JP2004093228A - Motion capture system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily measure the action of a human being by directly detecting the positions of sensors themselves fitted to respective major points of the body of the human being, using a positioning technique by electric wave. <P>SOLUTION: Two or more radio modules Mr which simultaneously and individually receive two or more measuring electric waves transmitted from at least three measuring radio transmitters 4, are attached to major points of the human being. In each radio module, the coordinates of the position of each radio module itself are found on the basis of each received measuring electric wave. The found position coordinates are transmitted to a reception processing device 3 with a transmitter which the radio module has. The motion of the human being is captured using the transmitted position coordinates by each radio module. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a motion capture system using a measurement radio wave, and more particularly to receiving a measurement radio wave from a plurality of transmitters by a receiver attached to a moving target object and performing position analysis of the receiver. The present invention relates to a motion capture system for grasping the movement of each part in a target object by using the method.
[0002]
[Prior art]
Recently, computer graphics (CG) technology has rapidly advanced with the improvement of computer performance. By making full use of this CG technology, it extracts motion data relating to a moving target object, for example, a moving human body, and enables computer processing to naturally express the motion of the human body on the screen of a display device. Has become. In this method, white marks and lamps are attached to key points related to movements such as joints of the human body, and actual human movements are photographed from different angles with several TV cameras. Is analyzed by a computer, and the skeleton data of the CG is analyzed as a motion.
[0003]
Further, as described above, two motion capture systems of a magnetic type and an optical type are also used as a CG technology applying a virtual reality technology without using an image analysis based on a video taken by a television camera. . Among them, the magnetic type motion capture system has a strong magnetic field prepared, and the human being, the target object, moves in the space of the magnetic field, and the magnetic sensor attached to the joint part of the human body , To determine the position of that space. In this magnetic system, data can be obtained in real time, and thus it is used for creating programs such as TVs.
[0004]
In the case of a magnetic motion capping system, a plurality of magnetic sensors are usually attached to a human body as a target object, and a cable for transmitting an electric signal from the magnetic sensor is dragged, There is a problem in that the human being as the target object must move, and there is no flexibility in the movement. In addition, when there is a metal nearby, there is a problem in that the magnetic field is distorted, so that it is difficult to set a place for performing the measurement, and it takes time and effort. Furthermore, while obtaining a three-dimensional coordinate requires a constant magnetic field strength, the magnetic field lines extend in a circle from the magnetic field source, and the magnetic field increases as the distance from the center of the source increases. Since it becomes weak (distortion), the position detection accuracy is deteriorated depending on the place. As a result, a problem occurs in image processing, and there is a problem that a measurement error easily occurs.
[0005]
On the other hand, recently, an optical system has been widely used as a motion capture system. The advantages of this optical motion capture system are that it is highly accurate and does not require a cord to connect to the human body as the target object, so that the human can easily move naturally.
[0006]
The configuration of this optical motion capture system will be described. A plurality of markers are attached to main points on the target human body, for example, head, neck, shoulder, arm, wrist, hip, knee, ankle, and the like. This marker is formed of a reflective sphere to which a retroreflective sheet used for bicycles is attached. Therefore, the illumination device synchronized with the data processing device periodically emits infrared light. The infrared light is reflected from a plurality of markers, which are reflecting spheres attached to the main points of the human, and the reflected light is captured by a high-speed and high-sensitivity camera. The position of the marker for each light emission of the lighting device is taken into the data processing device as image data. The captured image is converted into a spatial point in a three-dimensional model by three-point measurement after image processing.
[0007]
This optical motion capture system attempts to detect human movement by attaching multiple reflective spheres to the human body and reflecting infrared light from a lighting device. The disadvantage is that the system is bulky because it requires a lighting device synchronized with the processing device. In order to eliminate the need for such a lighting device, a point light source is attached to a main point on the human body instead of a reflecting sphere.
