JP2008058102A - Head motion tracker device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a head motion tracker device with an auxiliary function for accurately calculating the position of a head part even when accurate measurement is impossible because of magnetostriction, etc. occurring in an AC magnetic field or measurement through stereoscopic viewing is impossible. <P>SOLUTION: The head motion tracker device 1 includes a main head-part information calculation part 22 calculating relative head-part information of the first kind by means of a motion tracker, and a first relative head-part information storage part 42 for storing therein the head-part information of the first kind. The device 1 includes a movable body sensor 4 for detecting acceleration, a head-part sensor 6 for detecting acceleration, a head-part velocity information calculation part 24 calculating head-part velocity information based on the head-part information of the first kind, an auxiliary head-part information calculation part 23 calculating relative head-part information of the second kind based on the acceleration detected from the sensors 4 and 6, the velocity information, and the head-part information of the first kind, and a switching part 29 for causing the calculation part 23 to calculate the head-part information of the second kind when the head-part information of the first kind obtained by the calculation part 22 is inappropriate. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a head motion tracker device (hereinafter also referred to as an HMT device) for measuring a passenger's head position with respect to a reference coordinate set on a moving body. The present invention is used for, for example, an HMT device that detects a current position (that is, a current head position) of a helmet with a head-mounted display device used in a moving body such as a game machine or a vehicle.

  For example, in a rescue operation by a rescue flying boat, by locking the aiming image displayed by the helmet with a head-mounted display device and the rescue target so as not to lose sight of the found rescue target, Calculating the position of the locked rescue target has been done. At this time, in order to calculate the position of the rescue target, in addition to the latitude, longitude, altitude, and attitude of the flying object (rescue flying boat), the pilot head position relative to the reference coordinates set on the flying object is measured. ing. For this purpose, an HMT apparatus is used.

As such a conventional HMT device, for example, an AC magnetic system HMT can be cited (for example, see Patent Document 1). FIG. 14 is a diagram showing a schematic configuration of an AC magnetic system HMT attached to the flying object 130. The HMT 100 is fixed to a magnetic source 102 that generates an alternating magnetic field, a helmet 110 with a head-mounted display device that a pilot 103 sitting on a seat 130a wears on the head, and a helmet 110 with a head-mounted display device. The magnetic sensor 107 includes a control unit 120 that controls the magnetic source 102 and the magnetic sensor 107 and has a function of calculating the position of the magnetic sensor 107 based on magnetic data detected by the magnetic sensor 107.
Therefore, according to the HMT 100, an alternating magnetic field generated by the magnetic source 102 causes a magnetic change (magnetic data having a magnitude and a direction) unique to each position at each point in the space. At this time, reference coordinates serving as a reference for the position with respect to the flying object 130 are determined in advance and stored in the control unit 120. X axis).

  Thereby, by comparing the magnetic data detected by the magnetic sensor 107 with the magnetic data of each point in the space, the position information of the current position of the magnetic sensor 107 X, Y, Z is obtained, and the head-mounted type The head position relative to the reference coordinates of the head of the pilot 103 wearing the helmet 110 with display device is calculated.

In addition, an optical HMT device is disclosed in which a plurality of reflectors are attached to a helmet with a head-mounted display device and the reflected light is monitored by a camera device when light is emitted from a light source (see, for example, Patent Document 2). ). There is also an HMT device that the applicant has applied for earlier (Japanese Patent Application No. 2005-106418). Specifically, on the outer peripheral surface of the helmet with a head-mounted display device, as an optical marker group, LEDs (light emitting diodes) are attached at three locations so as to be separated from each other, and the relative positions of these three LEDs The relationship is stored in advance in the control unit. Then, these three LEDs are photographed simultaneously by two cameras that can be viewed in stereo and have a fixed installation location, so that the relative positional relationship of the current three LEDs is based on the so-called triangulation principle. Is measuring. If the position of the three points (position of three LEDs) fixed to the head-mounted display-equipped helmet can be specified, the position and orientation (angle) of the head-mounted display-equipped helmet can be specified. The movement distance amount and the movement angle amount of the helmet with a head-mounted display device with respect to the reference coordinates are calculated.
JP 2002-81904 A JP-T 9-506194

  However, in the AC magnetic HMT 100, when a conductive material such as a metal is present around the magnetic source 102 or the magnetic sensor 107, the magnetic field is generated in the AC magnetic field due to the influence of the eddy current generated in the conductive material. Distortion has occurred, making it difficult to specify the position of the magnetic sensor 107 with high accuracy.

  On the other hand, in the optical HMT device, it is necessary to continue observing the optical marker group with the camera device. However, when the position of the helmet with a head-mounted display device changes greatly, the position of the optical marker and the camera device Since the optical marker may deviate from the field of view of the camera device in relation to the installation location, it may be impossible to perform stereo measurement.

  Therefore, the present invention can also be applied to a moving body when magnetostriction occurs in an AC magnetic field in an AC magnetic type HMT and accurate measurement cannot be performed, or in the optical type HMT device, measurement by stereo vision cannot be performed. It is an object of the present invention to provide a head motion tracker device including an auxiliary mechanism that can accurately calculate a head position with respect to set reference coordinates.

  A head motion tracker device according to a first aspect of the present invention, which has been made to solve the above problems, includes an optical motion tracker, and a position of a passenger's head relative to a reference coordinate set on a moving body by the optical motion tracker. 1st relative head information which memorize | stores at least 2 1st relative head information calculated in different time in the head motion tracker apparatus provided with the main head information calculation part which calculates the 1st relative head information containing A storage unit, a moving body sensor that is attached to the moving body and detects acceleration acting on the moving body, and a head that is attached to the head of the passenger and detects acceleration acting on the head Head speed information calculation that calculates head speed information including the head speed of the occupant based on the head sensor and the at least two first relative head information A second relative position including a passenger's head position with respect to the reference coordinates based on the acceleration detected from the moving body sensor and the head sensor, and the head speed information and the first relative head information. When the relative head information calculation unit for calculating the head information and the first relative head information by the main head information calculation unit are inappropriate, the secondary head information calculation unit calculates the second relative head information. And a switching unit for calculating.

  Here, the “optical motion tracker” refers to an object (for example, a helmet with a head-mounted display device) whose motion is to be detected, an optical material such as a light emitter (lamp, LED, etc.), a reflector, and a phosphor. A motion tracker that can track the movement of an object by attaching a marker and detecting the position of the optical marker group sequentially by arranging optical detection means such as a camera device that optically detects the optical marker group. I mean.

  In addition, “moving body sensor” and “head sensor” are those in which three axes are defined in the sensor itself, and acceleration in three axis directions with reference to these three axes can be detected. An acceleration sensor is used. The head sensor detects movement information obtained by combining the movement of the head and the movement of the moving body in the moving body.

  In addition, “when the first relative head information by the main head information calculation unit is inappropriate” by the head motion tracker device of the first invention means that the first relative head by the main head information calculation unit is accurate. When information is not obtained, or when the first relative head information is not obtained. Specifically, in the optical motion tracker, it means a case where optical measurement cannot be performed because the optical marker moves out of the field of view of an optical detection means such as a camera device.

