terminal cannot be determined because the laser scanning signal is easily shielded exists in the prior art.
Disclosure of Invention
The invention aims to provide a positioning system, a positioning terminal and a positioning network, which are used for solving the technical problem that the pose change of the positioning terminal cannot be determined because a laser scanning signal is easily shielded in the prior art.
To achieve the above object, a first aspect of the present invention provides a positioning system, comprising:
a radio positioning network including at least 4 radio positioning base stations disposed in a preset space;
the positioning terminal comprises a camera, a positioning device and a near-to-eye display device, wherein the positioning device corresponds to the positioning mode of the radio positioning base station;
the data processing equipment is connected with the radio positioning network and is used for determining the position change information of the positioning terminal in the preset space through the radio positioning network and determining the posture change information of the positioning terminal according to the environment image shot by the camera.
Optionally, when the plurality of positioning terminals are provided, the data processing device is further configured to send the position change information and the posture change information of the other positioning terminals to each positioning terminal.
Optionally, the radio positioning network is composed of at least one of at least 4 ZigBee modules, at least 4 WiFi hotspots, at least 4 positioning satellites, or at least 4 UWB base stations.
Optionally, the camera is specifically a depth camera.
The second aspect of the invention provides a positioning terminal, which comprises a camera, a positioning device and a near-to-eye display device, wherein the positioning device at least comprises at least one of a ZigBee module, a WiFi connector, a satellite positioning signal receiver or a UWB signal generator.
Optionally, the camera is specifically a depth camera.
A third aspect of the invention provides a positioning network comprising:
a radio positioning network including at least 4 radio positioning base stations disposed in a preset space;
the data processing equipment is connected with the radio positioning network and the positioning terminal, wherein the positioning terminal comprises a camera and a positioning device, and the positioning device corresponds to the positioning mode of the radio positioning base station; the data processing equipment is used for determining the position change information of the positioning terminal in the preset space through the radio positioning network and determining the posture change information of the positioning terminal according to the environment image shot by the camera.
Optionally, when the plurality of positioning terminals are provided, the data processing device is further configured to send the position change information and the posture change information of the other positioning terminals to each positioning terminal.
Optionally, the radio positioning network is composed of at least one of at least 4 ZigBee modules, at least 4 WiFi hotspots, at least 4 positioning satellites, or at least 4 UWB base stations.
One or more technical solutions in the embodiments of the present invention at least have the following technical effects or advantages:
it can be seen from the above parts that the data processing device in the positioning system provided by the embodiment of the invention can receive the positioning signal sent by the positioning device through the radio network, or send the positioning signal to the positioning device through the radio network, so as to determine the position change of the positioning terminal in the preset space, and meanwhile, the data processing device can also shoot surrounding environment images through the camera on the positioning device, and determine the posture change information of the positioning terminal according to the environment images, so as to determine the posture change information of the positioning terminal, and the posture change information of the positioning terminal does not need to be determined through a laser scanning signal, thereby solving the technical problem that the posture change of the positioning terminal cannot be determined due to the fact that the laser scanning signal is easily shielded in the prior art, realizing the technical effect that the posture change information of the positioning terminal can be determined without shielding, thereby ensuring that a corresponding changed picture can be provided for a user based on the posture change information of the positioning terminal, and further providing immersive interaction experience for the user.
Drawings
FIG. 1 is a schematic diagram of a positioning system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of positioning by a radio positioning network according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a radio positioning network 10 composed of UWB base stations according to an embodiment of the present invention;
FIG. 4A is a schematic diagram of a magnetic field generator according to an embodiment of the present invention;
fig. 4B is a schematic structural diagram of a magnetic field signal receiver according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a camera 201 capturing two frames of environmental images according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a positioning system, a positioning terminal and a positioning network, which are used for solving the technical problem that the pose change of the positioning terminal cannot be determined because a laser scanning signal is easily shielded in the prior art.
