TW202119238A - Method for smoothing touch traces and touchable control system and electronic device using the same can smooth the touch traces while taking the dynamic response into account and simplifying calculation complexity - Google Patents
Method for smoothing touch traces and touchable control system and electronic device using the same can smooth the touch traces while taking the dynamic response into account and simplifying calculation complexity Download PDFInfo
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Abstract
Description
本發明係有關一種觸控資訊的處理方法,尤指一種可使觸控軌跡平滑化的方法。 The present invention relates to a method for processing touch information, in particular to a method for smoothing the touch track.
一般的觸控系統為了消除觸摸雜訊會對觸控掃描所獲得之觸控資料進行觸控軌跡平滑化的處理,其中,常見的觸控軌跡平滑化方法有移動平均法和非線性卡爾曼濾波運算。 In order to eliminate the touch noise, the general touch system will smooth the touch trajectory of the touch data obtained by the touch scan. Among them, the common touch trajectory smoothing methods include moving average method and nonlinear Kalman filter. Operation.
然而,由於移動平均法會濾除高頻成分而限制了觸控操作的動態速度;而非線性卡爾曼濾波(擴展卡爾曼濾波,EKF)則因牽涉到太複雜的計算而很難由低成本的觸控晶片實現即時的觸控反應。 However, because the moving average method filters out high-frequency components and limits the dynamic speed of the touch operation; while the nonlinear Kalman filter (Extended Kalman Filter, EKF) involves too complicated calculations and it is difficult to reduce the cost. The touch chip realizes real-time touch response.
為解決上述問題,本領域亟需一種新穎的觸控資訊處理機制。 In order to solve the above-mentioned problems, a novel touch information processing mechanism is urgently needed in this field.
本發明之一目的在於提供一種觸控軌跡平滑化的方法,其可在兼顧動態反應和簡化計算複雜度的情況下實現觸控軌跡的平滑化。 An object of the present invention is to provide a method for smoothing touch trajectory, which can realize smoothing of touch trajectory while taking into account dynamic response and simplifying calculation complexity.
本發明之一目的在於提供一種觸控系統,其可在兼顧動態反應和簡化計算複雜度的情況下實現觸控軌跡的平滑化。 One objective of the present invention is to provide a touch control system, which can achieve smoothing of touch trajectories while taking into account dynamic response and simplifying calculation complexity.
本發明之又一目的在於提供一種電子裝置,其觸控系統可在兼顧動態反應和簡化計算複雜度的情況下實現觸控軌跡的平滑化。 Another object of the present invention is to provide an electronic device whose touch control system can achieve smoothing of touch trajectories while taking into account dynamic response and simplifying calculation complexity.
為達到前述之目的,一種觸控軌跡平滑化的方法乃被提出,其係利用一觸控驅動電路實現,該方法包含以下步驟: In order to achieve the aforementioned purpose, a method for smoothing the touch track is proposed, which is implemented by a touch drive circuit, and the method includes the following steps:
依一目前共變異矩陣更新一在先共變異矩陣,依一目前狀態向量更新一在先狀態向量,依該在先共變異矩陣經一轉移運算的結果與一過程雜訊矩陣之和產生一共變異轉移矩陣,及依一轉移矩陣對該在先狀態向量進行一第一映射運算以產生一狀態轉移向量; Update a prior co-mutation matrix based on a current co-mutation matrix, update a prior state vector based on a current state vector, and generate co-mutation based on the sum of the prior co-mutation matrix through a transition operation and a process noise matrix A transition matrix, and performing a first mapping operation on the previous state vector according to a transition matrix to generate a state transition vector;
依一觀測雜訊矩陣及一量測雜訊矩陣對該共變異轉移矩陣進行 一第二映射運算以產生一增益矩陣; According to an observation noise matrix and a measurement noise matrix, the co-mutation transition matrix is performed A second mapping operation to generate a gain matrix;
依該狀態轉移向量及一變化向量之和更新該目前狀態向量,其中該變化向量等於該增益矩陣對一差值向量進行一第三映射運算的結果,且該差值向量等於一目前觸控位置向量與該量測雜訊矩陣對該狀態轉移向量進行一第四映射運算所產生的向量之差;以及 Update the current state vector according to the sum of the state transition vector and a change vector, where the change vector is equal to the result of a third mapping operation performed by the gain matrix on a difference vector, and the difference vector is equal to a current touch position The difference between the vector and the vector generated by the measurement noise matrix performing a fourth mapping operation on the state transition vector; and
依一單位矩陣和該增益矩陣與該量測雜訊矩陣之積的差值矩陣對該共變異轉移矩陣進行一第五映射運算以更新該目前共變異矩陣,及依該目前狀態向量產生一觸控預測位置向量。 Perform a fifth mapping operation on the co-mutation transition matrix according to an identity matrix and the difference matrix of the product of the gain matrix and the measurement noise matrix to update the current co-mutation matrix, and generate a touch according to the current state vector Control the predicted position vector.