  Next, a head motion tracker device according to a second aspect of the present invention includes a magnetic motion tracker and a first relative head including a passenger's head position relative to a reference coordinate set on a moving body by the magnetic motion tracker. In a head motion tracker device including a main head information calculation unit that calculates information, a first relative head information storage unit that stores at least two first relative head information calculated at different times, and the movement A moving body sensor that is attached to the body and detects acceleration acting on the moving body; a head sensor that is mounted on the head of the passenger and detects acceleration acting on the head; and Based on two pieces of first relative head information, a head speed information calculation unit that calculates head speed information including the head speed of the occupant, the mobile body sensor, and A sub-head that calculates second relative head information including the head position of the passenger with respect to the reference coordinates based on the acceleration detected from the head sensor, the head speed information, and the first relative head information. And a switching unit that causes the sub head information calculation unit to calculate the second relative head information when the first relative head information by the main head information calculation unit is inappropriate. I am doing so.

  Here, the “magnetic motion tracker” means that a magnetic sensor is attached to an object whose movement is to be detected, and an alternating magnetic field is generated by a magnetic source to the space, so that the magnetic sensor can detect each point in the space. This is a motion tracker that can track the movement of an object by detecting the magnetism determined by the above and obtaining the position of the magnetic sensor.

  Further, when the first relative head information by the main head information calculation unit is inappropriate by the head motion tracker device of the second aspect of the invention, an accurate first relative head by the main head information calculation unit When information is not obtained or when the first relative head information is not obtained. Specifically, in the magnetic motion tracker, when accurate magnetic data cannot be measured due to an area where there is magnetostriction or an area where magnetic mapping is not created (this area etc. is preset and stored) Say.

According to the HMT device of the first invention, the main head information calculation unit calculates the first relative head information including the passenger's head position with respect to the reference coordinates set in the moving body by the optical motion tracker. To do. On the other hand, the head speed information calculation unit can calculate head speed information including the head speed of the passenger based on at least two pieces of first relative head information. Therefore, when the mobile body sensor attached to the mobile body detects acceleration and the head sensor attached to the head of the passenger detects acceleration, the sub head information calculation unit calculates the acceleration and the head speed. Based on the information and the first relative head information, it is possible to calculate the second relative head information including the head position of the passenger.
As a result, the switching unit temporarily becomes a sub-head when the main head information calculation unit cannot calculate the first relative head information such that the optical motion tracker cannot perform stereo measurement. The partial information calculation unit can calculate the second relative head information including the head position with respect to the reference coordinates set in the moving body.
The sub head information calculation unit calculates the second relative head information based on the acceleration detected from the head sensor and the acceleration detected from the moving body sensor. The accuracy is not good due to the nature of the acceleration sensor. Therefore, when the first relative head information including the head position is calculated by the accurate main head information calculation unit and the first relative head information by the main head information calculation unit is inappropriate, As an auxiliary, second relative head information including the head position is calculated by the sub head information calculation unit. Then, when the first relative head information can be calculated again by the main head information calculation unit, the first relative head information is referred to. That is, by doing in this way, head information such as the head position with respect to the reference coordinates set in the moving body can be calculated accurately at all times.

Further, according to the HMT device of the second invention, the main head information calculation unit includes the first relative head information including the head position of the occupant with respect to the reference coordinates set on the moving body by the magnetic motion tracker. Is calculated. On the other hand, the head speed information calculation unit can calculate head speed information including the head speed of the passenger based on at least two pieces of first relative head information. Therefore, when the mobile body sensor attached to the mobile body detects acceleration and the head sensor attached to the head of the passenger detects acceleration, the sub head information calculation unit calculates the acceleration and the head speed. Based on the information and the first relative head information, it is possible to calculate the second relative head information including the head position of the passenger.
As a result, the main head information calculation unit is configured so that the main head information calculation unit becomes a region in which magnetostriction or the like is generated in the AC magnetic field in the magnetic motion tracker (a region that is preset and stored). Can be calculated accurately, the second relative head information including the head position with respect to the reference coordinates set in the moving body can be temporarily calculated by the sub head information calculating unit. That is, by doing in this way, head information such as the head position with respect to the reference coordinates set in the moving body can be calculated accurately at all times.

(Means and effects for solving other problems)
In the first aspect of the invention, the optical motion tracker includes an optical marker group attached to the head of the occupant, and a camera device that is attached to the moving body and detects a light beam from the optical marker group. May be provided.
According to the present invention, the head information of the head position can be obtained by the main head information calculation unit in the vicinity of the camera installation location in the moving body, while the sub head information calculation is performed at a location where the camera device is a blind spot. The head information of the head position can be obtained by the unit.

In the second aspect of the invention, the magnetic motion tracker is attached to the moving body and generates an AC magnetic field, and a magnetic sensor is mounted on the head of the occupant and detects the AC magnetic field. May be provided.
According to the present invention, for example, in the region where the measurement of magnetic data can be accurately measured, the head information of the head position can be obtained by the main head information calculation unit, on the other hand, due to magnetostriction or the like In the region set as the magnetic data cannot be measured accurately (the region that cannot be corrected), the head information of the head position can be obtained by the sub head information calculation unit.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments described below, and it goes without saying that various aspects are included without departing from the spirit of the present invention.

(First invention)
FIG. 1 is a diagram showing a schematic configuration of an HMT device according to an embodiment of the first invention, and FIG. 2 is a plan view of the helmet with a head-mounted display device shown in FIG. FIG. 3 is a diagram for explaining setting of reference coordinates (XYZ coordinates). Furthermore, FIG. 4 is a diagram for explaining the flow of arithmetic processing executed when the HMT device calculates second relative head information including the head position. In the present embodiment, the head position of the pilot 3 at the reference coordinates (XYZ coordinates) set for the flying object 30 is calculated.
In this embodiment (first invention), an optical motion tracker is used. That is, the HMT device 51 includes a head mounted display-equipped helmet 60 attached to the head of the pilot 3 and a camera device 52 (52a, 52b) supported by a fixed shaft 52c fixed to the flying body 30. The aircraft-side acceleration sensor 4 attached to the aircraft 30 and a control unit 70 configured by a computer.

  The helmet 60 with a head-mounted display device includes a display (not shown), a combiner 8 that leads the eyes of the pilot 3 by reflecting image display light emitted from the display, and a position and orientation (ie, , A head position acceleration sensor 6 and an LED group 57 functioning as a head marker serving as an index when measuring the head position). The pilot 3 wearing the head-mounted display-equipped helmet 60 can visually recognize the display image by the display and the front actual thing of the combiner 8.

