CN117572399A - Position fine adjustment algorithm based on Lighting house space positioning technology - Google Patents

Position fine adjustment algorithm based on Lighting house space positioning technology Download PDF

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Publication number
CN117572399A
CN117572399A CN202311152756.3A CN202311152756A CN117572399A CN 117572399 A CN117572399 A CN 117572399A CN 202311152756 A CN202311152756 A CN 202311152756A CN 117572399 A CN117572399 A CN 117572399A
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positioning
fine adjustment
corrector
equipment
position fine
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刘钱
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Xuzhou Jiuding Electromechanical General Factory
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a position fine-tuning algorithm based on Light House space positioning, which belongs to the technical field of space positioning, and relies on a space positioning simulation system; the space positioning simulation system comprises a base station, a positioning corrector, VR equipment and a tracker; the base station is fixed in a system scene, and two infrared laser transmitters are arranged in the base station; the tracker is arranged on the VR equipment, a light sensor group is arranged in the tracker, and strobe laser beams emitted by the infrared laser emitters can be detected through the light sensor group; the positioning corrector is fixed in the system scene, and the rest of the equipment takes the positioning corrector as a reference, and the positioning corrector provides reference position information for the positioning corrector. On the basis of a principle mechanism based on a Light house, the invention utilizes a differential method and combines actual requirements to realize fine adjustment of the space positioning position, can reduce positioning position deviation generated in the simulation training process and correct positioning errors caused by equipment movement, and improves the space positioning anti-interference performance and stability.

Description

Position fine adjustment algorithm based on Lighting house space positioning technology
Technical Field
The invention relates to the technical field of space positioning, in particular to a position fine adjustment algorithm based on a Lighting house space positioning technology.
Background
Virtual Reality (VR) is a brand new practical technology developed in the 20 th century, and VR simulates and generates a virtual world capable of providing users with visual, auditory, tactile and other sensory experiences by means of computers and other devices, so that the users can be like being in the scene. VR technology incorporates various scientific technologies such as computer 3D graphics technology, computer simulation technology, sensor technology, display technology, and spatial location technology, where the lightrouse technology occupies an important role in the spatial location technology, and is also a vital component in VR technology. It can be said that the spatial localization technique largely determines the use effect and user experience of VR techniques.
The lightrouse technology is also called as a "Lighthouse" laser positioning technology, and is a laser tracking system, which utilizes non-visible light with extremely high density in a room to detect the position and dynamic change of indoor VR equipment and simulate the position and dynamic change in a virtual reality 3D space. A relatively accurate positioning can be achieved by means of two base stations. The VR head display and the handle are provided with a plurality of photosensitive sensors, the accurate position of the sensor position relative to the laser transmitter is calculated by calculating the time for receiving laser, and the position and the direction of the head can be detected by the plurality of photosensitive sensors. If a plurality of light sensors detect a laser beam, a 'gesture' is formed, so that not only can the helmet position be marked, but also a 3D image of the movement direction of the helmet can be simulated. This technique helps to enhance the VR use experience.
Base station placement for lightrouse spatial location techniques is largely divided into two ways: the base station is fixed above the wall diagonally, and has the advantages that after the base station is fixed, errors caused by false touch or movement do not occur in position stability, laser beams are stably output, the base station is difficult to install and difficult to detach and replace, and once the base station is damaged or the position needs to be moved, the base station is very troublesome; the positioning device is severely dependent on the topography environment factors, cannot be placed according to the positioning space required in practice, can only be supported on a wall surface or a building, and cannot be installed on a specified or specific site; the second method is to install the base station on the support, the method has obvious advantages, is easy to install, can set a positioning space at will, is free from the influence of topography or environment, and can be placed at any place according to actual conditions. The disadvantage is that the fixation is unstable, and the error of positioning is caused by the situation of false collision. When an error occurs due to the movement of the base station position, only the relocation of the device can be performed again, which is very troublesome.
Therefore, in the existing lightrouse spatial positioning technology, after the user successfully pairs the devices, the position of the base station cannot be adjusted or the matching operation of the locator cannot be performed. Because after the laser beam of the base station captures the light sensor, the relative position information of the equipment is obtained through corresponding calculation, when the position of the base station changes, the corresponding coordinate system of the base station changes, and the coordinate information of the previously established relative position also changes, at the moment, the offset occurs, so that the Lighthouse space positioning is destroyed, errors are generated, and repositioning is needed.