Referring to fig. 1, fig. 1 is a schematic diagram of a positioning system according to an embodiment of the present invention, as shown in fig. 1, the positioning system includes:
the radio positioning network 10 comprises at least 4 radio positioning base stations 101 arranged in a preset space, and the radio positioning base stations 101 can be, for example, zigBee modules, wiFi hot spots or UWB base stations, etc.;
the positioning terminal 20, the positioning terminal 20 is provided with a camera 201, a positioning device 202 and a near-to-eye display device, the positioning terminal may be, for example, a head-mounted display (english: head Mount Display; abbreviated as HMD) or the like, the camera may be a common camera or a depth camera or the like, the positioning device 202 corresponds to a positioning manner adopted by a radio positioning base station, for example, when the radio positioning base station 101 is a ZigBee module, the positioning device 202 is a ZigBee module, when the radio positioning base station 101 is a WiFi hotspot, the positioning device 202 is a WiFi connector or the like, and the near-to-eye display device is used for providing a virtual reality experience to a user, and may specifically include a display screen, an optical lens or the like, which will not be described herein;
the data processing device 30 is connected to the radio positioning network 10 and the positioning terminal 20, and is used for determining the position of the positioning terminal in a preset space through the radio positioning network and the positioning device, and determining the posture change information of the positioning terminal according to the environment image shot by the camera.
In practical applications, the data processing device 30 may be a stand-alone device, for example, the data processing device 30 is a stand-alone computer host, the positioning terminal 20 is a head mounted display, or may be integrated on the radio positioning base station 101 or the positioning terminal 20, for example, the positioning terminal 20 is a head mounted integrated machine, or the like, or may be a split design, for example, the data processing device 30 is physically divided into two parts, one part is disposed on one or more radio positioning base stations 101, and the other part is disposed on the positioning terminal 20, which is not limited herein.
It can be seen that, since the positioning system provided by the embodiment of the invention determines the position change of the positioning terminal in the preset space through the radio positioning network and determines the pose change of the positioning terminal through the camera of the positioning terminal, and the positioning terminal is not required to be positioned through the laser scanning signal, the technical problem that the pose change of the positioning terminal cannot be determined because the laser scanning signal is easily shielded in the prior art is solved, and the technical effect of positioning the positioning terminal without shielding is realized.
In the following section, the above technical solution will be described in detail.
Referring to fig. 2, fig. 2 is a schematic diagram of positioning by the positioning network according to the embodiment of the present invention, as shown in fig. 2, the positioning network 10 includes at least 4 positioning base stations, where the at least 4 positioning base stations are disposed in a preset space 90, and in practical application, the positioning network 10 is composed of at least one of at least 4 ZigBee modules, at least 4 WiFi hotspots, or at least 4 UWB base stations, and of course, the positioning base stations may be disposed in the preset space more uniformly according to a signal range of each positioning base station, which will be described in the following sections respectively.
First, a case is described in which the radio positioning network 10 is composed of at least 4 ZigBee modules: the ZigBee modules are a circuit set integrating ZigBee protocol, program, radio frequency and chip, and can not only transmit ZigBee signals, but also receive ZigBee signals, and at least 4 ZigBee modules can form a ZigBee network, wherein the position of each ZigBee module in the ZigBee network can be set by a user, for example, a plurality of ZigBee modules can be numbered according to natural numbers, and the position of each ZigBee module in the whole ZigBee network is determined according to the set value of the user, so that a ZigBee network topology structure is established.
In practical application, in order to save time and improve accuracy of the topology structure of the established ZigBee network, the topology structure can be self-established by the ZigBee network, for example, the received signal strength (english: received Signal Strength; abbreviated as RSS) when receiving ZigBee signals sent by another 4 non-coplanar ZigBee modules through the ZigBee module No. 1, that is, the location of the ZigBee module can be determined, that is, the manner that the ZigBee network self-establishes the topology structure requires at least 5 ZigBee modules, and so on, until the location of each ZigBee module in the entire ZigBee network is determined, that is, after determining a coordinate system corresponding to one ZigBee network, the coordinates of each ZigBee module in the ZigBee network can be determined. If the positioning range of the ZigBee network needs to be enlarged, the number of ZigBee modules needs to be increased correspondingly, without resetting the radio positioning network 10, and the extension cost is low.
Of course, a ZigBee module needs to be disposed on the positioning device 202 of the positioning terminal 20, so that when the positioning terminal 20 enters the positioning range of the ZigBee network, the ZigBee network can determine the position of the positioning terminal 20, specifically, according to the received signal strength when the ZigBee module on the positioning device 202 receives ZigBee signals of at least 4 non-coplanar ZigBee modules, the position of the positioning terminal 20 is determined by an RSS (english: received Signal Strength; chinese: received signal strength) algorithm, so that by continuously determining the position of the positioning terminal 20, the position change of the positioning terminal 20 in the preset space can be determined.