  As shown in FIG. 2, the LED group 57 includes three (or three or more) LEDs 57a, 57b, and 57c that emit infrared light having different wavelengths and are spaced apart from each other. is there. The relative positional relationship between the three LEDs 57a, 57b, and 57c of the helmet 60 with a head-mounted display device and the attachment position with respect to the helmet 60 with a head-mounted display device are stored in advance as initial data in the memory 91. The information is stored in the unit 39. Therefore, the LEDs 57a, 57b, and 57c are fixed by calculating the positions of the three LEDs 57a, 57b, and 57c at the present time by referring to the data stored in the initial data storage unit 39 by the triangulation method described later. The position of the head-mounted helmet 60 with a display device can be specified. The LED group may emit light other than infrared light. Further, the three LEDs emit light having different wavelengths. However, the three LEDs can emit light having the same wavelength, for example, by changing the shape of each other or using a tracking method. Thus, they may be distinguished from each other.

The head-side acceleration sensor 6 detects head acceleration. Note that x ₂ y ₂ z ₂ coordinates are defined in the head-side acceleration sensor 6 itself. That, _{x 2} axis, _{y 2} axis, _{z 2} acceleration with respect to the axial direction (x2, y2, z2) is detected. At this time, since the pilot 3 is on the flying body 30 and the flying body 30 itself is moving, the acceleration (x2, y2, z2) is not only the acceleration of the head of the pilot 3, but also the acceleration of the flying body 30. It is also included.
In order to be used as a part of this embodiment, the pilot 3 needs to accurately align the reference coordinates (XYZ coordinates) and the x ₂ y ₂ z ₂ coordinates. Here, as a method of aligning the reference coordinates (XYZ coordinates) and the x ₂ y ₂ z ₂ coordinates, for example, the helmet coordinates described later are set on the helmet 60 itself with a head-mounted display device. The head-side acceleration sensor 6 is precisely aligned with the helmet coordinates and attached to the head-mounted display-equipped helmet 60, and then the pilot 3 wearing the head-mounted display-equipped helmet 60 has a specific direction. For example, a method of aligning helmet coordinates and reference coordinates (XYZ coordinates) by instructing them to face.

The flying body 30 is a cockpit on which the pilot 3 is boarded, and includes a seat 30a on which the pilot 3 is seated, a camera device 52 (52a, 52b), and the flying body side acceleration sensor 4.
The camera device 52 (52a, 52b) is composed of two cameras 52a, 52b. The shooting direction is directed to the head-mounted display-equipped helmet 60 and the three-dimensional structure of the head-mounted display-equipped helmet 60. It is installed on the ceiling of the flying body 30 via a fixed shaft 52c so as to be separated by a certain distance (d1) that can be seen.
Thereby, as shown in FIG. 3, the position of the LED 57a relative to the camera device 52 (52a, 52b) is extracted from the position of the LED 57a displayed in the image photographed by the camera device 52 (52a, 52b), Further, the direction angle (α) from the camera 52a and the direction angle (β) from the camera 52b are extracted, and the distance (d1) between the camera 52a and the camera 52b is used to calculate by the triangulation method. I can do it. The positions of the LEDs 57b and 57c, which are other head markers, with respect to the camera device 52 (52a and 52b) are calculated in the same manner.

In order to be able to express the position of each head marker at this time in spatial coordinates, the reference coordinate (which is a coordinate system that is fixed to the camera device 52 (52a, 52b) and moves together with the camera device 52 ( XYZ coordinates). The specific origin position of the reference coordinates (XYZ coordinates) and the explanation of the XYZ axis directions will be described later. The position coordinates of the LEDs 57a, 57b, 57c can be expressed as (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) based on the reference coordinates (XYZ coordinates). By specifying the position coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of the three LEDs 57a, 57b, 57c with respect to the camera device 52 (52a, 52b), the LED 57a , 57b, 57c can be specified using the coordinate system of the position of the helmet 60 with a head-mounted display device.
In other words, the current position coordinates of the three LEDs 57a, 57b, and 57c are obtained by detecting the infrared light emitted from the LED group 57 that is the head marker, so that the head with respect to the camera device 52 (52a and 52b). The current position of the helmet 60 with a part-mounted display device can be calculated and expressed in position coordinates.

The flying object side acceleration sensor 4 detects the acceleration of the flying object 30. Note that the x ₁ y ₁ z ₁ coordinates are determined for the flying object side acceleration sensor 4 itself. That, _{x 1} axis, _{y 1} axis, acceleration with respect to _{z 1} axially (x1, y1, z1) is detected. Note that the flying object side acceleration sensor 4 is mounted with its axis accurately aligned with the reference coordinates (XYZ coordinates). In addition, when it is attached without being aligned, association with reference coordinates is performed by obtaining a coordinate transformation matrix.

The control unit 70 is configured by a computer including a CPU 71, a memory 91, and the like, and performs various controls and arithmetic processes. The processing executed by the CPU of the control unit 70 will be described separately for each functional block. The motion tracker driving unit 78, the main head information calculation unit 72, the head speed information calculation unit 24, and the sub head information calculation The unit 23, the switching unit 29, and the video display unit 25 are included.
The memory 91 is formed with an area for storing various data necessary for the control unit 70 to execute processing, and includes a reference coordinate storage unit 93 that stores reference coordinates (XYZ coordinates), and a first relative A first relative head information storage unit 42 that stores head information, a time storage unit 44, a second relative head information storage unit 48 that stores second relative head information, and a current head speed are stored. A speed storage unit 47 and an initial data storage unit 39 are included.

  Here, the reference coordinates (XYZ coordinates) will be described. The reference coordinates (XYZ coordinates) are a three-dimensional coordinate system that moves together with the camera device 52 (52a, 52b). The origin and the direction of each coordinate axis can be arbitrarily determined, but the direction from the camera 52b to the camera 52a can be determined. The X axis direction is defined to be perpendicular to the X axis direction and perpendicular to the ceiling and the downward direction is the Z axis direction, perpendicular to the X axis direction and horizontal to the ceiling, and the right direction is the Y axis direction. The camera 52b is defined as the midpoint.

  Therefore, the reference coordinate storage unit 93 includes origin position information, which is information necessary for defining reference coordinates (XYZ coordinates) that are fixed to the camera device 52 (52a, 52b), and X, Y, Z. Information on the axial direction is stored. Specifically, a square grid reference coordinate scale having X, Y, and Z axis directions is arranged on the flying object 30 in advance to obtain image data, and based on the grid points of the image data, the origin position and Information on the directions of the X, Y, and Z axes is stored in association with each other. Therefore, by comparing the stored image data with other image data, the coordinate position of the object existing in the other image data is obtained.

  The motion tracker driving unit 78 outputs a command signal for turning on the LED group 57 and controls the camera device 52 (52a, 52b) to capture the LED group 75 and acquire position information based on the image data. .

The main head information calculation unit 72 performs control to calculate first head information including the head position (Xa, Ya, Za) of the pilot 3 with respect to the camera device 52 (52a, 52b) (XYZ coordinates). is there.
That is, the positions (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of the three LEDs 57a, 57b, 57c with respect to the camera device 52 (52a, 52b) are calculated, and these three By referring to the relative positional relationship of the LEDs 57a, 57b, and 57c stored in the first relative head information storage unit 42 and the data of the mounting position with respect to the head-mounted display device helmet 60, the position coordinates are referred to. , 57b and 57c are fixed, the current position of the head mounted display device helmet 60 is determined.

