CN205506069U - Space trajectory record device - Google Patents
Space trajectory record device Download PDFInfo
- Publication number
- CN205506069U CN205506069U CN201620171256.3U CN201620171256U CN205506069U CN 205506069 U CN205506069 U CN 205506069U CN 201620171256 U CN201620171256 U CN 201620171256U CN 205506069 U CN205506069 U CN 205506069U
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- China
- Prior art keywords
- motion
- information
- processing module
- attitude information
- positional information
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Abstract
The utility model discloses a space trajectory record device, the device fixes on the motion to record motion mechanism motion's space tracking, it includes attitude information collection module, device and processing module have the records of distance by the log, wherein, attitude information collection module gathers the attitude information of motion mechanism motion in -process, and the device of having the records of distance by the log takes notes the stroke information of motion mechanism motion in -process, and processing module acquires stroke information and attitude information according to setting for the frequency in step to according to stroke information and attitude information, calculate positional information in real time, moreover when the every unit stroke through a settlement of motion, the current positional information constantly of processing module storage, the motion of motion stops the back, the positional information during according to record before the motion setting in motion static and the positional information of processing module storage, and obtain to move mechanism motion's space tracking. The utility model discloses do not receive external environment's interference, and influence the precision of orbit information.
Description
Technical field
This utility model relates to movement locus recording technique field, particularly to a kind of space tracking recording equipment.
Background technology
At present, during by the location such as GPS mode recording track information, the precision of trace information easily by signal intensity effect, and
And in countryside, inferior environment almost cannot realize being accurately positioned of positional information.In the case of jitter, it is fixed to cause
The principal element of level exactness has: the decay that (1) signal causes through uncertain medium cannot determine.(2) signal passes through medium
The deepest error of the degree of depth the biggest.(3) interference of electromagnetic signal.
Utility model content
The purpose of this utility model is to overcome in track information recording process, and the precision of trace information is easily by the shadow of signal intensity
Ring.
In order to realize above-mentioned utility model purpose, this utility model provides a kind of space tracking recording equipment, is used for being fixed on motion
In mechanism, recording the space tracking of motion motion, it includes attitude information acquisition module, log arrangement and processing module,
Described attitude information acquisition module and described log arrangement are connected with described processing module respectively；Wherein,
Described attitude information acquisition module, for gathering the attitude information in described motion motor process；
Described log arrangement, for recording the travel information in described motion motor process；
Described processing module, according to setpoint frequency, synchronizes to obtain described travel information and described attitude information, and according to described stroke
Information and described attitude information, calculate positional information in real time, and when motion is often through a per stroke set
Time, the described positional information of described processing module storage current time；
After the motion of motion stops, according to recorded before motion setting in motion static time positional information and described place
The described positional information of reason module stores, and obtain the space tracking of motion motion.
According to a kind of specific embodiment, described processing module includes digital filter, processor and memorizer；Wherein,
Described digital filter, for being filtered process to described attitude information；
Described processor, for described attitude information is carried out fusion calculation, to obtain roll angle, the angle of pitch and course angle, and
According to described roll angle, the described angle of pitch and described course angle, described travel information is carried out spatial coordinates calculation, obtain described
Space displacement Vector Message, and after often obtaining a described space displacement Vector Message, believe according to described space displacement vector
The described positional information that breath and last computation go out, is calculated this described positional information；
Described memorizer, for storing the described positional information of described processor.
According to a kind of specific embodiment, described attitude information acquisition module includes three axis accelerometer, three-axis gyroscope and three
Axle electronic compass, and described attitude information include 3-axis acceleration information, three axis angular rate information and described three-axle magnetic field letter
Breath, wherein,
Described three axis accelerometer, is used for gathering described 3-axis acceleration information；
Described three-axis gyroscope, is used for gathering described three axis angular rate information；
Described three axle electronic compass, are used for gathering described three-axle magnetic field information.
According to a kind of specific embodiment, described log arrangement includes encoder and actuating device, and described encoder passes through
Described actuating device is connected with described motion, is converted to described travel information with the stroke by described motion.
According to a kind of specific embodiment, described processor is provided with data-interface, is used for extending SD card or USB flash disk.
Compared with prior art, the beneficial effects of the utility model:
Device of the present utility model can be directly anchored on motion, in use, it is first determined position letter during rest
Breath, when motion moves, device of the present utility model, according to setpoint frequency, synchronizes to obtain attitude information and travel information,
And through a series of computing and process, it is thus achieved that current location information, and the positional information every time obtained is saved in storage medium
In.Device of the present utility model, owing to not using GPS to position mode, so not disturbed by external environment, and affects rail
The precision of mark information.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model device；
Fig. 2 is the connection diagram of each parts of this utility model device；
Fig. 3 is that this utility model calculates space displacement vector principle schematic；
Fig. 4 is that this utility model obtains current location information principle schematic.