The RSS algorithm may specifically include two calculation modes, the first is to map measured RSS data into distance parameters according to an empirical model or a mathematical model of signal propagation, so as to determine the position of the positioning terminal 20 according to different position estimation methods, such as trilateral positioning, three-point positioning, or time-of-arrival positioning; the second method is a fingerprint library, firstly, the RSS data received by the positioning terminal 20 from each ZigBee module used for positioning in each area within the positioning range of the radio positioning network 10 is recorded, and an offline fingerprint library is generated, where the offline fingerprint library details the corresponding relationship between the RSS information and the location space within the positioning range of the radio positioning network 10, so when the positioning terminal 20 enters the positioning range of the radio positioning network 10, the RSS data sent by each ZigBee module in the radio positioning network 10 is received, and is matched with the offline fingerprint library, so that the location of the positioning terminal 20 is determined by using a probability or deterministic matching algorithm. The second algorithm is higher in positioning accuracy because the uncertainty relation model between the RSS data and the distance is not utilized for calculation.
Then, a case is introduced in which the radio positioning network 10 consists of at least 4 WiFi hotspots: the WiFi hotspots (AP) refer to devices that provide a network connection to terminals such as computers and mobile phones by using WiFi technology, such as wireless routers, and the like, and can send data to the terminals and receive data sent by other WiFi hotspots, so that at least 4 WiFi hotspots can form the radio positioning network 10.
In an embodiment, the relative positional relationship between at least 4 WiFi hotspots may be manually set by a user, so as to establish a topology of the radio positioning network 10 composed of at least 4 WiFi hotspots according to the relative positional relationship; in another embodiment, the function of receiving the data of other WiFi hotspots by the WiFi hotspots may be started, so that each WiFi hotspot can obtain the data such as the hotspot name and the received signal strength of the other WiFi hotspots, after numbering all WiFi hotspots according to the natural number, taking the No. 1 WiFi hotspot as an example, after receiving the hotspot names and the received signal strengths of the other 4 non-coplanar WiFi hotspots, the transmission power of the other 4 non-coplanar WiFi hotspots is required to be known in advance, that is, the distance from each WiFi hotspot may be determined according to the signal strength and the transmission power, so that after determining the relative position relationship between the No. 1 WiFi hotspot and the other 4 non-coplanar WiFi hotspots, the position of the No. 1 WiFi hotspot can be determined, and so on, the topology structure of the radio positioning network 10 composed of the WiFi hotspots can be established, and the radio positioning network 10 of the topology structure can be self-established, which requires at least 5 WiFi hotspots. If the positioning range of the radio positioning network 10 composed of the WiFi hotspots needs to be enlarged, the number of the WiFi hotspots needs to be correspondingly increased, the radio positioning network 10 does not need to be reset, and the expansion cost is low.
Of course, the positioning device 202 of the positioning terminal 20 needs to be provided with a WiFi connector capable of receiving data sent by WiFi hotspots, so that when the positioning terminal 20 enters the positioning range of the radio positioning network 10, the position of the positioning terminal 20 can be determined by at least 4 WiFi hotspots, specifically, the positioning terminal 20 can be determined to be located in the first area through an RSS algorithm according to the received signal strength of the signal that the positioning terminal 20 receives at least 4 non-coplanar WiFi hotspots broadcast, which is not described herein again.
Finally, the case is introduced in which the radio positioning network 10 consists of at least 4 UWB base stations: UWB (English: ultra-Wideband; chinese: ultra Wideband) base stations comprise an antenna array and UWB signal receivers capable of receiving UWB signals of non-sinusoidal narrow pulses on the order of nanoseconds to picoseconds, so that at least 4 UWB base stations are capable of constituting a radio positioning network 10.
Referring to fig. 3, fig. 3 is a schematic diagram of a radio positioning network 10 composed of UWB base stations according to an embodiment of the present invention, as shown in fig. 3, all UWB base stations 301 are connected to a switch 302, the switch 302 may be connected to several groups of UWB base stations, the specific number of packets may be determined according to the actual situation and the hardware structure of the switch, and the UWB base stations in each group are connected together in an end-to-end manner, so as to obtain a synchronous clock signal sent by the switch.