  In order to express the determined current position of the head-mounted display device helmet 60 using XYZ coordinates, one point on the head-mounted display device helmet 60 is defined as a helmet reference point (P), and the helmet reference Helmet coordinates that set the two directions starting from the point as the helmet reference direction (M and N) are set. In the present embodiment, as shown in FIG. 2, the position of the LED 57a is designated as the helmet reference point (P), and the front direction of the head-mounted display device helmet 60 and the vertical direction thereof as the helmet reference direction (M and N). Will be specified. Thereby, the current position of the head mounted display device helmet 60 can be expressed using the position coordinates (X, Y, Z) of the helmet reference point (P).

  That is, the main head information calculation unit 22 calculates the positions (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of the three LEDs 57a, 57b, 57c, and based on this Then, the position (X, Y, Z) of the helmet reference point (P) is calculated as the head position (Xa, Ya, Za). Note that the first relative head information including the head position (Xa, Ya, Za) is stored and accumulated in the first relative head information storage unit 42.

The head speed information calculation unit 24 performs control to calculate head speed information including the head speed of the pilot 3 based on the first relative head information stored in the first relative head information storage unit 42. Is. It is necessary to calculate the speed in order to calculate the second relative head information based on the acceleration detected from the flying body side acceleration sensor 4 and the head side acceleration sensor 6 in the sub head information calculation unit 23 described later. There is an initial speed at this time. For example, when integrating the acceleration from time t ₂ to time t ₃ , the speed (initial speed) at time t ₂ is required. Therefore, the head speed information calculation unit 24 calculates the head position (Xa, Ya, Za) stored at time t ₁ (note that time advances in the order of t ₁ → t ₂ → t ₃ ). head position stored in the time _{t 2,} (Xa, Ya, Za) from the, by calculating the average speed from the time _{t 1} to time _{t 2,} the sub head information calculating unit 23 of the time _{t 2} Head speed information including the head speed of the pilot 3 to be used as the speed (initial speed) is calculated.

The sub head information calculation unit 23 calculates the head position of the pilot 3 based on the acceleration (x1, y1, z1) and acceleration (x2, y2, z2), the head speed information, and the first relative head information. Control for calculating second relative head information including (Xb, Yb, Zb) is performed. For example, first, aircraft acceleration sensor 4 detects time _{t 3} of the acceleration and (x1, y1, z1), and the acceleration time detected by the head side acceleration sensor _{6 t 3 (x2, y2,} z2) From these differences, acceleration differences (Δx, Δy, Δz) are calculated. That is, by calculating the difference, the acceleration of the flying object 30 is eliminated, and the acceleration of only the head is obtained. Then, using a head speed information as the speed of the time t _2, the acceleration difference (Δx, Δy, Δz) by integral operation to the current head speed to calculate the current head speed time t ₃ It is stored in the speed storage unit 48. Further, by integrating the current head speed at time t ₃ , the moving distance amount (ΔX, ΔY, ΔZ) of the head position from the head position (Xa, Ya, Za) stored at time t _2. Is calculated. Finally, the stored head position in time _{t 2 (Xa, Ya, Za} ) moving distance of the head located in (ΔX, ΔY, ΔZ) by adding the head position (Xb, Yb, Zb ) Including the second relative head information, and the second relative head information storage unit 47 stores the second relative head information. Thereafter, in some cases, based on the acceleration (x1, y1, z1) and acceleration (x2, y2, z2) and the stored current head speed and second relative head information, the head position of the pilot 3 The second relative head information including (Xb, Yb, Zb) is calculated.

  The switching unit 79 performs control to switch between the calculation by the main head information calculation unit 72 and the calculation by the sub head information calculation unit 23. Specifically, it is determined whether or not the LED group 57 can be detected by the camera device 52 (52a, 52b). When the LED group 57 can be detected, the first relative head information is output. Switch to output head information.

  The video display unit 25 performs control to emit video display light based on the first relative head information or the second relative head information. As a result, the pilot 3 can visually recognize the display image displayed on the display.

(Operation of the head motion tracker)
Next, a measurement operation for measuring the head position by the head motion tracker device 51 will be described. 5 to 7 are flowcharts for explaining the measurement operation by the head motion tracker device 51.

First, in the process of step S101, it is determined whether or not the flying object 30 is moving. When it is determined that the flying object 30 is not moving, this flowchart is ended.
On the other hand, when it is determined that the flying object is moving, t _{n + 1} is stored in the time storage unit 44 so as to be updated to t _{n + 1 at} time t _n in the process of step S102.

  Next, in the process of step S <b> 103, the main head information calculation unit 72 uses the image data detected from the camera device 52 and the head position (Xa, Ya with respect to the reference coordinates (XYZ coordinates) set on the flying object 30. , Za). That is, the first relative head information including the head position (Xa, Ya, Za) with respect to the reference coordinates set in the flying object 30 is calculated.

Next, in the process of step S104, first relative head information including the head position (Xa, Ya, Za) is output. That is, the head position with respect to the reference coordinates set in the flying object 30 is measured.
Next, in the process of step S <b> 105, first relative head information including the head position (Xa, Ya, Za) is stored in the first relative head information storage unit 42. At this time, the head positions (Xa, Ya, Za) stored in the first relative head information storage unit 42 are accumulated every time the process of step S105 is executed.

  Next, in the process of step S106, the switching unit 79 determines whether or not the LED group 57 can be detected by the camera device 52 (52a, 52b). When it is determined that the LED group 57 can be detected, the process returns to step S101. That is, the processes of steps S101 to S105 are repeated until it is determined that the LED group 57 cannot be detected or the flying object 30 is not moving.

On the other hand, when it is determined that the LED group 57 cannot be detected, s ₀ is stored in the time storage unit 44 so as to be updated to s _{0 at} time s _m in the process of step S107.

Next, in the process of step S108, the head-side acceleration sensor 6 outputs the head acceleration (x2, y2, z2). In the process of step S109, the flying object side acceleration sensor 4 outputs the flying object acceleration (x1, y1, z1).
Note that the processes in steps S108 and S109 are performed simultaneously.

Next, in the process in step S110, the head velocity information calculation unit 24, the first relative first relative head of the head information and time t _{n + 1} time stored in the first relative head information storage unit 42 t _n Based on the head information, head speed information including the head speed of the pilot 3 is calculated. That is, the head speed information to be used as the speed at time t _{n + 1} is calculated.

Next, in the process of step S111, the sub head information calculation unit 23 calculates the acceleration (x1, y1, z1) and acceleration (x2, y2, z2) at time s ₀ and the calculated head speed information. Based on this, the current head speed at time s ₀ is calculated.
Specifically, from the difference between the acceleration (x1, y1, z1) detected by the flying object side acceleration sensor 4 and the acceleration (x2, y2, z2) detected by the head side acceleration sensor 6, an acceleration difference ( Δx, Δy, Δz) is calculated. Next, the head speed information is used as the speed at time t _{n + 1} and the acceleration difference (Δx, Δy, Δz) is integrated to calculate the current head speed at time s ₀ . At this time, the current head speed is stored in the speed storage unit 48.

