CN206249245U - A kind of alignment system, positioning terminal and positioning network - Google Patents
A kind of alignment system, positioning terminal and positioning network Download PDFInfo
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- CN206249245U CN206249245U CN201621284510.7U CN201621284510U CN206249245U CN 206249245 U CN206249245 U CN 206249245U CN 201621284510 U CN201621284510 U CN 201621284510U CN 206249245 U CN206249245 U CN 206249245U
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Abstract
The utility model discloses a kind of alignment system, positioning terminal and positioning network, alignment system includes：Radio position finding radio directional bearing network, including it is arranged at least 4 radio position finding radio directional bearing base stations of pre-set space；Positioning terminal, including camera, positioner and nearly eye display device, positioner are corresponding with the positioning method of institute's radio position finding radio directional bearing base station；Data processing equipment, is connected with radio position finding radio directional bearing network, for by radio position finding radio directional bearing network, determining change in location information of the positioning terminal in pre-set space, and the attitudes vibration information of positioning terminal is determined according to the ambient image that camera shoots.Technical scheme in the utility model need not be by laser scanning signal come the pose change information of positioning terminal, realize the technique effect of the pose change information that can unobstructedly determine positioning terminal, the pose change information that positioning terminal can be based on so as to ensure that provides a user with the picture of respective change, can then provide a user with the interactive experience of immersion.
Description
Technical field
The utility model is related to space orientation field, more particularly to a kind of alignment system, positioning terminal and positioning network.
Background technology
Virtual reality (English：Virtual Reality；Referred to as：VR) it is a kind of can establishment and the experiencing virtual world
Computer simulation system, it generates a kind of simulated environment using computer, by interactive Three-Dimensional Dynamic what comes into a driver's and entity row
For system emulation user is immersed in the environment, be that user brings the sensory experience for surmounting real life environment.In vision
For aspect, virtual reality technology generates the image of virtual scene using computer equipment, and by optics by image light
Line is delivered to human eye so that user visually can completely experience the virtual scene.
With becoming increasingly prosperous for field of virtual reality, virtual game starts appearance, and virtual game can used according to user
Pose change during the virtual reality device such as head-mounted display or operation handle, provides a user with the picture of respective change, from
And the interactive experience of immersion is provided a user with, " pose change " includes change in location and attitudes vibration, and change in location refers to void
The position for intending real world devices moves to another place by a place, and attitudes vibration refers to the rotation of virtual reality device itself
Deng change, therefore, accurate space orientation tracer technique seems particularly critical, in the prior art when space orientation is carried out, one
As laser scanning signal is sent to positioning terminals such as head-mounted display, operation handles by locating base station, further according to positioning terminal
Receive the time difference of laser scanning signal to determine position of the positioning terminal relative to locating base station, finally according to positioning terminal
In two diverse locations of adjacent time point, that is, the change in location of positioning terminal is obtained in that, while by being arranged at positioning eventually
Gyroscope on end detects the attitudes vibration of positioning terminal.
But, because the directionality of laser scanning signal is stronger, be extremely easily blocked, such as positioning terminal because itself
The reasons such as rotation, motion, it is possible to cause the positioning terminal cannot to receive laser scanning signal, so as to cannot just determine positioning eventually
The change in location at end, also cannot just determine the pose change of positioning terminal, so that phase cannot be provided a user with based on change in location
The picture that should change.
Therefore exist in the prior art and lead to not determine the position of positioning terminal because laser scanning signal is easily blocked
The technical problem of appearance change.
Utility model content
The purpose of this utility model is to provide a kind of alignment system, positioning terminal and positioning network, is used to solve existing
The technology of the pose change for leading to not determine positioning terminal because laser scanning signal is easily blocked present in technology is asked
Topic.
In order to realize above-mentioned utility model purpose, the utility model first aspect provides a kind of alignment system, including：
Radio position finding radio directional bearing network, including it is arranged at least 4 radio position finding radio directional bearing base stations of pre-set space；
Positioning terminal, including camera, positioner and nearly eye display device, the positioner and institute's radio position finding radio directional bearing
The positioning method correspondence of base station；
Data processing equipment, is connected with the radio position finding radio directional bearing network, for by the radio position finding radio directional bearing network, it is determined that
Change in location information of the positioning terminal in the pre-set space, and it is true according to the ambient image that the camera shoots
The attitudes vibration information of the fixed positioning terminal.
Alternatively, when the positioning terminal is for multiple, the data processing equipment is additionally operable to be sent out to each positioning terminal
Give the change in location information and attitudes vibration information of other positioning terminals.
Alternatively, the radio position finding radio directional bearing network by least 4 ZigBee modules, at least 4 Wi-Fi hotspots, at least 4
At least class composition in position location satellite or at least 4 UWB base stations.