In this embodiment, the location of each UWB base station may be set by the user, enabling the topology of the radio positioning network 10 to be established; in another embodiment, at least 4 reference nodes with known positions may be provided, where each reference node is capable of transmitting UWB pulse signals, and it needs to be ensured that each UWB base station can detect UWB pulse signals transmitted by at least 4 reference nodes that are not coplanar, so that each UWB base station in the radio positioning network 10 can determine its own position according to UWB pulse signals transmitted by at least 4 reference base stations that are not coplanar, thereby establishing a topology structure of the radio positioning network 10, which is not described herein. If the positioning range of the radio positioning network 10 formed by the UWB base stations needs to be enlarged, the number of UWB base stations needs to be increased accordingly, the radio positioning network 10 does not need to be reset, and the expansion cost is low.
The positioning device 202 of the positioning terminal 20 may be provided with a UWB pulse signal transmitter, so that when the positioning terminal 20 enters the positioning range of the radio positioning network 10, the UWB pulse signal transmitted by the UWB pulse signal transmitter is received by a UWB base station, and the position of the positioning terminal 20 is determined by an RSS algorithm, a signal Arrival Angle (AOA) algorithm, a signal Arrival Time (TOA) algorithm, a signal Arrival Time Difference (TDOA) algorithm, or the like, and in this embodiment, the TOA algorithm will be described as an example.
The TOA algorithm specifically includes many kinds of calculation methods, and for example, may include a positioning algorithm based on numerical processing, a geometric positioning algorithm, a positioning algorithm based on pattern matching, a positioning algorithm based on channel state discrimination, and the like, and the geometric positioning algorithm will be described herein. In this embodiment, after the positioning base station enters the positioning range of the radio positioning network 10, the data processing device in the radio positioning network 10 sends a signal with a synchronous moment to the switch, and the switch forwards the signal to each UWB base station in the radio positioning network 10, and meanwhile, the data processing device also sends a control signal for sending out UWB pulse signals at the synchronous moment to the positioning terminal 20, so that the positioning terminal 20 sends out UWB pulse signals at the synchronous moment, and thus, the distance between the UWB base station receiving UWB pulse signals and the positioning terminal 20 can be determined according to the time difference between the time point of the UWB base station receiving UWB pulse signals and the synchronous moment, and thus, the position of the positioning terminal 20 can be determined according to the distances between 4 non-coplanar UWB base stations and the positioning terminal 20.
The present invention describes three positioning modes of the radio positioning network 10 and specific positioning processes thereof, each positioning mode can determine the coordinates of the positioning terminal 20, and of course, corresponding errors exist according to the positioning modes. By way of introduction, a person skilled in the art may select any one of them according to the actual situation, or may combine them according to the actual situation, for example, the radio positioning network 10 includes two positioning manners, two coordinates obtained by the two positioning manners may be averaged, if the radio positioning network 10 includes the three positioning manners, the obtained three coordinates may be averaged, or coordinates with larger deviation may be removed first, and then the remaining two coordinates may be averaged, so on, which may be seen that, by combining the multiple positioning manners, the accuracy of positioning the positioning terminal 20 by the radio positioning network 10 is improved.
Of course, other positioning means that can be used by a person skilled in the art can also be combined, for example the radio positioning network 10 can also consist of at least 4 magnetic field generators: referring to fig. 4A, fig. 4A is a schematic structural diagram of a magnetic field generator according to an embodiment of the present invention, as shown in fig. 4A, a transmitting coil of the magnetic field generator has a structure of three coils fixed in an orthogonal manner, and in a specific implementation process, the three coils can alternately transmit magnetic field signals with the same frequency and known strength according to a preset time sequence, or simultaneously transmit magnetic field signals with different frequencies and known strength, which is not limited herein.
In practical applications, the relative positional relationship between at least 4 magnetic field generators may be manually set by a user, so that the topology of the radio positioning network 10 composed of at least 4 magnetic field generators is established according to the relative positional relationship; in another embodiment, a magnetic field signal receiver may be disposed on each magnetic field generator, such that, taking a number 1 magnetic field generator with a magnetic field signal receiver as an example, the position of the number 1 magnetic field generator relative to other magnetic field generators is determined according to the received signal strength when the magnetic field signal receiver receives magnetic field signals sent by another 4 non-coplanar magnetic field generators, that is, the radio positioning network 10 composed of magnetic field generators needs at least 5 magnetic field generators with magnetic field signal receivers to establish a topology structure, and so on until the position of the magnetic field generator in the whole radio positioning network 10 is determined, thereby establishing the topology structure of the radio positioning network 10. If the positioning range of the radio positioning network 10 composed of the magnetic field generators needs to be enlarged, the number of the magnetic field generators is correspondingly increased, the radio positioning network 10 does not need to be reset, and the expansion cost is low.