Next, in the process of step S112, the sub head information calculation unit 23 calculates the head position at time s ₀ based on the current head speed at time s ₀ and the first relative head information at time t _{n + 1} . (Xb, Yb, Zb) is calculated. That is, the second relative head information including the head position (Xb, Yb, Zb) with respect to the reference coordinates set for the flying object 30 is calculated.
Specifically, first, by integrating the current head speed at time s ₀ , the movement distance amount (ΔX of the head position from the head position (Xa, Ya, Za) stored at time t _{n + 1} is calculated. , ΔY, ΔZ). Next, the head position (Xb) at time s _{0 is} obtained by adding the movement distance amount (ΔX, ΔY, ΔZ) of the head position to the head position (Xa, Ya, Za) stored at time t _{n + 1.} , Yb, Zb) is calculated.

Next, in the process of step S112, and it outputs a second relative head information including a head position of the time _{s 0 (Xb, Yb, Zb} ). That is, the head position (Xb, Yb, Zb) with respect to the reference coordinates set on the flying object 30 is measured.
Next, in the process of step S <b> 114, the second relative head information including the head position (Xb, Yb, Zb) is stored in the second relative head information storage unit 47.

  Next, in the process of step S115, the switching unit 79 determines whether the LED group 57 can be detected by the camera device 52 (52a, 52b). When it is determined that the LED group 57 can be detected, the process returns to step S101.

On the other hand, when it is determined that the LED group 57 cannot be detected, s _{m + 1} is stored in the time storage unit 44 so that s _{m + 1} is updated at time s _m in the process of step S116.

Next, in the processing of step S117, the head-side acceleration sensor 6 outputs head acceleration (x2, y2, z2). In the process of step S118, the flying object side acceleration sensor 4 outputs the flying object acceleration (x1, y1, z1).
Note that the processes in steps S117 and S118 are performed simultaneously.

Next, in the process of step S119, the sub head information calculation unit 23 calculates the acceleration (x1, y1, z1) and acceleration (x2, y2, z2) at time s _{m + 1} , the current head speed at time s _m , and Based on the head position (Xb, Yb, Zb), the current head speed at time sm _{+ 1} is calculated.
Specifically, from the difference between the acceleration (x1, y1, z1) detected by the flying object side acceleration sensor 4 and the acceleration (x2, y2, z2) detected by the head side acceleration sensor 6, an acceleration difference ( Δx, Δy, Δz) is calculated. Next, using the current head speed time s _m, the acceleration difference (Δx, Δy, Δz) by integral operation, and calculates the current head speed time s _{m + 1.} At this time, the current head speed is stored in the speed storage unit 48. The current head speed stored in the speed storage unit 48 is updated each time the process of step S119 is executed.

Next, in the process of step S120, the sub-head information calculation section 23 is now a head speed of time _{s m + 1,} based on the second relative head information time _{s m,} the head position of the time _{s m + 1} (Xb, Yb, Zb) is calculated. That is, the second relative head information including the head position (Xb, Yb, Zb) with respect to the reference coordinates set for the flying object 30 is calculated.
Specifically, first, by integrating the current head speed at time s _{m + 1} , the movement distance amount (ΔX of the head position from the head position (Xb, Yb, Zb) stored at time s _m is calculated. , ΔY, ΔZ). Then, the stored head position in time _{s m (Xb, Yb, Zb} ) the moving distance of the head located in (ΔX, ΔY, ΔZ) by adding the head position of the time _{s m + 1} (Xb , Yb, Zb) is calculated.

  Next, in the process of step S121, second relative head information including the head position (Xb, Yb, Zb) is output. That is, the head position (Xb, Yb, Zb) with respect to the reference coordinates set on the flying object 30 is measured.

  Next, in the process of step S122, the second relative head information including the head position (Xb, Yb, Zb) is stored in the second relative head information storage unit 47. At this time, the head position (Xb, Yb, Zb) stored in the second relative head information storage unit 47 is updated each time the process of step S122 is executed.

Next, in the process of step S123, the switching unit 79 determines whether the LED group 57 can be detected by the camera device 52 (52a, 52b). When it is determined that the LED group 57 cannot be detected, the process returns to step S116. That is, the processing of step S116 to step S122 is repeated until it is determined that the LED group 57 can be detected.
On the other hand, when it is determined that the LED group 57 can be detected, the process returns to step S101.

As described above, according to the HMT device 51 of the first invention, the main head information calculation unit 72 includes the head position of the pilot 3 with respect to the reference coordinates set in the flying object 30 by the optical motion tracker. First relative head information is calculated. On the other hand, the head speed information calculation unit 24 calculates head speed information including the head speed of the pilot 3 based on the first relative head information stored in the first relative head information storage unit 42. Can do. Therefore, when the flying object side acceleration sensor 4 attached to the flying object 30 detects acceleration and the head side acceleration sensor 6 attached to the head of the pilot 3 detects acceleration, the sub head information calculation unit 23 The second relative head information including the head position of the pilot 3 can be calculated based on the acceleration, the head speed information, and the first relative head information.
As a result, the switching unit 79 temporarily enters the state in which the main head information calculation unit 72 cannot calculate the first relative head information such that the optical motion tracker cannot perform stereo measurement. The sub head information calculation unit 23 can calculate the second relative head information including the head position with respect to the reference coordinates set for the flying object 30.
In this way, the head information of the head position relative to the reference coordinates set in the flying object 30 can be calculated with high accuracy at all times.

  In the HMT device 51 described above, the LED group 57 has been configured to emit infrared light having different wavelengths. However, all the LEDs emit light having the same wavelength, for example, Each LED can be identified by using a method of individually tracking and distinguishing LEDs (for example, an LED identification method described in Japanese Patent Application No. 2005-106458) or by changing the shape of each LED. It is good also as such a structure. The LED group may be configured to emit light other than infrared light.

(Second invention)
FIG. 8 is a diagram showing a schematic configuration of an HMT apparatus according to an embodiment of the second invention. FIG. 9 is a diagram for explaining the setting of reference coordinates (XYZ coordinates), and FIG. 10 is a calculation process executed when the HMT device calculates second relative head information including the head position. It is a figure explaining the flow of. In the present embodiment (second invention), a magnetic motion tracker is used. That is, the HMT device 1 includes a head mounted display-equipped helmet 10 attached to the head of the pilot 3, a magnetic source 2 and a flying object side acceleration sensor 4 attached to the flying object 30, and a computer. And a control unit 20.

The flying body 30 is a cockpit on which the pilot 3 is boarded, and includes a seat 30 a on which the pilot 3 is seated, the magnetic source 2, and the flying body side acceleration sensor 4.
The magnetic source 2 generates an alternating magnetic field, and when the magnetic source 2 is driven, each point in the cockpit space has a magnetic change (magnetic data having a magnitude and a direction) specific to each position. Will occur. As will be described later, by defining the reference coordinates (XYZ coordinates) with the position of the magnetic source 2 as the origin, unique magnetic data is associated with each coordinate. Further, the reference coordinates (XYZ coordinates) are set on the flying object 30 and become coordinates that move together with the flying object 30.