Disclosure of Invention
In order to reduce the positioning position deviation of the simulation system and correct the positioning error caused by equipment movement, the spatial positioning anti-interference performance and stability are improved, and better immersive experience is provided for training staff. The invention provides a position fine adjustment algorithm based on a Lighting house space positioning technology.
The technical scheme adopted for solving the technical problems is as follows: a position fine tuning algorithm based on Lighting house space positioning technology,
the position fine tuning algorithm relies on a spatial positioning simulation system;
the space positioning simulation system comprises a base station, a positioning corrector, VR equipment and a tracker;
the base station is fixed in a system scene, two infrared laser transmitters are arranged in the base station, the infrared laser reflectors can rotate, and rotating shafts of the two infrared laser reflectors are vertically arranged;
the tracker is arranged on VR equipment, a light sensor group is arranged in the tracker, and strobe laser beams emitted by the infrared laser emitter can be detected through the light sensor group;
the positioning corrector is fixed in a system scene, and the rest of equipment takes the positioning corrector as a reference, and the positioning corrector provides reference position information for the positioning corrector.
Further, the position fine adjustment algorithm comprises a configuration analysis function module, a VR device connection prompt function module, a wrist controller function module, a position correction module and a position fine adjustment function module.
Furthermore, the configuration analysis function module is used for realizing a positioning corrector position configuration item management setting function in a position fine adjustment algorithm, and when the positioning corrector is placed at a fixed position of a system scene, the position data of the positioning corrector is set as a configuration item to be stored in a configuration file for reading and calculating by the position fine adjustment algorithm.
Further, the VR device connection prompt function module may identify and obtain the number of the VR device, identify identity information of the VR device in the virtual scene, and display the identity information on the device through the UI interface.
Further, the position correction function module is realized through the injection relation between the positioning corrector and the irradiation angle of the base station, the mapping relation between the positioning position and the positioning angle of the object is obtained through the position-angle mapping model in the X direction and the Y direction, and then the relation between the positioning angle and the positioning space is established by introducing the height and the inclination angle parameters.
Further, the position fine adjustment function module performs position fine adjustment based on the position correction function module, and uses position data fixed by the tracker and the positioning corrector in the system scene to respectively operate an X axis, a Y axis and a Z axis of the equipment parameter, so that the original position data of the changer relative to the base station is changed.
Further, the wrist controller functional module is a virtual model similar to a wristwatch, and four functions of the configuration analysis functional module, the VR equipment connection prompt functional module, the position correction functional module and the position fine adjustment function are integrated on the wrist controller functional module, so that position fine adjustment in a three-dimensional space can be realized through the wrist controller functional module in the simulation system.
The invention has the beneficial effects that:
according to the position fine adjustment algorithm based on the Lighting house space positioning technology, when equipment position offset is generated due to base station position movement, relative position data of equipment in a space position can be changed through the position fine adjustment algorithm, offset generated by base station position change is corrected, and equipment repositioning is not needed;
in immersive training, the position of a training person in a virtual scene is also required to be adjusted, and the relative position information of the spatial positioning system heavy equipment can be actively modified through a position fine-tuning algorithm so as to be adjusted to a position wanted by a user.
When the immersive training simulation system is matched with the six-degree-of-freedom platform for training, the motion of training equipment in the virtual scene is asynchronous with the motion of the VR helmet vision because the motion platform can generate motion according to the change of the terrain, the situation that the VR vision is stable and the fluctuation or steering of the training equipment along with the change of the terrain can be observed, and after the position fine adjustment algorithm is added, the motion of the VR vision and the motion of the virtual training equipment can be kept synchronous, so that the effect of stabilizing the vision is achieved.
Drawings
FIG. 1 is a schematic diagram of a system for simulating immersion driving training according to an embodiment of the present invention.
Fig. 2 is a model of a spatial positioning algorithm on which a position fine tuning algorithm is based.
Fig. 3 is a flow chart of a position fine tuning spatial positioning technique algorithm.
FIG. 4 is a flow chart of the position fine adjustment configuration parsing operation.
Fig. 5 is an X-direction angle-position map.
Fig. 6 is a Y-direction angle-position map.
Fig. 7 is a simplified conversion diagram of a base station positioning space.
Fig. 8 is a position correction flow chart of the position fine adjustment algorithm.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
The invention discloses a position fine adjustment algorithm based on a Lighting house space positioning technology.