[0008]
An outline of an optical motion capture system using a point light source is shown in FIG. FIG. 1 shows a state in which a point light source LSn is attached to a head, a neck, an arm, a wrist, a waist, a knee, an ankle, and the like, which are main points of movement in a human body as a target object. In the figure, a point light source LSn is indicated by a black circle for convenience of illustration. The point light source is continuously photographed by the camera 1 located at a position separated by a predetermined distance. The captured image is displayed on the screen of the display device 2, and the position of the point light source LSn is detected as coordinates (X, Y) on the screen. The motion capture processing is the same as that of the above-described optical motion capture system.
[0009]
[Problems to be solved by the invention]
In the case of an optical motion capture system using reflective spheres, we hired some sort of curtain to prevent the background from being included in the image to capture the moving position of multiple reflective spheres attached to the human body as a whole image Humans had to work in a spatial environment. In addition, in a large-scale image capture system, as many lighting devices as the number of high-speed and high-sensitivity cameras are required, and after performing three-point measurement, it is necessary to consider the condition setting of which marker was at which point. In addition, there was a problem that real-time operation was very difficult. Furthermore, when the reflective sphere, which is a marker attached to the main point of the human, and another reflective sphere overlap depending on the movement of the human, or move to the blind spot of a high-speed high-sensitivity camera that captures images, There is a problem that errors are likely to occur in the identification of each reflecting sphere, and erroneous data processing.
[0010]
Also, in an optical motion capture system using a point light source, there is a difficulty in implementing a point light source that can be used outdoors during the day due to the amount of light emission, size, and the like. In addition, depending on the point light source used, it is necessary to use a single-color background in order to improve the discriminability at the time of shooting, so that there is a problem that there is a limitation on the place where the motion capture is executed.
[0011]
Furthermore, as in the case of a reflective sphere, even in the case of a system using a point light source, the point light source may be hidden by human motion, and data during the hidden period is interpolated to cope with the interruption of captured information. There is a need to. In particular, in the case where the movement by two people is used for capture, the point light source is often hidden by the overlap between the people. As shown in FIG. 8A, for example, when performing motion capture when two people are dancing, the colors of the point light sources attached to the two people are different to allow the two to be imaged. Even if it can be distinguished above, as shown in FIG. 8 (b), depending on the movement of the two persons, the point light source present in the depth as seen from the camera 1 side is shadowed by the person in front. The point light source is not displayed on the image for the portion of. Therefore, when the data interpolation cannot be completed, the capture process must be performed for each person. For this reason, there has been a problem that two or more human actions cannot be simultaneously captured.
[0012]
Also, in an optical motion capture system using a point light source, as in the case of using a reflective sphere, data that can detect human motion is two-dimensional coordinates on the screen of a display device, and the two-dimensional data is obtained by image processing. It was treated as three-dimensional data. Therefore, there is a problem that the capture processing requires a huge amount of processing and a processing error occurs.
[0013]
Therefore, the present invention has been made to solve the above-described problem. Unlike a conventional motion capture method in which image analysis is evaluated using CG technology, an object to be captured is obtained by using a positioning technology using radio waves. For example, by directly detecting the position of the sensor itself attached to a main point of the body such as a human or an animal, the movement of a human or the like can be easily measured without being limited to the place or environment where the capture is performed. The purpose is to provide a motion capture system.
[0014]
[Means for Solving the Problems]
In order to solve the above problems, in the present invention, in a motion capture system, a plurality of different measurement radio waves transmitted from different radio wave sources are simultaneously received, and a receiving unit attached to a moving capture target object, Measuring means for measuring time according to each of the measurement radio waves, based on the measured time and position information of the radio wave source, to calculate the position of the receiving means, position processing means to generate position data, Motion capture processing means for performing a motion capture of the receiving means based on the position data.
[0015]
The measurement radio waves may be radio waves simultaneously transmitted from at least three reference signal generators installed at locations apart from each other, or radio waves transmitted from at least four GPS satellites. And
[0016]
In addition, the wireless module includes at least the receiving unit and has a wireless module attached to the capture target object, and the wireless module further includes the measuring unit and wirelessly transmits the time information to the position processing unit. Alternatively, the apparatus further includes the measurement unit and the position processing unit, and the position data is wirelessly transmitted to the motion capture processing unit.