The flying object side acceleration sensor 4 detects the acceleration of the flying object 30. Note that the x ₁ y ₁ z ₁ coordinates are determined for the flying object side acceleration sensor 4 itself. That, _{x 1} axis, _{y 1} axis, acceleration with respect to _{z 1} axially (x1, y1, z1) is detected. Note that the flying object side acceleration sensor 4 is mounted with its axis accurately aligned with the reference coordinates (XYZ coordinates).

  The helmet 10 with a head-mounted display device includes a display (not shown), a combiner 8 that leads the eyes of the pilot 3 by reflecting image display light emitted from the display, a magnetic sensor 7, A head-side acceleration sensor 6. In addition, although the coordinates (helmet coordinates) are determined for the head-mounted display-equipped helmet 10 itself, the position of the magnetic source 2 is set to the origin by the pilot 3 to be used as a part of this embodiment. It is necessary to accurately align with the reference coordinates (XYZ coordinates). About the method of aligning the helmet coordinates of the helmet 10 with a head-mounted display device itself and the reference coordinates (XYZ coordinates), a widely used general method (for example, a helmet with a head-mounted display device is used). This is performed by a method of performing axis alignment by instructing the mounted pilot to face a specific direction.

  The magnetic sensor 7 has a three-axis pickup coil, and detects the magnitude and direction of the magnetism specific to the position where the magnetic sensor 7 exists. The detected magnetic data is used for calculating the first relative head information.

The head-side acceleration sensor 6 detects head acceleration. Note that x ₂ y ₂ z ₂ coordinates are defined in the head-side acceleration sensor 6 itself. That, _{x 2} axis, _{y 2} axis, _{z 2} acceleration with respect to the axial direction (x2, y2, z2) is detected. At this time, since the pilot 3 is on the flying body 30 and the flying body 30 itself is moving, the acceleration (x2, y2, z2) is not only the acceleration of the head of the pilot 3, but also the acceleration of the flying body 30. It is also included.
The head-side acceleration sensor 6 is attached to the helmet 10 with a head-mounted display device, accurately aligned with the helmet coordinates set in the helmet 10 with a head-mounted display device.

  The control unit 20 is configured by a computer including a CPU 21, a memory 41, and the like, and performs various controls and arithmetic processes. Processing executed by the CPU 21 of the control unit 20 will be described separately for each functional block. The motion tracker driving unit 28, the main head information calculation unit 22, the sub head information calculation unit 23, and the head speed information calculation The unit 24, the switching unit 29, and the video display unit 25 are included.

The memory 41 is formed with an area for storing various data necessary for the control unit 20 to execute processing, and a reference coordinate storage unit 43 that stores reference coordinates (XYZ coordinates), and a first relative A first relative head information storage unit 42 that stores head information, a time storage unit 44, a second relative head information storage unit 48 that stores second relative head information, and a current head speed are stored. A speed storage unit 47.
Here, the reference coordinates (XYZ coordinates) will be described. The reference coordinate (XYZ coordinate) is a three-dimensional coordinate system that moves with the magnetic source 2 and can arbitrarily determine the origin and the direction of each coordinate axis. In this embodiment, as shown in FIG. Defined as X-axis direction, perpendicular to the X-axis direction, perpendicular to the ceiling and downward direction as the Z-axis direction, perpendicular to the X-axis direction and horizontal to the ceiling, and rightward direction as the Y-axis direction. It is defined as 2. At this time, for example, by collecting magnetic data at each position to create a magnetic mapping, unique magnetic data is associated with each coordinate.
In addition, the memory 41 has a boundary between a region in the cockpit space where magnetic mapping can be created and a region where magnetostriction or the like is generated and cannot be corrected (magnetic mapping cannot be created) for the magnetic field generated by the magnetic source 2. A boundary information storage area 46 for storing information is included. The boundary information is determined in advance by detecting an uncorrectable region by collecting magnetic data at each position by the magnetic sensor 7.

The motion tracker driving unit 28 outputs a command signal that causes the magnetic source 2 to generate an alternating magnetic field, and controls the magnetic sensor 7 to detect magnetic data.
The main head information calculation unit 22 applies the magnetic data output from the magnetic sensor 7 to the magnetic mapping stored in the reference coordinate storage unit 43 to thereby obtain the position information (Xa, Ya, Za) in the XYZ coordinates. The calculation to calculate is performed. That is, the first relative head information including the head position (Xa, Ya, Za) is calculated. Note that the first relative head information including the head position (Xa, Ya, Za) is stored and accumulated in the first relative head information storage unit 42.

The head speed information calculation unit 24 performs control to calculate head speed information including the head speed of the pilot 3 based on the first relative head information stored in the first relative head information storage unit 42. Is. It is necessary to calculate the speed in order to calculate the second relative head information based on the acceleration detected from the flying body side acceleration sensor 4 and the head side acceleration sensor 6 in the sub head information calculation unit 23 described later. There is an initial speed at this time. For example, when integrating the acceleration from time t ₂ to time t ₃ , the speed (initial speed) at time t ₂ is required. Therefore, the head velocity information calculation unit 24, the stored head position in time _{t 1 (Xa, Ya, Za} ) and the stored head position in time _{t 2 (Xa, Ya, Za} ) from the, The head speed including the head speed of the pilot 3 to be used as the speed (initial speed) at the time t ₂ by the sub head information calculation unit 23 by calculating the average speed from the time t ₁ to the time t _2. Calculate information.

The sub head information calculation unit 23 calculates the head position of the pilot 3 based on the acceleration (x1, y1, z1) and acceleration (x2, y2, z2), the head speed information, and the first relative head information. Control for calculating second relative head information including (Xb, Yb, Zb) is performed. For example, first, aircraft acceleration sensor 4 detects time _{t 3} of the acceleration and (x1, y1, z1), and the acceleration time detected by the head side acceleration sensor _{6 t 3 (x2, y2,} z2) From these differences, acceleration differences (Δx, Δy, Δz) are calculated. That is, by calculating the difference, the acceleration of the flying object 30 is eliminated, and the acceleration of only the head is obtained. Then, using a head speed information as the speed of the time t _2, the acceleration difference (Δx, Δy, Δz) by integral operation to the current head speed to calculate the current head speed time t ₃ It is stored in the speed storage unit 48. Further, by integrating the current head speed at time t ₃ , the moving distance amount (ΔX, ΔY, ΔZ) of the head position from the head position (Xa, Ya, Za) stored at time t _2. Is calculated. Finally, the stored head position in time _{t 2 (Xa, Ya, Za} ) moving distance of the head located in (ΔX, ΔY, ΔZ) by adding the head position (Xb, Yb, Zb ) Including the second relative head information, and the second relative head information storage unit 47 stores the second relative head information. Thereafter, in some cases, based on the acceleration (x1, y1, z1) and acceleration (x2, y2, z2) and the stored current head speed and second relative head information, the head position of the pilot 3 The second relative head information including (Xb, Yb, Zb) is calculated.