Detailed description of the invention
Below in conjunction with detailed description of the invention, this utility model is described in further detail.But this should not being interpreted as, this practicality is new
The scope of the above-mentioned theme of type is only limitted to below example, and all technology realized based on this utility model content belong to this practicality
Novel scope.
In conjunction with the structural representation of the present utility model shown in Fig. 1, wherein, space tracking recording equipment of the present utility model, use
In being fixed on motion, the space tracking of record motion motion, it includes attitude information acquisition module, log arrangement
And processing module, attitude information acquisition module and log arrangement are connected with processing module respectively.
Attitude information acquisition module, during motion moves, records the attitude information of motion.Log arrangement is in fortune
During dynamic mechanism kinematic, the travel information of record motion.
Processing module, according to setpoint frequency, synchronizes to obtain travel information and attitude information, and according to travel information and attitude information,
Calculate positional information in real time, and when motion is often through a per stroke set, and processing module storage is current
The positional information in moment.
After the motion of motion stops, according to recorded before motion setting in motion static time positional information and process mould
The positional information of block storage, and obtain the space tracking of motion motion.
Each parts connection diagram in conjunction with this utility model device shown in Fig. 2；Wherein, the processing module in this utility model
Including digital filter, processor and memorizer.
Digital filter, for being filtered process to described attitude information.
Processor, for carrying out fusion calculation to attitude information, to obtain roll angle, the angle of pitch and course angle, and according to roll
Angle, the angle of pitch and course angle, carry out spatial coordinates calculation to travel information, obtains space displacement Vector Message, and is often obtaining
After a space displacement Vector Message, the positional information gone out according to space displacement Vector Message and last computation, it is calculated this
Secondary positional information.
Memorizer, for storing the positional information of processor.
Attitude information acquisition module in this utility model includes three axis accelerometer, three-axis gyroscope and three axle electronic compass, and
And attitude information includes 3-axis acceleration information, three axis angular rate information and three-axle magnetic field information.
Three axis accelerometer is used for gathering 3-axis acceleration information.Three-axis gyroscope, for gathering three axis angular rate information.Three axles
Electronic compass, is used for gathering three-axle magnetic field information.
Log arrangement in this utility model includes encoder and actuating device, and encoder is by actuating device and fitness machine
Structure, to be converted to travel information by the stroke of motion.
When implementing, processor is provided with data-interface, and this data-interface is used for extending SD card or USB flash disk, makes data store
More flexible, and be conveniently transferred on other equipment.
In this utility model, the method for space tracking record is included:
S1: determine positional information during motion rest, and preserve to storage medium.
S2: according to setpoint frequency, synchronizes to obtain the attitude information in motion motor process and travel information, and according to every time
The attitude information obtained and travel information, calculate positional information in real time.
S3: when motion is often through a per stroke set, the positional information of processing module storage current time.
S4: judge that motion is the most static, if the most static, then jumps to S2.
Space displacement vector principle schematic is calculated in conjunction with this utility model shown in Fig. 3；Wherein, in S2, according to every time
The attitude information obtained and travel information, the method obtaining space displacement Vector Message is,
Attitude information is carried out fusion calculation, to obtain roll angle, the angle of pitch and course angle, and according to roll angle, the angle of pitch and
Course angle, carries out spatial coordinates calculation to travel information, obtains space displacement Vector Message, and is often obtaining a space bit
After moving Vector Message, the positional information gone out according to space displacement Vector Message and last computation, it is calculated this position letter
Breath.
When implementing, after being filtered attitude information processing, then carry out fusion calculation.And, it is calculated positional information
After, the positional information that calculated positional information covering last computation is gone out, thus reduce the caching load of processing module, carry
High computation rate.
In the specific implementation, owing to this utility model is according to setpoint frequency, synchronize to obtain attitude information and travel information, institute
Obtain with twice synchronization of front and back and between attitude information and travel information, have certain time interval, and when this time interval is the shortest
Time, the kinestate in each time interval can be thought linear motion.