Alternatively, the camera is specially depth camera.
The utility model second aspect provides a kind of positioning terminal, including camera, positioner and nearly eye display dress
Put, the positioner is at least by ZigBee module, WiFi connectors, satellite positioning signal receiver or UWB signal generator
In an at least class composition.
Alternatively, the camera is specially depth camera.
The utility model third aspect provides a kind of positioning network, including：
Radio position finding radio directional bearing network, including it is arranged at least 4 radio position finding radio directional bearing base stations of pre-set space；
Data processing equipment, is connected with the radio position finding radio directional bearing network and positioning terminal, wherein, the positioning terminal includes
Camera and positioner, the positioner are corresponding with the positioning method of institute's radio position finding radio directional bearing base station；The data processing sets
It is ready for use on by the radio position finding radio directional bearing network, determines change in location information of the positioning terminal in the pre-set space,
And the attitudes vibration information of the positioning terminal is determined according to the ambient image that the camera shoots.
Alternatively, when the positioning terminal is for multiple, the data processing equipment is additionally operable to be sent out to each positioning terminal
Give the change in location information and attitudes vibration information of other positioning terminals.
Alternatively, the radio position finding radio directional bearing network by least 4 ZigBee modules, at least 4 Wi-Fi hotspots, at least 4
At least class composition in position location satellite or at least 4 UWB base stations.
One or more technical scheme in the utility model embodiment, at least has the following technical effect that or excellent
Point：
The data processing equipment energy in the alignment system that the utility model embodiment is provided is can be seen that by above-mentioned part
The framing signal for enough being sent by radio net receiving positioner, or send fixed to positioner by radio net
Position signal, so that it is determined that change in location of the positioning terminal in pre-set space, while, additionally it is possible to by the shooting on positioner
Head shoots the ambient image of surrounding, and the attitudes vibration information of positioning terminal is determined according to ambient image such that it is able to it is determined that fixed
The pose change information of position terminal, and need not be by laser scanning signal come the pose change information of positioning terminal, so solving
Lead to not determine the pose change of positioning terminal because laser scanning signal is easily blocked present in prior art
Technical problem, realizes the technique effect of the pose change information that can unobstructedly determine positioning terminal, so as to ensure that energy
Enough the pose change information based on positioning terminal provides a user with the picture of respective change, can then provide a user with immersion
Interactive experience.
Brief description of the drawings
The schematic diagram of the alignment system that Fig. 1 is provided for the utility model embodiment；
The schematic diagram that Fig. 2 is positioned for radio position finding radio directional bearing network that the utility model embodiment is provided；
The schematic diagram of the radio position finding radio directional bearing network 10 being made up of UWB base stations that Fig. 3 is provided for the utility model embodiment；
The structural representation of the magnetic field generator that Fig. 4 A are provided for the utility model embodiment；
A kind of structural representation of the magnetic field signal receiver that Fig. 4 B are provided for the utility model embodiment；
The schematic diagram of the two frame ambient images of shooting of camera 201 that Fig. 5 is provided for the utility model embodiment.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
The purpose of this utility model is to provide a kind of alignment system, positioning terminal and positioning network, is used to solve existing
The technology of the pose change for leading to not determine positioning terminal because laser scanning signal is easily blocked present in technology is asked
Topic.
The utility model embodiment first aspect provides a kind of alignment system, refer to Fig. 1, and Fig. 1 is the utility model reality
The schematic diagram of the alignment system of example offer is applied, as shown in figure 1, the alignment system includes：
Radio position finding radio directional bearing network 10, including it is arranged at least 4 radio position finding radio directional bearing base stations 101 of pre-set space, radio
Locating base station 101 for example can be ZigBee module, Wi-Fi hotspot or UWB base stations etc.；
Positioning terminal 20, is provided with camera 201, positioner 202 and nearly eye display device in the positioning terminal 20, fixed
Position terminal for example can be head-mounted display (English：Head Mount Display；Referred to as：HMD) etc., camera can be
Common camera or depth camera etc., positioner 202 are corresponding with the positioning method that radio position finding radio directional bearing base station is used,
For example, when radio position finding radio directional bearing base station 101 is ZigBee module, positioner 202 is ZigBee module, in radio position finding radio directional bearing base station
101 when being Wi-Fi hotspot, and positioner 202 is WiFi connectors etc., and nearly eye display device is used to providing a user with virtual existing
Entity is tested, and specifically can just be repeated no more herein including the device such as display screen and optical mirror slip；
Data processing equipment 30, is connected, for by radio position finding radio directional bearing with radio position finding radio directional bearing network 10 and positioning terminal 20
Network and positioner, determine position of the positioning terminal in pre-set space, and true according to the ambient image that camera shoots
Determine the attitudes vibration information of positioning terminal.