[0017]
The wireless module has a storage unit, and the time and the position information of the radio wave source or the position data are temporarily stored in the storage unit.
[0018]
Further, the plurality of wireless modules are mounted on the capture target object at locations separated from each other, and the position data created by the wireless module is collectively transmitted to the motion capture processing means, or The time information and the position information of the radio wave source created by the module are transmitted to the position processing means in a lump.
[0019]
The position data includes a position coordinate value and identification information related to the receiving unit.
[0020]
The position coordinate value is obtained from the measured time, the arrival time difference of the measurement radio wave to the receiving means is calculated, a pseudo distance is calculated based on the arrival time difference and the speed of light, the pseudo distance and the radio wave source Is calculated from the position information.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, an embodiment of the motion capture system of the present invention will be described with reference to FIGS. 1 to 6 in a case where a human body is used as an example of a target object.
[0022]
FIG. 1 shows an outline for explaining features of the motion capture system of the present embodiment. In the motion capture system of the present embodiment, instead of disposing a magnetic sensor or a point light source as a sensor on a human body, a radio wave for measurement is received, and the position of the sensor is determined based on the radio wave for measurement. The required wireless module was used. As shown in FIG. 1, the wireless module Mn is mounted at 11 main points on the human body, for example, at the head, neck, arm, wrist, waist, knee, ankle, and the like. In each of these wireless modules M01 to M11, a measurement radio wave is received and its position is specified. The measurement radio waves are transmitted from a plurality of transmitters 4 installed at positions away from the wireless module Mn. The arrangement of the plurality of transmitters 4 is set in advance, and their positions and heights are determined. These arrangements may be arranged to surround the human at a distance or may be appropriately scattered, as long as the measurement space can be set.
[0023]
Each of the wireless modules Mn receives a plurality of measurement radio waves transmitted from the transmitter 4 and specifies the position in the measurement space of each of the wireless modules Mn based on the plurality of measurement radio waves. The position data specified by each wireless module Mn is transmitted to the receiving / processing device 3, where the motion capture is performed. Then, on the screen of the display device 2, the position coordinates (xn, yn, zn) of the wireless module Mn are displayed as corresponding spots. When the human moves, the wireless module Mn also moves, and the position coordinates of the wireless module specified in the wireless module change in accordance with the movement, and also on the screen of the display device 2 according to the change in the position coordinates. , The locus of the corresponding spot is displayed.
[0024]
As described above, in the motion capture system according to the present embodiment, the wireless module itself mounted on the human body specifies its own position in the measurement space formed by the measurement radio transmitter 4. Since the motion capture is performed based on the specified position, the motion capture can be performed anywhere the measurement space can be formed by the measurement radio wave. As shown in FIG. 1, even outdoors, it is not affected by the weather.
[0025]
Then, since each wireless module mounted on the human body specifies its own position, the absolute position of the wireless module in the measurement space can be measured. As long as the wireless module can be reached, motion capture can be realized. For this reason, even if an obstacle or the like exists between the measurement radio transmitter and the person, no matter how the person moves, even if there are a plurality of people, there is no effect. Since the data for the motion capture processing is related to the position coordinates of the moving wireless module, the data is accurate three-dimensional motion capture data, and no error is caused by the motion capture processing.
[0026]
Here, the positioning principle of the motion capture system of the present embodiment will be described with reference to FIG.
[0027]
FIG. 2 shows a case where the measuring radio transmitter 4 shown in FIG. 1 is composed of three reference signal generators. In FIG. 2, for the sake of explanation, the characteristic portions are emphasized, and in practice, the installation distances of the first to third reference signal generators RF1 to RF3 are assumed to be considerably large, The area where humans can freely move around is secured. The distances L1, L2, and L3 between the first to third reference signal generators RF1 to RF3 are accurately measured, and their heights from the reference plane are also accurately measured. I do.