  The switching unit 29 refers to the boundary information storage area 46 and performs control to switch between calculation by the main head information calculation unit 22 and calculation by the sub head information calculation unit 23. is there. Specifically, it is determined whether or not the magnetic sensor 7 is in an uncorrectable region, and when it is determined that the magnetic sensor 7 is not in an uncorrectable region, the first relative head information is output, On the other hand, when it determines with it being in the area | region which cannot be correct | amended, control which switches so that 2nd relative head information is output is performed.

  The video display unit 25 performs control to emit video display light based on the first relative head information or the second relative head information. As a result, the pilot 3 can visually recognize the display image displayed on the display.

(Operation of the head motion tracker)
Next, a measurement operation for measuring the head position by the head motion tracker device 1 will be described. 11 to 13 are flowcharts for explaining the measurement operation by the head motion tracker apparatus 1.

First, in the process of step S201, it is determined whether or not the flying object 30 is moving. When it is determined that the flying object 30 is not moving, this flowchart is ended.
On the other hand, when it is determined that the flying object is moving, t _{n + 1} and the time storage unit 44 are stored so as to update t _{n + 1 at} time t _n in the process of step S202.

  Next, in the process of step S <b> 203, the main head information calculation unit 22 uses the magnetic data output from the magnetic sensor 7 to determine the head position (Xa, Ya with respect to the reference coordinates (XYZ coordinates) set on the flying object 30. , Za). That is, the first relative head information including the head position (Xa, Ya, Za) with respect to the reference coordinates set in the flying object 30 is calculated.

Next, in the process of step S204, first relative head information including the head position (Xa, Ya, Za) is output. That is, the head position with respect to the reference coordinates set in the flying object 30 is measured.
Next, in the process of step S <b> 205, first relative head information including the head position (Xa, Ya, Za) is stored in the first relative head information storage unit 42. At this time, the head positions (Xa, Ya, Za) stored in the first relative head information storage unit 42 are accumulated every time the process of step S205 is executed.

  Next, in the process of step S206, the switching unit 29 refers to the boundary information in the boundary information storage area 46 and determines whether or not the magnetic sensor 7 is in an uncorrectable area. When it is determined that the magnetic sensor 7 does not exist in the uncorrectable region, the process returns to step S201. That is, the processes of steps S201 to S205 are repeated until it is determined that the magnetic sensor 7 is out of the uncorrectable area or the flying object 30 is not moving.

On the other hand, when it is determined that the magnetic sensor 7 is present in an uncorrectable region, s ₀ and the time storage unit 44 are stored so as to update s _{0 at} time s _m in the process of step S207.

Next, in the process of step S208, the head-side acceleration sensor 6 outputs head acceleration (x2, y2, z2). In the process of step S209, the flying object side acceleration sensor 4 outputs the acceleration (x1, y1, z1) of the flying object.
Note that the processes in steps S208 and S209 are executed simultaneously.

Next, in the process of step S210, the head velocity information calculation unit 24, the first relative first relative head of the head information and time t _{n + 1} time stored in the first relative head information storage unit 42 t _n Based on the head information, head speed information including the head speed of the pilot 3 is calculated. That is, the head speed information to be used as the speed at time t _{n + 1} is calculated.

Next, in the process of step S211, the sub head information calculation unit 23 calculates the acceleration (x1, y1, z1) and acceleration (x2, y2, z2) at time s ₀ and the calculated head speed information. Based on this, the current head speed at time s ₀ is calculated.
Specifically, from the difference between the acceleration (x1, y1, z1) detected by the flying object side acceleration sensor 4 and the acceleration (x2, y2, z2) detected by the head side acceleration sensor 6, an acceleration difference ( Δx, Δy, Δz) is calculated. Next, the head speed information is used as the speed at time t _{n + 1} and the acceleration difference (Δx, Δy, Δz) is integrated to calculate the current head speed at time s ₀ . At this time, the current head speed is stored in the speed storage unit 48.

Next, in the process of step S212, the sub head information calculation unit 23 calculates the head position at time s ₀ based on the current head speed at time s ₀ and the first relative head information at time t _{n + 1} . (Xb, Yb, Zb) is calculated. That is, the second relative head information including the head position (Xb, Yb, Zb) with respect to the reference coordinates set for the flying object 30 is calculated.
Specifically, first, by integrating the current head speed at time s ₀ , the movement distance amount (ΔX of the head position from the head position (Xa, Ya, Za) stored at time t _{n + 1} is calculated. , ΔY, ΔZ). Next, the head position (Xb) at time s _{0 is} obtained by adding the movement distance amount (ΔX, ΔY, ΔZ) of the head position to the head position (Xa, Ya, Za) stored at time t _{n + 1.} , Yb, Zb) is calculated.

Next, in the processing of step S212, the outputs of the second relative head information including a head position of the time _{s 0 (Xb, Yb, Zb} ). That is, the head position (Xb, Yb, Zb) with respect to the reference coordinates set on the flying object 30 is measured.
Next, in the process of step S <b> 214, the second relative head information including the head position (Xb, Yb, Zb) is stored in the second relative head information storage unit 47.

  Next, in the process of step S215, the switching unit 29 determines whether or not the magnetic sensor 7 is in an uncorrectable region. When it is determined that the magnetic sensor 7 is out of the uncorrectable area again, the process returns to step S201.

On the other hand, when the magnetic sensor 7 is determined to exist in the uncorrectable area, in the process of step S216, to update the s _{m + 1} to time s _m, and stores the s m _{+ 1} and the time memory 44.

Next, in the process of step S217, the head-side acceleration sensor 6 outputs head acceleration (x2, y2, z2). In the process of step S218, the flying object side acceleration sensor 4 outputs the flying object acceleration (x1, y1, z1).
Note that the processes in steps S217 and S218 are performed simultaneously.

Next, in the process of step S219, the sub head information calculation unit 23 calculates the acceleration (x1, y1, z1) and acceleration (x2, y2, z2) at time s _{m + 1} , the current head speed at time s _m , and Based on the head position (Xb, Yb, Zb), the current head speed at time sm _{+ 1} is calculated.
Specifically, from the difference between the acceleration (x1, y1, z1) detected by the flying object side acceleration sensor 4 and the acceleration (x2, y2, z2) detected by the head side acceleration sensor 6, an acceleration difference ( Δx, Δy, Δz) is calculated. Next, using the current head speed time s _m, the acceleration difference (Δx, Δy, Δz) by integral operation, and calculates the current head speed time s _{m + 1.} At this time, the current head speed is stored in the speed storage unit 48. The current head speed stored in the speed storage unit 48 is updated each time the process of step S219 is executed.