In actual applications, data processing equipment 30 can be an independent equipment, and such as data processing equipment 30 is
Independent host computer, positioning terminal 20 are head-mounted display, it is also possible to be integrated in radio position finding radio directional bearing base station 101 or positioning terminal
On 20, such as positioning terminal 20 can also be that split is designed, for example, data processing equipment 30 is in thing to wear all-in-one etc.
Two parts are divided into reason, a part is arranged on one or more radio position finding radio directional bearing base station 101, another part is set
In positioning terminal 20, it is not limited herein.
As can be seen that because the alignment system that the utility model embodiment is provided determines positioning by radio position finding radio directional bearing network
Change in location of the terminal in pre-set space, while the pose for determining positioning terminal by the camera of positioning terminal changes, and
Without being positioned to positioning terminal by laser scanning signal, so solving present in prior art because laser scanning is believed
Number easily be blocked and lead to not determine positioning terminal pose change technical problem, it is achieved thereby that can be unobstructedly
The technique effect positioned to positioning terminal.
In ensuing part, above-mentioned technical proposal is will be described in detail.
Refer to Fig. 2, the schematic diagram that Fig. 2 is positioned for radio position finding radio directional bearing network that the utility model embodiment is provided,
As shown in Fig. 2 radio position finding radio directional bearing network 10 includes at least 4 radio position finding radio directional bearing base stations, at least 4 radio position finding radio directional bearing base stations set
Put in pre-set space 90, in actual applications, radio position finding radio directional bearing network 10 is by least 4 ZigBee modules, at least 4 WiFi
At least class composition in focus or at least 4 UWB base stations, of course, it is possible to the signal model according to each radio position finding radio directional bearing base station
Enclose, more equably radio position finding radio directional bearing base station is arranged in pre-set space, in ensuing part, will be situated between respectively
Continue.
First, radio position finding radio directional bearing network 10 is introduced by situation that at least 4 ZigBee modules are constituted：ZigBee module is collection
Into the circuit set of Zigbee protocol, program, radio frequency and chip, it can either send ZigBee signals and can also receive
ZigBee signals, at least 4 ZigBee modules can make up a ZigBee-network, and wherein each ZigBee module is at this
Position in ZigBee-network can be set by user, for example, multiple ZigBee modules can be compiled according to natural number
Number, the setting value further according to user determines the position of each ZigBee module in whole ZigBee-network, so as to set up ZigBee
Network topology structure.
In actual applications, in order to time-consuming, while the accuracy of the topological structure of the ZigBee-network set up is improved,
Can by ZigBee-network from setting up topological structure, for example, by No. 1 ZigBee module receive other 4 it is non-coplanar
Received signal strength (English during the ZigBee signals that ZigBee module sends：Received Signal Strength；Letter
Claim：RSS), that is, the position of the ZigBee module is can determine, namely ZigBee-network is at least needed from the mode for setting up topological structure
Want 5 ZigBee modules, by that analogy, until it is determined that in whole ZigBee-network each ZigBee module position, that is,
Say, it is determined that after the corresponding coordinate system of ZigBee-network, that is, can determine each ZigBee mould in the ZigBee-network
The coordinate of block.If desired expand the orientation range of ZigBee-network, then correspondingly increase the quantity of ZigBee module, without
Radio position finding radio directional bearing network 10 is reset, extension cost is relatively low.
Of course, be also required to be provided with a ZigBee module on the positioner 202 of positioning terminal 20, so, when fixed
When position terminal 20 enters the orientation range of ZigBee-network, ZigBee-network is the position that can determine positioning terminal 20, specifically
Ground, can receive at least 4 ZigBee of non-coplanar ZigBee module according to the ZigBee module on positioner 202
Received signal strength during signal, by RSS (English：Received Signal Strength；Chinese：Received signal strength)
Algorithm, determines the position of positioning terminal 20, so, by the position of lasting determination positioning terminal 20, that is, can determine positioning eventually
20 change in location in pre-set space of end.
RSS algorithms can specifically include two kinds of calculations, and the first is the empirical model or number that basis signal is propagated
Model is learned, the RSS data that will be measured is mapped as distance parameter, so that according to different position estimation methods, such as three sides positioning,
The method such as three-point fix or arrival time positioning determines the position of positioning terminal 20；It is for second the method for fingerprint base, first remembers
What record positioning terminal 20 in regional in the orientation range of radio position finding radio directional bearing network 10 was received is used to position from each
ZigBee module RSS data, generate offline fingerprint base, the offline fingerprint base describes radio position finding radio directional bearing network 10 in detail
RSS information and the corresponding relation of locational space, so, radio position finding radio directional bearing network 10 are entered in positioning terminal 20 in orientation range
During orientation range, radio position finding radio directional bearing network 10, namely the RSS data that each ZigBee module is sent in ZigBee-network are received,
Matched with foregoing offline fingerprint base simultaneously, so as to determine positioning terminal 20 using probability or certainty matching algorithm
Position.Second algorithm due to not utilizing the uncertainty relation model between RSS data and distance to calculate, positioning accurate
Du Genggao.