[0028]
Based on the position information obtained by these measurements, the position coordinates (P1, X1, Y1, Z1), (P2, X2, Y2, Z2) and (P3, X3, Y3, Z3) of each of the generators RF1 to RF3 are obtained. Based on this, a three-dimensional measurement space is formed, and these position coordinates are stored for specifying a position in each wireless module. Here, P1 to P3 indicate the numbers of the respective wireless modules, and the others indicate three-dimensional coordinates (X, Y, Z).
[0029]
A person with a plurality of wireless modules moves in the measurement space thus formed. On the human body shown in FIG. 2, one of the wireless modules is typically shown, and position data relating to the wireless module is shown by (g1, p1, xn, yn, zn). Actually, in the case of two humans as the object to be captured, as shown in FIG. 3, the wireless module is attached to each of the eleven main points of the two human bodies. A group number gn and a part number pn are assigned to the wireless module, and these numbers are assigned to the head of the position coordinates (xn, yn, zn) to identify the wireless module in order to form position data. . The position data (g1, p1, xn, yn, zn) in the example shown in FIG. 2 indicates that the wireless module belongs to the first group that divides the human body, and that it is the first group. ing.
[0030]
Next, acquisition of position data on each wireless module will be described. It is assumed that a first radio wave is transmitted from the first reference signal generator RF1, a second radio wave is transmitted from the second reference signal generator RF2, and a third radio wave is transmitted from the third reference signal generator RF3. Here, it is assumed that the reference times of the first to third reference signal generators RF1 to RF3 are adjusted to be the same. The time of the wireless module is assumed to be the same as the time accuracy of each generator.
[0031]
Therefore, the wireless module receives these first to third radio waves and measures the arrival times of the first to third radio waves. Assuming that the arrival times are t1, t2 and t3, the transmission time t0 included in each of the first to third radio waves is detected.
[0032]
Here, assuming that the speed of light is c and the distances between the generators RF1 to RF3 and the wireless module are d1, d2, and d3, respectively,
t1-t0 = d1 / c
t2-t0 = d2 / c
t3-t0 = d3 / c
Holds, the distances d1 to d3 can be calculated from the measured arrival times t1 to t3.
[0033]
This distance d1 is defined as a radius, a first spherical surface centered on the position coordinates (X1, Y1, Z1) of the generator RF1, and the distance d2 is defined as a radius, centered on the position coordinates (X2, Y2, Z2) of the generator RF2. Assuming a second spherical surface and a third spherical surface centered on the position coordinates (X3, Y3, Z3) of the generator RF3 with the distance d3 as a radius, these three first to third spherical surfaces intersect. Find points. The point at which the three spherical surfaces intersect is the position coordinates (xn, yn, zn) of the wireless module in the measurement space, and position data (g1, p1, xn, yn, zn) is generated.
[0034]
In this manner, each wireless module receives the first to third radio waves independently of the other wireless modules, and generates position data relating to each wireless module. The generated position data is transmitted to the receiving / processing device 3 and becomes information for motion capture.
[0035]
If the three spherical surfaces formed by the obtained distances d1, d2, and d3 do not intersect at one point, and the time accuracy of the first to third reference signal generators is high, the time difference in the wireless module may be the cause. In such a case, in addition to the first to third reference signal generators, another reference signal generator is added to correct the time lag in the wireless module, so that accurate position data can be obtained. Can be generated.
[0036]
Next, FIG. 4 illustrates a block configuration of the wireless module Mn that is mounted on a human body that is an object to be captured. The wireless module includes an RF receiver 5, a received signal processing device 6, a storage device 7, and an RF transmitter 8. The wireless module plays the role of a wireless terminal device of the motion capture system, and is formed to be lightweight and compact, and equipped with a belt or other attachment device so that it can be attached to a main point on the human body. I have.