The positioning device 202 of the positioning terminal 20 may be provided with a magnetic field signal receiver having the same structure as that shown in fig. 4A, so as to be able to receive a magnetic field signal emitted from the magnetic field generator. In a specific implementation process, in order to reduce the volume of the receiving coil and increase the magnetic permeability, and simultaneously facilitate coil winding, a square or circular ferrite core may be disposed at the center of the receiving coil in the magnetic field signal receiver, and referring to fig. 4B, fig. 4B is a schematic structural diagram of the magnetic field signal receiver provided in the embodiment of the present invention.
Principle of magnetic field ranging: according to the law of Pico-Sa-Law and Faraday electromagnetic induction, the attenuation law of magnetic field ranging during space propagation can be deduced according to the two laws, and the physical distance between a magnetic field emission source and a magnetic field receiving end can be accurately obtained.
In this way, after the positioning terminal 20 provided with the magnetic field signal receiver enters the positioning range of the radio positioning network 10, the position of the positioning terminal 20 can be determined by the radio positioning network 10 composed of at least 4 magnetic field generators, specifically, the position of the positioning terminal 20 can be determined by the RSS algorithm introduced in the foregoing section according to the received signal strength when the positioning terminal 20 receives the magnetic field signals of at least 4 non-coplanar magnetic field generators in the radio positioning network 10, so that the position change of the positioning terminal 20 in the preset space can be determined by continuously determining the position of the positioning terminal 20.
It can be seen that the radio positioning network 10 provided in the embodiment of the present application not only has the advantage of being able to quickly determine the position of the positioning terminal, but also has the advantages of strong expansibility and low expansion cost.
In another embodiment, when the technical solution in the embodiment of the present invention is applied outdoors, the radio positioning network 10 may also be composed of at least 4 positioning satellites, for example, GPS satellites, gnor navigation satellites or beidou navigation satellites, etc., and of course, the positioning device 202 of the positioning terminal 20 also needs to be provided with a satellite positioning signal receiver, so that the position of the positioning terminal 20 can be determined according to the satellite positioning signal received by the satellite positioning signal receiver, and the specific process of positioning by using the positioning satellites is not repeated herein.
As described in the above section, the data processing apparatus 30 is capable of determining a change in the position of the positioning terminal 20 in a preset space by receiving the positioning signal transmitted from the positioning device 202 by the radio network 10 or transmitting the positioning signal to the positioning device 202 by the radio network 10.
In the following process, a specific process of determining the posture change information of the positioning terminal 20 from the environment image captured by the camera 201 of the positioning terminal 20 will be described.
Referring to fig. 5, fig. 5 is a schematic diagram of capturing two environmental images by the camera 201 according to the embodiment of the present invention, as shown in fig. 5, taking a point P12 on the object 50 in the real environment as an example, P12 in a key frame F1 captured by the camera 201 at a point A1 is a point P1, the point corresponding to the key frame F2 captured by the camera at a point A2 is a point P2, when calculating, the feature point matching confirms that the point P1 and the point P2 are both the point P12 on the object 50, and after stereo matching is performed on the F1 and the F2, the parallax angle between the F1 and the F2 can be determined, which is equivalent to determining the posture change information of the positioning terminal 20 between the A1 and the A2 by concurrent drawing and positioning algorithm (english: simultaneous localization and mapping; abbreviated as SLAM). By analogy, the camera 201 continues to shoot, that is, the posture change information of the positioning terminal 20 can be determined according to the multi-frame environmental image obtained by shooting.
With continued reference to fig. 2, when the camera 201 is a normal monocular camera, the +.p can only be determined according to F1 and F2 1 P 12 P 2 If the camera 201 is a depth camera, P can be determined not only from F1 1 P 12 Is based on F2 to determine P 12 P 2 And at the same time can also determine the +.P 1 P 12 P 2 In such a way that P can be determined 1 P 2 That is, the position change information of the positioning terminal 20 between A1 and A2 can be determined, and the position change information of the positioning terminal 20 between A1 and A2 can be used for calibrating or compensating the position change information determined when positioning the positioning terminal 20 through the radio positioning network 10.