Referring to the figure, the position fine tuning algorithm relies on a spatial positioning simulation system;
the space positioning simulation system comprises a base station, a positioning corrector, VR equipment and a tracker; the present embodiment takes an immersive driving training simulation system as an example:
referring to fig. 1, two base stations of the driving training simulation system are arranged at opposite angles of a cabin body of the training simulation system, an infrared laser emitter is arranged in the base stations, the infrared laser reflector is rotatable, and rotating shafts of the two infrared laser reflectors are vertically arranged. The angle of the base station is adjusted, so that the laser beam emitted by the base station can completely cover the training cabin.
The tracker is provided with three parts, namely two hand trackers and one VR head tracker; the tracker is internally provided with a light sensor group, and the stroboscopic laser beam emitted by the infrared laser emitter can be detected through the light sensor group; VR head tracker dresses in training personnel's head, and both hands tracker is fixed in training personnel's left and right hands respectively.
The positioning corrector is fixed on the cockpit body, and other devices take the positioning corrector as a reference, and the positioning corrector provides reference position information for the positioning corrector.
The differential correction is carried out by adding the positioning corrector, the positioning corrector is fixed with the platform position, the platform position is driven by software, the motion gesture of the platform position can be quantized, the relative position between the positioning corrector and the base station can be obtained by calculation, when the immersion type simulation training system platform moves or other disturbance type appears, the positioning corrector can also generate positioning errors at the same time, the errors are quantized mathematically, and the overall positioning errors can be reduced by reverse calculation on the hand and head trackers.
The position fine tuning algorithm is extended based on a mathematical model of a space positioning technology and is used for solving the problems of low positioning precision, low stability, low interference resistance and the like existing in the existing space positioning technology.
The mathematical model of the spatial positioning technology based on the position fine adjustment algorithm is as follows:
wherein L is the physical distance between two base stations;
α i an angle in the horizontal direction for the receiving point (i-th);
β i an angle in the vertical direction for the receiving point (ith);
R LH the radius is the laser scanning radius;
r (ω) is the angular velocity at the time of laser scanning;
ν i the response speed of the laser when scanning the ith receiving point is set as;
t is the time difference between two receiving points after receiving the laser information;
T LH a scanning period of the laser in a vertical or horizontal direction;
the model diagram on which the model is based is shown with reference to fig. 2. What is obtained by the optical system is seen in fig. 2, in fact two angles α, β, from which the coordinates of certain points of the object on the projection plane are known. The position transformation R (w) of the three dimensions V0, vi, vn of the object in space, t here is equivalent to a camera model of aperture imaging, which in turn can be well expressed as a linear constraint. The specific algorithm flow can be seen with reference to fig. 3.
The position fine tuning algorithm comprises the following functional modules: a configuration analysis function module, a VR equipment connection prompt function module, a wrist controller function module, a position correction function module, a position fine adjustment function module and the like.
The configuration analysis function module is used for realizing the management setting function of the position configuration item of the positioning corrector in the position fine tuning algorithm. The positioning corrector is an important component for realizing a position fine adjustment algorithm, and has the function of calculating the offset when the position of the object is adjusted by taking the positioning corrector as a reference point of space positioning, so as to calculate the correction offset.
Referring to the position trimming configuration analysis operation flowchart shown in fig. 4: the positioning corrector is arranged at a fixed position in the positioning space of the base station, and the position data is set as configuration items and stored in a configuration file for the position fine adjustment algorithm to read and calculate. In the immersive simulation driving system of this embodiment, the positioning corrector is fixed at a fixed position of the simulation cabin, and at this time, specific parameters of the positioning corrector are obtained by spatial positioning calculation, at this time, relative positions of the base station, the positioning corrector and the VR device in the system in the positioning space are determined values, and the positioning corrector position data information and the device relative position data in the system are recorded in the configuration items.
When the immersive system is started and the position of the motion platform is changed, the relative positions of the base station, the positioning corrector and the VR equipment in the system are changed, and errors occur in spatial positioning. At this time, the position data of the positioning corrector and the position data of the positioning corrector recorded in the configuration item generate an offset value, namely, the spatial offset of the positioning corrector. The specific deviation data can be obtained through calculation of a position fine adjustment algorithm, and then the obtained deviation value and the VR equipment position data are resolved to correct the deviation, so that the relative position of equipment in the system is kept unchanged, and the stability of space positioning is realized.