So set stroke in time interval as St, the angle of pitch, roll angle and course angle are respectively ψt、δtAnd φt；At t extremely
In t+1 time interval,Space displacement vector representation is (it,jt,kt), then have:
Locus coordinate when known t time interval is (xt,yt,zt), in t to t+1 time interval, space bit
Shifting vector representation is (it,jt,kt)。
When implementing, by superimposed with the positional information that last computation goes out for currently available space displacement Vector Message, to calculate
To current location information.Therefore, the locus coordinate representation when t+1 time interval is:
(xt+1,yt+1,zt+1)=(xt,yt,zt)+(it,jt,kt)。
Current location information principle schematic is obtained in conjunction with this utility model shown in Fig. 4；It is known that sky during rest
Between position coordinates (x0,y0,z0In the case of), the locus coordinate representation when t+1 time interval is:
Device of the present utility model can be directly anchored on motion, in use, it is first determined position letter during rest
Breath, when motion moves, device of the present utility model, according to setpoint frequency, synchronizes to obtain attitude information and travel information,
And through a series of computing and process, it is thus achieved that current location information, and the positional information every time obtained is saved in storage medium
In.Device of the present utility model, owing to not using GPS to position mode, so not disturbed by external environment, and affects rail
The precision of mark information.
Above in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in detail, but this utility model has been not restricted to
Above-mentioned embodiment, in the case of without departing from the spirit and scope of claims hereof, those skilled in the art can make
Go out various amendment or remodeling.
Claims (5)
1. a space tracking recording equipment, is used for being fixed on motion, the space tracking of record motion motion, it is characterized in that, including attitude information acquisition module, log arrangement and processing module, described attitude information acquisition module and described log arrangement are connected with described processing module respectively；Wherein,
Described attitude information acquisition module, for gathering the attitude information in described motion motor process；
Described log arrangement, for recording the travel information in described motion motor process；
Described processing module is according to setpoint frequency, synchronize to obtain described travel information and described attitude information, and according to described travel information and described attitude information, calculate positional information in real time, and when motion is often through a per stroke set, the described positional information of described processing module storage current time；
After the motion of motion stops, according to positional information during record static before motion setting in motion and the described positional information of described processing module storage, and obtain the space tracking of motion motion.
2. a kind of space tracking recording equipment as claimed in claim 1, it is characterised in that described processing module includes digital filter, processor and memorizer；Wherein,
Described digital filter, for being filtered process to described attitude information；
Described processor, for described attitude information is carried out fusion calculation, to obtain roll angle, the angle of pitch and course angle, and according to described roll angle, the described angle of pitch and described course angle, described travel information is carried out spatial coordinates calculation, obtains described space displacement Vector Message, and after often obtaining a described space displacement Vector Message, the described positional information gone out according to described space displacement Vector Message and last computation, is calculated this described positional information；
Described memorizer, for storing the described positional information of described processor.
3. a kind of space tracking recording equipment as claimed in claim 1, it is characterized in that, described attitude information acquisition module includes three axis accelerometer, three-axis gyroscope and three axle electronic compass, and described attitude information includes 3-axis acceleration information, three axis angular rate information and three-axle magnetic field information, wherein
Described three axis accelerometer, is used for gathering described 3-axis acceleration information；
Described three-axis gyroscope, is used for gathering described three axis angular rate information；
Described three axle electronic compass, are used for gathering described three-axle magnetic field information.
4. a kind of space tracking recording equipment as claimed in claim 1, it is characterized in that, described log arrangement includes encoder and actuating device, and described encoder is connected with described motion by described actuating device, is converted to described travel information with the stroke by described motion.
5. a kind of space tracking recording equipment as claimed in claim 2, it is characterised in that described processor is provided with data-interface, is used for extending SD card or USB flash disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620171256.3U CN205506069U (en) | 2016-03-07 | 2016-03-07 | Space trajectory record device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620171256.3U CN205506069U (en) | 2016-03-07 | 2016-03-07 | Space trajectory record device |
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| CN201620171256.3U Expired - Fee Related CN205506069U (en) | 2016-03-07 | 2016-03-07 | Space trajectory record device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547324A (en) * | 2016-03-07 | 2016-05-04 | 广东技术师范学院 | Space trajectory recording device and method |
| CN106769084A (en) * | 2016-12-07 | 2017-05-31 | 广东技术师范学院 | A kind of automobile attitude monitoring system |
| CN115389246A (en) * | 2022-10-31 | 2022-11-25 | 之江实验室 | Speed precision measuring method, system and device of motion capture system |
-
2016
- 2016-03-07 CN CN201620171256.3U patent/CN205506069U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547324A (en) * | 2016-03-07 | 2016-05-04 | 广东技术师范学院 | Space trajectory recording device and method |
| CN106769084A (en) * | 2016-12-07 | 2017-05-31 | 广东技术师范学院 | A kind of automobile attitude monitoring system |
| CN115389246A (en) * | 2022-10-31 | 2022-11-25 | 之江实验室 | Speed precision measuring method, system and device of motion capture system |
| CN115389246B (en) * | 2022-10-31 | 2023-03-03 | 之江实验室 | Speed precision measuring method, system and device of motion capture system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20210307 |