[0037]
The RF receiver 5 has an antenna and has a function of receiving the first to third radio waves transmitted by the first to third reference signal generators RF1 to RF3. As described above, the reception signal processing device 6 measures the arrival times t1 to t3 of the first to third radio waves based on the received first to third radio waves, and calculates the wireless module And the respective distances d1 to d3 between the first and third reference signal generators RF1 to RF3 are calculated. Then, based on the position coordinates of the first to third reference signal generators RF1 to RF3 stored in the storage device 7, three spherical surfaces having radii d1 to d3 are calculated. Here, a point at which these spherical surfaces intersect is determined, and position data relating to the wireless module is generated.
[0038]
The RF transmitter 8 has an antenna, and has a function of transmitting the position data relating to the wireless module generated by the reception signal processing device 6 to the reception / processing device 2. The position data generated at predetermined intervals is transmitted to the reception / processing device 2 in real time. If the storage capacity of the storage device 7 is large, the position data generated temporarily or during the motion capture period is stored in the storage device 7 and transmitted to the reception / processing device 2 collectively. You may.
[0039]
The storage device 7 is used as a recording medium, in which all the position data generated during the motion capture period is stored. After the capture is completed, the recording medium is extracted from the wireless module and inserted into the receiving / processing device 2. Then, the position data may be read.
[0040]
On the other hand, when trying to capture a motion of a person, if only a specific part of the body is to be captured, one wireless module is mounted. However, when performing motion capture of the entire movement of a human being as a target object, usually, a plurality of wireless modules are attached to main points. When the plurality of wireless modules are mounted, the reception signal processing device 6 in each wireless module can be shared in order to reduce the size of each wireless module. In this case, the reception function is left in the wireless module so that the other reception signal processing device 6, the storage device 7, and the RF transmitter 8 can be attached to one place on the human body in a concentrated manner. Is connected with a cable that does not hinder human movement.
[0041]
In such a connection mode, the reception signal processing device 6 performs time-division processing on the reception information on the first to third radio waves transmitted from each wireless module, thereby performing the position data generation processing. I can deal with it. When a plurality of wireless modules are mounted on a human body, the main wireless module among the plurality is configured as shown in FIG. 4 and only the wireless function is left in the other wireless modules. It may be.
[0042]
Until now, the configuration of the wireless module mounted on the human body has been described. Next, the reception / processing device 3 shown in FIG. 1 will be described with reference to FIG.
[0043]
The receiving / processing device 3 has a function of performing a motion capture process based on position data transmitted from each wireless module, and includes an RF receiver 9, a position data processing device 10, a storage device 11, and a motion capture control device 12. And a display device 2 having a screen on which the processing result is displayed is connected.
[0044]
The RF receiver 9 has a function of receiving a signal transmitted from the wireless module. In the position data processing device 10, position data generated by each wireless module is extracted from the received signal. Are stored in the storage device 11. Then, in the motion capture control device 12, the coordinate values (xn, yn, zn) included in the position data stored in the storage device 10 are used as they are, and the coordinate values are processed in time series for each wireless module. Is converted into three-dimensional motion capture data relating to a main point on the human body. The motion spot displayed on the screen of the display device 2 is displayed at a position corresponding to the coordinate values (xn, yn, zn).
[0045]
Heretofore, the position data including the coordinate values (xn, yn, zn) has been generated in the wireless module. However, in order to reduce the processing load on the reception signal processing device 6 in the wireless module, the reception data is processed. The signal processing device 6 generates time information based on the first to third radio waves, and includes time information in a signal transmitted from the RF transmitter 8 without generating position data including coordinate values. It may be. In this case, the receiving / processing device 3 calculates the coordinate value of each wireless module based on the received time information.
[0046]
As described above, in the motion capture system of the present embodiment, in the measurement space formed by the plurality of measurement radio waves, the plurality of wireless modules are mounted on the human body, and the measurement radio waves are received by the wireless module. As a result, coordinate values suitable for human motion are generated. By using these coordinate values, motion capture can be easily and accurately performed without relying on complicated image processing.