Then, radio position finding radio directional bearing network 10 is introduced by situation that at least 4 Wi-Fi hotspots are constituted：Wi-Fi hotspot (English：
Access Point；Referred to as：AP refer to) to utilize WiFi technology, the equipment that connection network is provided to terminals such as computer, mobile phones, such as
Wireless router etc., it can send data to terminal, it is also possible to receive the data of other Wi-Fi hotspots transmission, so, extremely
Few 4 Wi-Fi hotspots are that can make up radio position finding radio directional bearing network 10.
In one embodiment, the relative position relation between at least 4 Wi-Fi hotspots can be manually set by user, so that
The topological structure of the radio position finding radio directional bearing network 10 being made up of at least 4 Wi-Fi hotspots is set up according to the relative position relation；Another
In one embodiment, it is also possible to open the function that Wi-Fi hotspot receives the data of other Wi-Fi hotspots, so, each Wi-Fi hotspot
The data such as hotspot name, the received signal strength of the broadcast of other Wi-Fi hotspots are obtained in that, to all Wi-Fi hotspots according to nature
After number is numbered, by taking No. 1 Wi-Fi hotspot therein as an example, No. 1 Wi-Fi hotspot receives other 4 non-coplanar Wi-Fi hotspots
After hotspot name, the received signal strength of broadcast, certainly, in addition it is also necessary to the hair of other 4 non-coplanar Wi-Fi hotspots known to formerly
Penetrate power, you can with according to signal intensity and transmission power, it is determined that apart from the distance of each Wi-Fi hotspot, so, in No. 1 WiFi
Focus determine and the relative position relation between other 4 non-coplanar Wi-Fi hotspots after, that is, can determine No. 1 Wi-Fi hotspot
Position, by that analogy, i.e., can set up the topological structure of the radio position finding radio directional bearing network 10 being made up of Wi-Fi hotspot, certainly, this
The radio position finding radio directional bearing network 10 of topological structure can certainly be set up needs at least 5 Wi-Fi hotspots.If desired Wi-Fi hotspot group is expanded
Into radio position finding radio directional bearing network 10 orientation range, then correspondingly increase Wi-Fi hotspot quantity, without to radio determine
Position network 10 is reset, and extension cost is relatively low.
Certainly, need to set on the positioner 202 of positioning terminal 20 and can receive the data that Wi-Fi hotspot sends
WiFi connectors, so, when positioning terminal 20 enters into the orientation range of radio position finding radio directional bearing network 10, i.e., can be by least 4
Individual Wi-Fi hotspot determines the position of positioning terminal 20, specifically, can according to positioning terminal 20 receive at least 4 it is non-coplanar
The received signal strength of the signal of Wi-Fi hotspot broadcast, by RSS algorithms, determines that positioning terminal 20 is located at first area, herein
Just repeat no more.
Finally, radio position finding radio directional bearing network 10 is introduced by situation that at least 4 UWB base stations constitute：UWB (English：Ultra-
Wide band；Chinese：Ultra wide band) base station include aerial array and UWB signal receiver, can receive nanosecond to picosecond level
Non-sinusoidal waveform burst pulse UWB signal, so, at least 4 UWB base stations are that can make up radio position finding radio directional bearing network 10.
Refer to Fig. 3, the radio position finding radio directional bearing network 10 being made up of UWB base stations that Fig. 3 is provided for the utility model embodiment
Schematic diagram, as shown in figure 3, all UWB base stations 301 are connected on an interchanger 302, the interchanger 302 can be connected
Several groups of UWB base stations, specific grouping number can be determined according to the hardware configuration of actual conditions and interchanger, do not limited herein
System, meanwhile, UWB base stations are linked together by end to end mode in each packet, and it is same that readily available interchanger sends
Step clock signal.
In the present embodiment, the position of each UWB base station can be set by user, radio position finding radio directional bearing network 10 can be set up
Topological structure；In another embodiment, reference mode known at least 4 positions can be set, and each reference mode can
UWB pulse signals are sent, while needing to ensure that each UWB base station is able to detect that at least 4 non-coplanar reference modes send
UWB pulse signals, so, each the UWB base station in radio position finding radio directional bearing network 10 i.e. can be according at least 4 non-coplanar ginsengs
The UWB pulse signals of base station transmission are examined, the position of itself is determined, so as to set up the topological structure of radio position finding radio directional bearing network 10,
This is just repeated no more.If desired expand the orientation range of the radio position finding radio directional bearing network 10 of UWB base stations composition, then correspondingly increase
The quantity of UWB base stations, without being reset to radio position finding radio directional bearing network 10, extension cost is relatively low.