And the VR equipment connection prompt function module is used for realizing the equipment connection prompt function before the position fine adjustment function is completed. When the VR device accesses the positioning system, a virtual model of the access device can be seen in the virtual scene. In order to intuitively distinguish connected VR equipment so as to realize a position fine adjustment function, the functional module can identify and acquire the number of the VR equipment, identify the identity information of the VR equipment in a virtual scene after acquiring the number of a tracker, display the identity information on the VR equipment through a UI interface, distinguish an access state through color change, avoid confusion with other VR equipment and perform other tracking operations according to the number information.
The position correction functional module is a functional algorithm for improving the spatial positioning anti-interference, and can ensure the positioning stability when the disturbance errors of base station equipment and platform occur. The function of correcting the position of the VR equipment in the positioning space is realized mainly through calculation and related parameter modification.
The position correction function of the VR device is mainly implemented by the mapping relation between the positioning corrector and the base station irradiation angle, and the X-direction irradiation angle-position simplified diagram refers to fig. 5:
wherein gamma is the base station irradiation angle and is the double angle of beta;
βn is the vertex angle corresponding to position n;
l0 is a straight line corresponding to position 0;
ln is a straight line corresponding to the position n;
α is the base angle of the triangle, and α=pi/2- β;
the mapping relation is obtained by using the sine theorem:
a=l0, b= (2×l0×sin β×n)/N, a=pi- α - βn, b=βn,
substitution into the formula (1) yields:
wherein sin (pi-alpha-beta n) =cos (beta-beta n)
The substitution can be obtained by: n×sin βn=sin 2β×cos βn+2n×sin2β×sin (3);
the position-angle mapping corresponding model of the function can be obtained by arranging the function as follows:
the calibration in the Y direction is similar to the solution in the X direction, the length of the bottom edge of the cross section can be obtained by the mapping relation between the height and the angle, and the mapping relation in the Y direction is shown in fig. 6:
and finally, obtaining a Y-direction position-angle mapping corresponding model as follows:
wherein m is the Y-direction coordinate of the positioning position;
psi m is an included angle corresponding to the point from the origin to the point m in the Y direction; εn is the angle of the base station at that cross-section.
Through the two position-angle mapping models, the mapping relation between the object positioning position and the positioning angle can be obtained, and the relation between the positioning angle and the positioning space can be established by introducing the height and the inclination angle parameters.
Referring to the simple transformation diagram of the base station positioning space shown in fig. 7:
from the geometrical relationships shown in fig. 7, it is possible to obtain: xw=h tan θ (4),
wherein h is the height of the positioning space;
θ is the included angle between the connecting line from the n-position point of the direction to the plane object point and the vertical direction;
xw is the distance of the positioning space W in the X direction.
The position distance of the positioning space in the X direction can be obtained by calculating the difference between the two points, and is as follows:
ΔXw＝Xw(a)-Xw(b)；
the mapping relation between the Y-direction positioning space and the positioning angle is obtained by a sine theorem:
yw (m) is the corresponding positioning space coordinate of the position m;
η is the base angle of the triangle, η=pi/2- ψn;
p is the waist length of the triangle,
substitution can be obtained:
in the same way, the processing method comprises the steps of,
kn is the midline of the triangle with the Y section,
wherein ln is the distance between the corresponding position n in the X direction and the origin, and the formula in the X direction is introduced to obtain:
ln=h×tan βn, and substituting the obtained ln into the cross-section median Kn length is obtained as:
substitution can be obtained:
the position distance of the positioning space in the Y direction is thus obtained as follows:
ΔYw＝Yw(a)-Yw(b)
according to the obtained calculation model, the function of correcting the space positioning position can be realized by changing the related parameters. The position correction flow chart is shown in fig. 8.
The position fine adjustment function is a core function of a position fine adjustment algorithm, position fine adjustment is achieved on the basis of a position correction function module, and a user can conduct positioning position fine adjustment while positioning stability is guaranteed.
The position fine adjustment utilizes the position data fixed by the tracker and the positioning corrector in the scene, and specifically operates the x-axis, the Y-axis and the Z-axis of the equipment position parameters respectively, so that the original position data relative to the positioning corrector is changed, and an operator can more flexibly configure the position in the virtual scene according to the self condition.
The wrist controller function is a functional module in which the position fine tuning algorithm is embodied in the system. The wrist controller is a virtual model similar to a wristwatch, and is integrated with four functions, namely a configuration analysis function module, a VR equipment connection prompt function module, a position correction function module and a position fine adjustment function. Position fine adjustment in three dimensions of front and back, up and down, left and right can be realized through a wrist controller functional module in the immersion simulation system.