[0047]
In the motion capture system of the present embodiment described so far, the first to third reference signal generators specially prepared are arranged with an appropriate feeling in order to form a measurement space. A case where global positioning system (GPS) positioning is used to form a measurement space in the motion capture system of the present embodiment will be described with reference to FIG.
[0048]
The motion capture system using GPS positioning shown in FIG. 6 is based on the configuration of the motion capture system shown in FIG. 1, and each of a plurality of wireless modules mounted on a human body receives a measurement radio wave, The position of the wireless module itself is specified, and the position is transmitted to the receiving / processing device. The difference is that, in a motion capture system using GPS positioning, the measurement space is not based on radio waves from the first to third reference signal generators, but instead is radio waves from a plurality of GPS satellites orbiting the earth. It is formed by.
[0049]
Each of the wireless modules mounted on the human body is equipped with a GPS antenna, and the position of the wireless module itself is measured in each wireless module according to a GPS positioning method. In FIG. 6, one of the wireless modules is shown as a representative, but the position data (b1, p1, xn, yn, zn) measured by the wireless module is transmitted to the receiving / processing device 3. Then, in the receiving / processing device 3, as shown on the screen of the display device 2, based on the position data, a motion capture for a human motion is performed without performing any special arithmetic processing.
[0050]
Here, the position measurement of the wireless module in the motion capture system using GPS positioning will be described.
[0051]
The position measurement by the GPS positioning uses radio waves transmitted at time t0 from at least four GPS satellites ST1 to ST4 whose spatial positions are known. Therefore, if the pseudo distances between each satellite and the radio module are d1, d2, d3, and d4, the speed of light is c, and the time error of the radio module with respect to the time of the GPS satellite is δt,
t1 = t0 + d1 / c + δt
t2 = t0 + d2 / c + δt
t3 = t0 + d3 / c + δt
t4 = t0 + d4 / c + δt
Is established, the arrival time differences Δt1, Δt2, Δt3, and Δt4 of the radio waves are simultaneously measured for the four GPS satellites. Δti = ti−t0. Based on the measured Δti, pseudo distances d1, d2, d3, and d4 are calculated.
[0052]
Next, the positions of the four GPS satellites at time t0 are calculated by calculating orbit information from the transmitted radio waves, and the pseudo distance to the wireless module is defined as a radius based on the calculated positions of the four GPS satellites. Ask for a spherical shell. The receiving position (xn, yn, zn) of the wireless module and the time error δt are determined so that the four spherical shells intersect at one point. When five or more GPS satellites are used, the minimum error point is determined by the least square method.
[0053]
When the receiving position related to the wireless module is specified in this way, the wireless module generates position data (g1, p1, xn, yn, zn) including the receiving position, and receives the position data. It is transmitted to the processing device 3. The subsequent motion capture processing is the same as in the case of the motion capture system shown in FIGS. 1 and 2, and a description thereof will be omitted.
[0054]
Even in the motion capture system using GPS positioning described here, the position coordinates of the main points according to the movement of the human are obtained by the wireless module mounted on the human body, and the position coordinates are used as they are for the motion capture processing. This eliminates the need for performing motion capture by complicated image processing.
[0055]
In the motion capture system using GPS positioning, it can also be realized by incorporating a GPS positioning system in each wireless module, obtaining position data for each wireless module, and transmitting the position data to the receiving / processing device 3. However, in this method, the processing load on the wireless module itself increases, and depending on the GPS positioning method, it takes time to specify the position, and some methods are not suitable for real-time processing. It is also possible to sequentially accumulate information necessary for generating position data, such as arrival time information and their orbit information, and to collectively generate position data for each wireless module after the measurement is completed. In this case, these pieces of information may be stored in a storage device on the human body, or may be transmitted to the receiving / processing device 3 and stored.