UWB pulse signal transmitters can be set on the positioner 202 of positioning terminal 20, so, in positioning terminal 20
Into radio position finding radio directional bearing network 10 orientation range when, the UWB arteries and veins that UWB pulse signals transmitters sends is received by UWB base stations
Signal is rushed, by RSS algorithms, direction of arrival degree (English：Angle-of-Arrival；Referred to as：AOA) algorithm, signal are reached
Time (English：Time of arrival；Referred to as：TOA) or signal arrival time difference (English：Time difference of
arrival；Referred to as：TDOA) algorithm etc. determines the position of positioning terminal 20, in the present embodiment, will be with TOA algorithms
Example is introduced.
TOA algorithms specifically include many class computational methods, for example, can include location algorithm, geometry based on numerical value treatment
Location algorithm, the location algorithm based on pattern match, the location algorithm differentiated based on channel status etc., will introduce geometry herein
Location algorithm.In the present embodiment, after locating base station enters the orientation range of radio position finding radio directional bearing network 10, radio position finding radio directional bearing network
Data processing equipment sends the signal that a certain moment is synchronization point to interchanger in 10, and the signal is transmitted to nothing by interchanger again
Each UWB base station in line electricity positioning network 10, while data processing equipment also sends one in the synchronization to positioning terminal 20
Moment sends the control signal of UWB pulse signals so that positioning terminal 20 sends UWB pulse signals in synchronization point, so, i.e.,
Can be according to the time difference between the time point of the UWB base stations for receiving the UWB pulse signals and synchronization point, it is determined that receiving
The distance between the UWB base stations of UWB pulse signals and positioning terminal 20, so, according to 4 non-coplanar UWB base stations and positioning
The distance between terminal 20, that is, can determine the position of positioning terminal 20.
The utility model describes three kinds of positioning methods and its specific position fixing process of radio position finding radio directional bearing network 10, every kind of
Positioning method can determine the coordinate of positioning terminal 20, and certainly, the difference according to positioning method can have corresponding error.
By the introduction of the present embodiment, the technical staff belonging to this area can also select any of which according to actual conditions,
It can be combined according to actual conditions, so that radio position finding radio directional bearing network 10 includes two kinds of positioning methods as an example, can be by two
Two coordinates for planting positioning method acquisition are averaging processing, if radio position finding radio directional bearing network 10 includes above-mentioned three kinds of positioning methods,
Three coordinates for obtaining can be then averaging processing, it is also possible to first remove the larger coordinate of its large deviations, then to remaining
Two coordinates are averaging processing, etc., it can be seen that be combined by multiple positioning modes, improve by radio
The accuracy that positioning network 10 is positioned to positioning terminal 20.
It is, of course, also possible to other positioning methods that the technical staff with reference to belonging to this area can use, such as radio
Positioning network 10 can also be made up of at least 4 magnetic field generators：Fig. 4 A are refer to, Fig. 4 A are provided for the utility model embodiment
Magnetic field generator structural representation, as shown in Figure 4 A, the structure of the transmitting coil of the magnetic field generator is three orthogonal sides
The coil that formula is fixed, in specific implementation process, three coils can in turn launch with same frequency, strong by default sequential
The known magnetic field signal of degree, it is also possible to while launching different frequency, magnetic field signal known to intensity, be not limited herein.
In actual applications, the relative position relation between at least 4 magnetic field generators can be manually set by user, from
And the topological structure of the radio position finding radio directional bearing network 10 being made up of at least 4 magnetic field generators is set up according to the relative position relation；
One magnetic field signal receiver is set in another embodiment, or on each magnetic field generator, so, to set
As a example by having magnetic field signal receiver No. 1 magnetic field generator, according to magnetic field signal receiver receive other 4 it is non-coplanar
Magnetic field generator send magnetic field signal when received signal strength, determine No. 1 magnetic field generator relative to other magnetic fields
The position of generator, namely at least needed from the mode for setting up topological structure by the radio position finding radio directional bearing network 10 that magnetic field generator is constituted
5 magnetic field generators for being provided with magnetic field signal receiver are wanted, by that analogy, until it is determined that in whole radio position finding radio directional bearing network 10
The position of magnetic field generator, so as to set up the topological structure of radio position finding radio directional bearing network 10.If desired magnetic field generator composition is expanded
Radio position finding radio directional bearing network 10 orientation range, then correspondingly increase magnetic field generator quantity, without to radio determine
Position network 10 is reset, and extension cost is relatively low.