In another embodiment, the complete environment image of the preset space may be stored in the data processing device 30 in advance, after the positioning terminal 20 enters the preset space, the environment image of the preset space is shot by the camera 201, then the environment image shot by the camera 201 is matched with the complete environment image, and the current position and the current gesture of the positioning terminal 20 can be determined according to the matching result, which is not described herein again.
In a specific implementation process, the positioning system provided by the embodiment of the present invention may include a plurality of positioning terminals, so that after determining the position change information and the posture change information of each positioning terminal in the foregoing manner, the data processing device 30 can send the position change information and the posture change information of the other positioning terminals to each positioning terminal, so that interaction and identification between the plurality of positioning terminals can be facilitated. For example, taking a large virtual reality theme park as a preset space and a positioning terminal as a specific head-mounted display as an example, the virtual reality theme park can take a certain theme or a certain class of theme as display content, and display large scenes of different virtual reality contents to users according to different positions of users using virtual reality devices such as the head-mounted display, so that after a plurality of users enter the virtual reality theme park by using the virtual reality devices such as the head-mounted display respectively, the positioning system provided by the embodiment of the invention can determine the position change information and the posture change information of each head-mounted display, send corresponding virtual reality images, sounds and the like to each head-mounted display, and send the position change information and the posture change information of other head-mounted displays to each head-mounted display, thereby being convenient for the plurality of users to complete corresponding targets, or for the plurality of users to cooperate in groups for antagonism and the like, and the like are not repeated here.
As can be seen from the above-mentioned parts, the data processing device 30 in the positioning system provided by the embodiment of the present invention can receive the positioning signal sent by the positioning device 202 through the radio network 10, or send the positioning signal to the positioning device 202 through the radio network 10, so as to determine the position change of the positioning terminal 20 in the preset space, and at the same time, can also shoot the surrounding environment image through the camera on the positioning device 20, and determine the posture change information of the positioning terminal according to the environment image, so as to determine the posture change information of the positioning terminal 20, without the need of positioning the posture change information of the positioning terminal through the laser scanning signal, so that the technical problem that the posture change of the positioning terminal cannot be determined due to the easy shielding of the laser scanning signal in the prior art is solved, the technical effect that the posture change information of the positioning terminal can be determined without shielding is realized, so that a corresponding changed picture can be provided for the user based on the posture change information of the positioning terminal is ensured, and then the immersive interactive experience can be provided for the user.
The embodiment of the invention also provides a positioning terminal which is characterized by comprising a camera and a positioning device, wherein the positioning device at least comprises at least one of a ZigBee module, a WiFi connector, a satellite positioning signal receiver or a UWB signal generator.
In the implementation process, the camera is specifically a depth camera, and the depth camera may adopt, for example, a binocular scheme, a structured light scheme, or a TOF (Time of flight) scheme, etc., which is not limited herein.
Another aspect of the embodiment of the present invention further provides a positioning network, where the positioning network includes:
a radio positioning network including at least 4 radio positioning base stations disposed in a preset space;
the data processing equipment is connected with the radio positioning network and the positioning terminal, wherein the positioning terminal comprises a camera and a positioning device, and the positioning device corresponds to the positioning mode of the radio positioning base station; the data processing equipment is used for determining the position change information of the positioning terminal in a preset space through a radio positioning network and determining the posture change information of the positioning terminal according to the environment image shot by the camera.
In the implementation process, when the number of the positioning terminals is multiple, the data processing device is further used for sending the position change information and the posture change information of other positioning terminals to each positioning terminal.
In a specific implementation, the radio positioning network is composed of at least one of at least 4 ZigBee modules, at least 4 WiFi hotspots, at least 4 positioning satellites, or at least 4 UWB base stations.
The positioning terminal and the positioning network in the embodiments of the present invention have been described in detail in the foregoing sections, and are not described in detail herein for brevity of description.
One or more technical solutions in the embodiments of the present invention at least have the following technical effects or advantages:
it can be seen from the above parts that the data processing device in the positioning system provided by the embodiment of the invention can receive the positioning signal sent by the positioning device through the radio network, or send the positioning signal to the positioning device through the radio network, so as to determine the position change of the positioning terminal in the preset space, and meanwhile, the data processing device can also shoot surrounding environment images through the camera on the positioning device, and determine the posture change information of the positioning terminal according to the environment images, so as to determine the posture change information of the positioning terminal, and the posture change information of the positioning terminal does not need to be determined through a laser scanning signal, thereby solving the technical problem that the posture change of the positioning terminal cannot be determined due to the fact that the laser scanning signal is easily shielded in the prior art, realizing the technical effect that the posture change information of the positioning terminal can be determined without shielding, thereby ensuring that a corresponding changed picture can be provided for a user based on the posture change information of the positioning terminal, and further providing immersive interaction experience for the user.