[0056]
【The invention's effect】
As described above, according to the present invention, the wireless module mounted on the target object creates position data of the wireless module itself based on the plurality of received measurement radio waves, and the position data according to the movement of the target object. Therefore, the position data includes three-dimensional coordinate values, so that accurate three-dimensional motion capture can be performed.
[0057]
In addition, unlike a motion capture system using a point light source, radio waves are used for distance positioning, so that motion capture can be performed without being affected by the background, even outdoors, and even if there is undulation in the implementation location. It can be carried out.
[0058]
Then, since the position data generated for each wireless module includes the position coordinate value and the wireless module identification number, the position data can be directly used as a three-dimensional coordinate value in the motion capture processing, and even if there are a plurality of target objects. In addition, even when a large number of wireless modules are mounted, the motion of each main point on the target object can be accurately three-dimensionally captured.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining an outline of a motion shock capture system according to an embodiment.
FIG. 2 is a diagram illustrating a capture principle of a motion-shot capture system according to the present embodiment.
FIG. 3 is a diagram illustrating position information given to a wireless module.
FIG. 4 is a diagram illustrating a block configuration of a wireless module mounted on a human body to be captured;
FIG. 5 is a diagram illustrating a block configuration of a motion-moun capture device that performs motion-moun capture processing based on position data information transmitted from a wireless module.
FIG. 6 is a diagram illustrating an embodiment in which GPS positioning is applied to a motion shock capture system.
FIG. 7 is a diagram illustrating a conventional motion shock capture system.
FIG. 8 is a diagram for describing an example of image display obtained by a conventional motion-shot capture system.
[Explanation of symbols]
1. Camera
2 ... Display device
3. Receiving / processing device
4: Measurement radio transmitter
5, 9… RF receiver
6 ... Reception signal processing device
7, 11 ... storage device
8 ... RF transmitter
10 Position data processing device
12 ... Motion Morning Capture Controller
Mn: Wireless module
RF1 to RF3: Reference signal generator
ST1-ST4 ... GPS satellites

Claims (12)

Receiving means attached to a moving capture target object, simultaneously receiving a plurality of different measurement radio waves transmitted from different radio wave sources,
Measuring means for measuring time according to each of the received measurement radio waves,
Based on the measured time and the position information of the radio wave source, calculate the position of the receiving means, position processing means to generate position data,
Motion capture processing means for performing a motion capture of the receiving means based on the position data,
Motion capture system having 2. The motion capture system according to claim 1, wherein the measurement radio waves are radio waves simultaneously transmitted from at least three reference signal generators installed at locations separated from each other. 3. The motion capture system according to claim 1, wherein the measurement radio waves are radio waves transmitted from at least four GPS satellites. The motion capture system according to claim 2, further comprising a wireless module that includes at least the receiving unit and is mounted on the capture target object. The motion capture system according to claim 4, wherein the wireless module includes the measurement unit, and transmits the time information to the position processing unit wirelessly. The motion capture system according to claim 4, wherein the wireless module includes the measurement unit and the position processing unit, and transmits the position data to the motion capture processing unit wirelessly. The wireless module has storage means,
The motion capture system according to claim 4, wherein the time and the position information of the radio wave source or the position data are temporarily stored in the storage unit. The motion capture system according to any one of claims 4 to 7, wherein the plurality of wireless modules are mounted on the capture target object at locations separated from each other. 9. The motion capture system according to claim 8, wherein the position data created by the wireless module is transmitted to the motion capture processing unit in a lump. 9. The motion capture system according to claim 8, wherein the time information and the position information of the radio wave source created by the wireless module are transmitted to the position processing unit in a lump. The motion capture system according to claim 8, wherein the position data includes a position coordinate value and identification information related to the receiving unit. The position coordinate value is obtained from the measured time, the arrival time difference of the measurement radio wave to the receiving means is calculated, a pseudorange is calculated based on the arrival time difference and the speed of light, and the pseudorange and the radio wave source are calculated. The motion capture system according to claim 11, wherein the motion capture system is calculated from the position information.

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