Can be set on the positioner 202 of positioning terminal 20 and be received with the structure identical magnetic field signal shown in Fig. 4 A
Device such that it is able to receive the magnetic field signal that magnetic field generator sends.In specific implementation process, in order to reduce receiving coil body
Product, increases magnetic conductivity, while facilitate coil to wind, can be in centrally disposed one of the receiving coil in magnetic field signal receiver just
Square or circular FERRITE CORE, refer to Fig. 4 B, the magnetic field signal receiver that Fig. 4 B are provided for the utility model embodiment
A kind of structural representation.
Magnetic field range measurement principle：Derived according to Bi-Sa-drawing law and Faraday's electromagnetic induction law, according to the two
Law can derive attenuation law of the magnetic field range finding in spatial, can more accurately draw emission of magnetic field source and magnetic field
Physical distance between receiving terminal, this conclusion proves academicly passing through repeatedly, belongs to known technology, so derivation
It is not described in detail herein with formula.
So, the orientation range of radio position finding radio directional bearing network 10 is entered in the positioning terminal 20 for being provided with magnetic field signal receiver
Afterwards, i.e., the position of positioning terminal 20 can be determined by the radio position finding radio directional bearing network 10 being made up of at least 4 magnetic field generators, is had
Body ground, can receive at least 4 non-coplanar magnetic field generators in radio position finding radio directional bearing network 10 according to positioning terminal 20
Received signal strength during magnetic field signal, the RSS algorithms introduced by preceding sections, so that it is determined that the position of positioning terminal 20,
So, by the position of lasting determination positioning terminal 20, that is, can determine change in location of the positioning terminal 20 in pre-set space.
As can be seen that the embodiment of the present application provide radio position finding radio directional bearing network 10, not only with can determine rapidly positioning
The advantage of the position of terminal, also has the advantages that autgmentability is strong, extend low cost.
In another embodiment, when the technical scheme in the utility model embodiment is applied to outdoor, radio position finding radio directional bearing
Network 10 can also be made up of at least 4 position location satellites, for example, can be gps satellite, GLONASS aeronautical satellite or the Big Dipper
Aeronautical satellite etc., certainly, is also required to be provided with a satellite positioning signal reception on the positioner 202 of positioning terminal 20
Device, so, according to the satellite positioning signal that satellite positioning signal receiver is received, that is, can determine the position of positioning terminal 20
Put, the detailed process positioned using position location satellite is just repeated no more herein.
Part is introduced as described above, and data processing equipment 30 i.e. can be according to the receiving positioner 202 of radio net 10
The framing signal of transmission, or framing signal is sent to positioner 202 by radio net 10, so that it is determined that positioning terminal
20 change in location in pre-set space.
During ensuing, the ambient image shot according to the camera 201 of positioning terminal 20 will be introduced and determine to determine
The detailed process of the attitudes vibration information of position terminal 20.
Please continue to refer to Fig. 5, Fig. 5 shoots two frame ambient images for the camera 201 that the utility model embodiment is provided
Schematic diagram, as shown in figure 5, by taking the point P12 on object in true environment 50 as an example, the key that camera 201 shoots in A1 points
P12 is point P1 in frame F1, and the point corresponds to point P2 in the key frame F2 that A2 points shoot, can be true by Feature Points Matching during calculating
Recognize the point P12 that point P1 and point P2 is all on object 50, after carrying out Stereo matching to F1 and F2, that is, can determine F1 and F2
Between parallactic angle, equivalent to by concurrently building figure and location algorithm (English：simultaneous localization and
mapping；Referred to as：SLAM), attitudes vibration information of the positioning terminal 20 between A1 and A2 is determined.By that analogy, by shooting
First 201 are persistently shot, i.e., the attitudes vibration letter of positioning terminal 20 can be determined according to the multiframe ambient image for shooting acquisition
Breath.
Please continue to refer to Fig. 2, when camera 201 is specially common monocular cam, only can be true according to F1 and F2
Determine ∠ P1P12P2Angle, if camera 201 be specially depth camera, P can not only be determined according to F11P12Length
Degree, P is determined according to F212P2Length, while ∠ P can also be determined1P12P2Angle, so, that is, be capable of determining that P1P2Length
Degree, namely while attitudes vibration information of the positioning terminal 20 between A1 and A2 is determined, additionally it is possible to determine positioning eventually
The 20 change in location information between A1 and A2 of end, the change in location information can be used in mentioned by radio position finding radio directional bearing network
Defined location change information is calibrated or compensated when 10 pairs of positioning terminals 20 are positioned.
In another embodiment, the complete environment figure of pre-set space can also be prestored in data processing equipment 30
Picture, after positioning terminal 20 enters pre-set space, the ambient image of pre-set space is shot by camera 201, then by camera
201 ambient images for shooting are matched with complete ambient image, are to be capable of determining that positioning terminal 20 according to matching result
Current position and attitude, just repeat no more herein.