All of the features disclosed in this specification, or all of the steps in a method or process disclosed, may be combined in any combination, except for mutually exclusive features and/or steps.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
The invention is not limited to the specific embodiments described above. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed.
Claims (11)
1. A positioning system, comprising:
a radio positioning network comprising a plurality of radio positioning base stations arranged in a virtual reality theme;
each positioning terminal comprises a camera, a positioning device and a near-to-eye display device, and the positioning device corresponds to the positioning mode of the radio positioning base station;
the data processing equipment is connected with the radio positioning network and is used for determining the position change information of the positioning terminal in the virtual reality theme through the radio positioning network and sending the position change information and the posture change information of other positioning terminals to each positioning terminal.
2. The positioning system of claim 1, wherein the number of radio positioning base stations comprises at least one of at least 4 ZigBee modules, at least 4 WiFi hotspots, at least 4 magnetic field generators, at least 4 positioning satellites, or at least 4 UWB base stations.
3. The positioning system of claim 1 or 2, wherein the plurality of radio positioning base stations are evenly distributed and not coplanar.
4. A positioning system as claimed in any one of claims 1-3, characterized in that the positioning means of the several radio positioning base stations are different.
5. The positioning system according to claim 4, wherein the data processing device is further configured to store an environmental image of the virtual reality theme in advance, match the environmental image captured by the camera with the environmental image, and obtain the posture change information of the positioning terminal according to the matching result.
6. The positioning terminal is characterized by comprising a camera, a positioning device and a near-to-eye display device, wherein the positioning device comprises at least one of a ZigBee module, a WiFi connector, a magnetic field signal receiver, a satellite positioning signal receiver or a UWB signal generator.
7. The positioning terminal of claim 6 wherein when the positioning device is a magnetic field signal receiver, a ferrite core is disposed in the center of a receiving coil in the magnetic field signal receiver.
8. A positioning network, comprising:
a radio positioning network comprising a plurality of radio positioning base stations arranged in a virtual reality theme;
the data processing equipment is connected with the radio positioning network and a plurality of positioning terminals, wherein each positioning terminal comprises a camera and a positioning device, and the positioning device corresponds to the positioning mode of the radio positioning base station; the data processing equipment is used for determining the position change information of the positioning terminal in the virtual reality theme through the radio positioning network, determining the posture change information of the positioning terminal according to the environment image shot by the camera and sending the position change information and the posture change information of other positioning terminals to each positioning terminal.
9. The positioning network of claim 8, wherein the number of radio positioning base stations comprises at least one of at least 4 ZigBee modules, at least 4 WiFi hotspots, at least 4 positioning satellites, or at least 4 UWB base stations.
10. The positioning network of claim 8 or 9, wherein the plurality of radio positioning base stations are evenly distributed and not coplanar.
11. The positioning network of claim 10 wherein the positioning of the plurality of radio positioning base stations is different.
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| CN202311373259.6A CN117354924A (en) | 2016-11-28 | 2016-11-28 | Positioning system, positioning terminal and positioning network |
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| CN201611064874.9A CN106406551A (en) | 2016-11-28 | 2016-11-28 | Positioning system, positioning terminal and positioning network |
| CN202311373259.6A CN117354924A (en) | 2016-11-28 | 2016-11-28 | Positioning system, positioning terminal and positioning network |
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| CN107257547B (en) * | 2017-07-18 | 2020-05-22 | 歌尔科技有限公司 | Equipment positioning method and device |
| CN108189980B (en) * | 2018-02-05 | 2019-11-05 | 南京科远自动化集团股份有限公司 | A kind of the position and attitude method for real-time measurement and measuring system of landing pier ship |
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| CN109739185A (en) * | 2018-11-16 | 2019-05-10 | 成都生活家网络科技有限公司 | Long-distance intelligent house ornamentation field management system |
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| CN112946570B (en) * | 2021-02-06 | 2022-07-12 | 湖南科天健光电技术有限公司 | Dynamic attitude position compensation method, system, electronic device, and medium |
| CN113203984B (en) * | 2021-04-25 | 2023-03-24 | 华中科技大学 | Multi-user-end online cooperative positioning system |
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