Next, in the process of step S220, the sub-head information calculation section 23 is now a head speed of time _{s m + 1,} based on the second relative head information time _{s m,} the head position of the time _{s m + 1} (Xb, Yb, Zb) is calculated. That is, the second relative head information including the head position (Xb, Yb, Zb) with respect to the reference coordinates set for the flying object 30 is calculated.
Specifically, first, by integrating the current head speed at time s _{m + 1} , the movement distance amount (ΔX of the head position from the head position (Xb, Yb, Zb) stored at time s _m is calculated. , ΔY, ΔZ). Then, the stored head position in time _{s m (Xb, Yb, Zb} ) the moving distance of the head located in (ΔX, ΔY, ΔZ) by adding the head position of the time _{s m + 1} (Xb , Yb, Zb) is calculated.

  Next, in the process of step S221, second relative head information including the head position (Xb, Yb, Zb) is output. That is, the head position (Xb, Yb, Zb) with respect to the reference coordinates set on the flying object 30 is measured.

  Next, in the process of step S222, the second relative head information including the head position (Xb, Yb, Zb) is stored in the second relative head information storage unit 47. At this time, the head position (Xb, Yb, Zb) stored in the second relative head information storage unit 47 is updated each time the process of step S222 is executed.

Next, in the process of step S223, the switching unit 29 determines whether or not the magnetic sensor 7 is in an uncorrectable region. If it is determined that the region exists in an uncorrectable region, the process returns to step S216. In other words, the processes in steps S216 to S222 are repeated until it is determined that the area is out of the uncorrectable area.
On the other hand, when it is determined that the magnetic sensor 7 is out of the region that cannot be corrected again, the process returns to step S201.

As described above, according to the head motion tracker device 1 of the second invention, the main head information calculation unit 22 uses the magnetic motion tracker to position the head position of the pilot 3 with respect to the reference coordinates set on the flying object 30. First relative head information including is calculated. On the other hand, the head speed information calculation unit 24 calculates head speed information including the head speed of the pilot 3 based on the first relative head information stored in the first relative head information storage unit 42. Can do. Therefore, when the flying object side acceleration sensor 4 attached to the flying object 30 detects acceleration and the head side acceleration sensor 6 attached to the head of the pilot 3 detects acceleration, the sub head information calculation unit 23 The second relative head information including the head position of the pilot 3 can be calculated based on the acceleration, the head speed information, and the first relative head information.
Thereby, the switching unit 29 temporarily stops when the main head information calculation unit 22 cannot accurately calculate the first relative head information, such that the magnetic sensor 7 exists in an uncorrectable region. In addition, the sub head information calculation unit 23 can calculate the second relative head information including the head position with respect to the reference coordinates set in the flying object 30.
In this way, the head information of the head position relative to the reference coordinates set in the flying object 30 can be calculated with high accuracy at all times.

  The present invention can be used for a head motion tracker device for measuring a head position of a crew member or the like with respect to a reference coordinate set for a flying object.

It is a figure which shows schematic structure of the head motion tracker apparatus which is one Embodiment of 1st invention. It is a top view of the helmet with a head-mounted display device shown in FIG. It is a figure for demonstrating the setting of a reference | standard coordinate (XYZ coordinate). It is a figure explaining the flow of the arithmetic processing performed when an HMT apparatus calculates the 2nd relative head information containing a head position. It is a flowchart for demonstrating the measurement operation | movement by the head motion tracker apparatus which is one Embodiment of 1st invention. It is a flowchart for demonstrating the measurement operation | movement by the head motion tracker apparatus which is one Embodiment of 1st invention. It is a flowchart for demonstrating the measurement operation | movement by the head motion tracker apparatus which is one Embodiment of 1st invention. It is a figure which shows schematic structure of the head motion tracker apparatus which is one Embodiment of 2nd invention. It is a figure for demonstrating the setting of a reference | standard coordinate (XYZ coordinate). It is a figure explaining the flow of the arithmetic processing performed when an HMT apparatus calculates the 2nd relative head information containing a head position. It is a flowchart for demonstrating the measurement operation | movement by the head motion tracker apparatus which is one Embodiment of 2nd invention. It is a flowchart for demonstrating the measurement operation | movement by the head motion tracker apparatus which is one Embodiment of 2nd invention. It is a flowchart for demonstrating the measurement operation | movement by the head motion tracker apparatus which is one Embodiment of 2nd invention. It is a figure which shows schematic structure of the conventional AC magnetic system head motion tracker.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,51 Head motion tracker apparatus 2 Magnetic source 3 Pilot 4 Aircraft side acceleration sensor 6 Head side acceleration sensor 7 Magnetic sensor 10, 60 Helmets 22 and 72 with head mounted display devices Main head information calculation part 23 Sub head Information calculation unit 24 Head speed information calculation unit 28, 78 Motion tracker drive unit 29 Switching unit 30 Aircraft 42 First relative head information storage unit 52 Camera device 57 LED group

Claims (4)

An optical motion tracker,
In the head motion tracker device comprising the main head information calculation unit for calculating the first relative head information including the head position of the occupant with respect to the reference coordinates set on the moving body by the optical system motion tracker,
A first relative head information storage unit that stores at least two pieces of first relative head information calculated at different times;
A moving body sensor that is attached to the moving body and detects acceleration acting on the moving body;
A head sensor that is mounted on the head of the passenger and detects acceleration acting on the head;
A head speed information calculating unit that calculates head speed information including the head speed of the occupant based on the at least two first relative head information;
Second relative head information including the head position of the occupant with respect to the reference coordinates based on the acceleration detected from the moving body sensor and the head sensor, the head speed information, and the first relative head information. Sub-head information calculation unit for calculating
And a switching unit that calculates second relative head information by the sub head information calculation unit when the first relative head information by the main head information calculation unit is inappropriate. Motion tracker device. The optical motion tracker includes an optical marker group mounted on the head of the occupant,
The head motion tracker device according to claim 1, further comprising: a camera device attached to the movable body and detecting a light beam from the optical marker group. Magnetic type motion tracker,
In the head motion tracker device comprising the main head information calculation unit for calculating the first relative head information including the head position of the occupant with respect to the reference coordinates set on the moving body by the magnetic motion tracker,
A first relative head information storage unit that stores at least two pieces of first relative head information calculated at different times;
A moving body sensor that is attached to the moving body and detects acceleration acting on the moving body;
A head sensor that is mounted on the head of the passenger and detects acceleration acting on the head;
A head speed information calculating unit that calculates head speed information including the head speed of the occupant based on the at least two first relative head information;
Second relative head information including the head position of the occupant with respect to the reference coordinates based on the acceleration detected from the moving body sensor and the head sensor, the head speed information, and the first relative head information. Sub-head information calculation unit for calculating
And a switching unit that calculates second relative head information by the sub head information calculation unit when the first relative head information by the main head information calculation unit is inappropriate. Motion tracker device. The magnetic type motion tracker is attached to the moving body, and generates a magnetic field that generates an alternating magnetic field.
The head motion tracker device according to claim 3, further comprising: a magnetic sensor that is mounted on the head of the passenger and detects the alternating magnetic field.

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