In specific implementation process, the alignment system that the utility model embodiment is provided can include multiple positioning terminals,
So, after the change in location information and attitudes vibration information that each positioning terminal is determined by way of foregoing description, data
Processing equipment 30 can send the change in location information and attitudes vibration information of other positioning terminals to each positioning terminal, from
And interaction and identification between multiple positioning terminals can be easy to.For example, with a large-scale virtual reality theme park be pre-
If space, positioning terminal are specially as a example by head-mounted display, virtual reality theme park be refer to a certain theme or certain
One class theme is displaying content, the diverse location according to where the user using virtual reality devices such as head-mounted displays, Xiang Yong
Family shows the large scene of different virtual reality contents, so, the virtual realities such as head-mounted display is used respectively in multiple users
After equipment enters the virtual reality theme park, i.e., the alignment system that can be provided by the utility model embodiment determines each
The change in location information and attitudes vibration information of head-mounted display, corresponding virtual reality image is sent to each head-mounted display
And sound etc., and believe to the change in location information and attitudes vibration that each head-mounted display sends other head-mounted displays
Breath such that it is able to which being easy to multiple user collaborations to complete packet between corresponding target, or multiple users resist etc.,
This is just repeated no more.
The data processing equipment 30 in the alignment system that the utility model embodiment is provided is can be seen that by above-mentioned part
The framing signal that can be sent by 10 receiving positioner of radio net 202, or by radio net 10 to positioning
Device 202 sends framing signal, so that it is determined that change in location of the positioning terminal 20 in pre-set space, while, additionally it is possible to pass through
Camera on positioner 20 shoots the ambient image of surrounding, and the attitudes vibration letter of positioning terminal is determined according to ambient image
Breath such that it is able to determine the pose change information of positioning terminal 20, and need not be by laser scanning signal come the position of positioning terminal
Appearance change information, so to solve lead to not determine to determine because laser scanning signal is easily blocked present in prior art
The technical problem of the pose change of position terminal, realizes the technology of the pose change information that can unobstructedly determine positioning terminal
Effect, the pose change information that positioning terminal can be based on so as to ensure that provides a user with the picture of respective change, then can
Enough provide a user with the interactive experience of immersion.
On the other hand the utility model embodiment also provides a kind of positioning terminal, it is characterised in that including camera and calmly
Position device, positioner is at least by ZigBee module, WiFi connectors, satellite positioning signal receiver or UWB signal generator
In an at least class composition.
In specific implementation process, camera is specially depth camera, and depth camera can for example use binocular side
Case, structure light scheme or TOF (English：Time of flight；Chinese：Flight time) scheme etc., it is not limited herein.
On the other hand the utility model embodiment also provides a kind of positioning network, and the positioning network includes：
Radio position finding radio directional bearing network, including it is arranged at least 4 radio position finding radio directional bearing base stations of pre-set space；
Data processing equipment, is connected with radio position finding radio directional bearing network and positioning terminal, wherein, positioning terminal include camera and
Positioner, positioner is corresponding with the positioning method of institute's radio position finding radio directional bearing base station；Data processing equipment is used to pass through radio
Positioning network, determines change in location information of the positioning terminal in pre-set space, and the ambient image shot according to camera
Determine the attitudes vibration information of positioning terminal.
In specific implementation process, when positioning terminal is for multiple, data processing equipment is additionally operable to each positioning terminal
Send the change in location information and attitudes vibration information of other positioning terminals.
In specific implementation process, radio position finding radio directional bearing network is by least 4 ZigBee modules, at least 4 Wi-Fi hotspots, extremely
At least class composition in few 4 position location satellites or at least 4 UWB base stations.
Positioning terminal and positioning network in the utility model embodiment have been carried out detailed Jie in preceding sections
Continue, it is succinct for specification herein, just repeat no more.
One or more technical scheme in the utility model embodiment, at least has the following technical effect that or excellent
Point：
The data processing equipment energy in the alignment system that the utility model embodiment is provided is can be seen that by above-mentioned part
The framing signal for enough being sent by radio net receiving positioner, or send fixed to positioner by radio net
Position signal, so that it is determined that change in location of the positioning terminal in pre-set space, while, additionally it is possible to by the shooting on positioner
Head shoots the ambient image of surrounding, and the attitudes vibration information of positioning terminal is determined according to ambient image such that it is able to it is determined that fixed
The pose change information of position terminal, and need not be by laser scanning signal come the pose change information of positioning terminal, so solving
Lead to not determine the pose change of positioning terminal because laser scanning signal is easily blocked present in prior art
Technical problem, realizes the technique effect of the pose change information that can unobstructedly determine positioning terminal, so as to ensure that energy
Enough the pose change information based on positioning terminal provides a user with the picture of respective change, can then provide a user with immersion
Interactive experience.