By touching the fingerprint placement of the wrist controller touch screen with the corresponding trigger model in the virtual space, the function menu will pop up. The user can select relevant functions according to the requirements. After the corresponding function key is selected, the function interface is accessed, and the operation is performed according to the actual requirement of a user.
The position fine adjustment is realized in three degrees of freedom, namely horizontal position adjustment, up-down position adjustment and front-back position adjustment, and corresponds to an X axis, a Y axis and a Z axis of the position coordinates respectively. And setting the offset through the "+" - "sign of the corresponding degree of freedom in the interface. After the setting is finished, the 'restore initial' or the 'save setting' can be selected for return or save operation.
The core of the position fine tuning algorithm is that a VR equipment differential system is established, the uncontrollable errors of the positions are quantized mathematically, and the error values are calculated by comparing the uncontrollable errors with known reference quantities, so that the positioning anti-interference performance of the VR equipment is improved, and the use requirement of an immersive simulation training system in a dynamic environment is met.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims (7)

1. A position fine adjustment algorithm based on a Lighting house space positioning technology is characterized in that:
the position fine tuning algorithm relies on a spatial positioning simulation system;
the space positioning simulation system comprises a base station, a positioning corrector, VR equipment and a tracker;
the base station is fixed in a system scene, two infrared laser transmitters are arranged in the base station, the infrared laser reflectors can rotate, and rotating shafts of the two infrared laser reflectors are vertically arranged;
the tracker is arranged on VR equipment, a light sensor group is arranged in the tracker, and strobe laser beams emitted by the infrared laser emitter can be detected through the light sensor group;
the positioning corrector is fixed in a system scene, and the rest of equipment takes the positioning corrector as a reference, and the positioning corrector provides reference position information for the positioning corrector.
2. The position fine adjustment algorithm based on the Lighting house space positioning technology as claimed in claim 1, wherein: the position fine adjustment algorithm comprises a configuration analysis function module, a VR equipment connection prompt function module, a wrist controller function module, a position correction module and a position fine adjustment function module.
3. The position fine adjustment algorithm based on the Lighting house space positioning technology as claimed in claim 2, wherein: the configuration analysis function module is used for realizing a positioning corrector position configuration item management setting function in a position fine adjustment algorithm, and when the positioning corrector is placed at a fixed position of a system scene, position data of the positioning corrector is set to be a configuration item to be stored in a configuration file for reading and calculating by the position fine adjustment algorithm.
4. The position fine adjustment algorithm based on the Lighting house space positioning technology as claimed in claim 2, wherein: the VR equipment connection prompt function module can identify and acquire the number of the VR equipment, identify the identity information of the VR equipment in the virtual scene and display the identity information on the equipment through a UI interface.
5. The position fine adjustment algorithm based on the Lighting house space positioning technology as claimed in claim 2, wherein: the position correction function module is realized through the injection relation between the positioning corrector and the irradiation angle of the base station, the mapping relation between the positioning position and the positioning angle of the object is obtained through the position-angle mapping models in the X direction and the Y direction, and then the relation between the positioning angle and the positioning space is established by introducing the height and the inclination angle parameters.
6. The position fine adjustment algorithm based on the Lighting house space positioning technology as claimed in claim 2, wherein: the position fine adjustment function module performs position fine adjustment on the basis of the position correction function module, and utilizes position data fixed by the tracker and the positioning corrector in a system scene to respectively operate an X axis, a Y axis and a Z axis of equipment parameters, so that the original position data of the corrector relative to the base station is changed.
7. The position fine adjustment algorithm based on the Lighting house space positioning technology as claimed in claim 2, wherein: the wrist controller functional module is a virtual model similar to a wristwatch, and four functions of the configuration analysis functional module, the VR equipment connection prompting functional module, the position correction functional module and the position fine adjustment function are integrated on the wrist controller functional module, so that position fine adjustment in a three-dimensional space can be realized through the wrist controller functional module in the simulation system.
CN202311152756.3A 2023-09-07 2023-09-07 Position fine adjustment algorithm based on Lighting house space positioning technology Pending CN117572399A (en)

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CN202311152756.3A CN117572399A (en) 2023-09-07 2023-09-07 Position fine adjustment algorithm based on Lighting house space positioning technology

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Application Number Priority Date Filing Date Title
CN202311152756.3A CN117572399A (en) 2023-09-07 2023-09-07 Position fine adjustment algorithm based on Lighting house space positioning technology

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