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
The utility model is not limited to foregoing specific embodiment.The utility model expands to any in this specification
The new feature of middle disclosure or any new combination, and disclose any new method or process the step of or any new group
Close.
Claims (9)
1. a kind of alignment system, it is characterised in that including：
Radio position finding radio directional bearing network, including it is arranged at least 4 radio position finding radio directional bearing base stations of pre-set space；
Positioning terminal, including camera, positioner and nearly eye display device, the positioner and institute's radio position finding radio directional bearing base station
Positioning method correspondence；
Data processing equipment, is connected with the radio position finding radio directional bearing network, for by the radio position finding radio directional bearing network, it is determined that described
Change in location information of the positioning terminal in the pre-set space, and institute is determined according to the ambient image that the camera shoots
State the attitudes vibration information of positioning terminal.
2. alignment system as claimed in claim 1, it is characterised in that the positioning terminal for it is multiple when, at the data
Reason equipment is additionally operable to be sent to each positioning terminal the change in location information and attitudes vibration information of other positioning terminals.
3. alignment system as claimed in claim 1, it is characterised in that the radio position finding radio directional bearing network is by least 4 ZigBee
At least class composition in module, at least 4 Wi-Fi hotspots, at least 4 position location satellites or at least 4 UWB base stations.
4. alignment system as claimed in claim 1, it is characterised in that the camera is specially depth camera.
5. a kind of positioning terminal, it is characterised in that including camera, positioner and nearly eye display device, the positioner
At least by least class group in ZigBee module, WiFi connectors, satellite positioning signal receiver or UWB signal generator
Into.
6. positioning terminal as claimed in claim 5, it is characterised in that the camera is specially depth camera.
7. it is a kind of to position network, it is characterised in that including：
Radio position finding radio directional bearing network, including it is arranged at least 4 radio position finding radio directional bearing base stations of pre-set space；
Data processing equipment, is connected with the radio position finding radio directional bearing network and positioning terminal, wherein, the positioning terminal includes shooting
Head and positioner, the positioner are corresponding with the positioning method of institute's radio position finding radio directional bearing base station；The data processing equipment is used
In by the radio position finding radio directional bearing network, determining change in location information of the positioning terminal in the pre-set space, and
The ambient image shot according to the camera determines the attitudes vibration information of the positioning terminal.
8. it is as claimed in claim 7 to position network, it is characterised in that when the positioning terminal is for multiple, at the data
Reason equipment is additionally operable to be sent to each positioning terminal the change in location information and attitudes vibration information of other positioning terminals.
9. it is as claimed in claim 7 to position network, it is characterised in that the radio position finding radio directional bearing network is by least 4 ZigBee
At least class composition in module, at least 4 Wi-Fi hotspots, at least 4 position location satellites or at least 4 UWB base stations.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621284510.7U CN206249245U (en) | 2016-11-28 | 2016-11-28 | A kind of alignment system, positioning terminal and positioning network |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621284510.7U CN206249245U (en) | 2016-11-28 | 2016-11-28 | A kind of alignment system, positioning terminal and positioning network |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406551A (en) * | 2016-11-28 | 2017-02-15 | 成都理想境界科技有限公司 | Positioning system, positioning terminal and positioning network |
| CN109164410A (en) * | 2018-08-10 | 2019-01-08 | 深圳市荣睿和芯科技有限公司 | RFID positioning and method for tracing, system and computer readable storage medium |
| CN109375764A (en) * | 2018-08-28 | 2019-02-22 | 北京凌宇智控科技有限公司 | A kind of head-mounted display, cloud server, VR system and data processing method |
| CN109874173A (en) * | 2019-03-08 | 2019-06-11 | 云南电网有限责任公司文山供电局 | Real-time location method in converter station/substation under complex electromagnetic environment based on UWB |
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2016
- 2016-11-28 CN CN201621284510.7U patent/CN206249245U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406551A (en) * | 2016-11-28 | 2017-02-15 | 成都理想境界科技有限公司 | Positioning system, positioning terminal and positioning network |
| CN109164410A (en) * | 2018-08-10 | 2019-01-08 | 深圳市荣睿和芯科技有限公司 | RFID positioning and method for tracing, system and computer readable storage medium |
| CN109375764A (en) * | 2018-08-28 | 2019-02-22 | 北京凌宇智控科技有限公司 | A kind of head-mounted display, cloud server, VR system and data processing method |
| CN109874173A (en) * | 2019-03-08 | 2019-06-11 | 云南电网有限责任公司文山供电局 | Real-time location method in converter station/substation under complex electromagnetic environment based on UWB |
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