在一實施例中,該轉移運算可表示為AP(k-1|k-1)AT,A為該轉移矩陣,且P(k-1|k-1)為該在先共變異矩陣。 In one embodiment, the transition operation can be expressed as AP(k-1|k-1) AT , A is the transition matrix, and P(k-1|k-1) is the prior co-mutation matrix.
在一實施例中,該第一映射運算可表示為,為該在先狀態向量,且為該狀態轉移向量。 In an embodiment, the first mapping operation can be expressed as , Is the prior state vector, and Is the state transition vector.
在一實施例中,該第二映射運算可表示為K=P(k|k-1)CT(R+CP(k|k-1)CT)-1,K為該增益矩陣,R為該觀測雜訊矩陣,C為該量測雜訊矩陣,且P(k|k-1)為該共變異轉移矩陣。 In an embodiment, the second mapping operation can be expressed as K=P(k|k-1)C T (R+CP(k|k-1)C T ) -1 , K is the gain matrix, R Is the observation noise matrix, C is the measurement noise matrix, and P(k|k-1) is the covariance transition matrix.
在一實施例中,該第三映射運算可表示為,該第四映射運算表示為,K為該增益矩陣,Tk為該目前觸控位置向量,C為該量測雜訊矩陣,且為該狀態轉移向量。 In an embodiment, the third mapping operation can be expressed as , The fourth mapping operation is expressed as , K is the gain matrix, T k is the current touch position vector, C is the measurement noise matrix, and Is the state transition vector.
在一實施例中,該第五映射運算可表示為P(k|k)=(I-KC)P(k|k-1),P(k|k)為該目前共變異矩陣,I為該單位矩陣,K為該增益矩陣,C為該量測雜訊矩陣,且P(k|k-1)為該共變異轉移矩陣。 In an embodiment, the fifth mapping operation can be expressed as P(k|k)=(I-KC)P(k|k-1), P(k|k) is the current covariance matrix, and I is The identity matrix, K is the gain matrix, C is the measurement noise matrix, and P(k|k-1) is the covariance transition matrix.
在一實施例中,所述之觸控軌跡平滑化的方法進一步包含以下步驟: In one embodiment, the method for smoothing the touch track further includes the following steps:
依相鄰兩幀的所述目前觸控位置向量的一第一向量差的大小來確認當前觸控軌跡的移動速度,並通過該第一向量差來自適應地改變所述過程雜訊,其中,所述過程雜訊的數值大小和該第一向量差正相關; According to the magnitude of a first vector difference between the current touch position vectors of two adjacent frames, the current touch track moving speed is confirmed, and the process noise is adaptively changed through the first vector difference, wherein: The magnitude of the process noise is positively correlated with the first vector difference;
依一目前幀的所述目前觸控位置向量和所述觸控預測位置向量的一第二向量差的大小來決定一比例因數,其中,該比例因數的數值和該第二向量差負相關; Determining a scale factor according to the magnitude of a second vector difference between the current touch position vector and the touch prediction position vector of a current frame, wherein the value of the scale factor is negatively related to the second vector difference;
依該比例因數、該目前共變異矩陣經所述轉移運算的結果及該過程雜訊矩陣更新該共變異轉移矩陣,該共變異轉移矩陣表示為 The co-mutation transition matrix is updated according to the scale factor, the result of the current co-mutation matrix by the transfer operation and the process noise matrix, and the co-mutation transition matrix is expressed as
P(k|k-1)=λkAP(k|k)AT+Qk ,其中,P(k|k-1)為該共變異轉移矩陣,λk為該比例因數,A為該轉移矩陣,P(k|k)為該目前共變異矩陣,且Qk為該過程雜訊矩陣;以及 P(k|k-1)=λ k AP(k|k)A T +Q k , where P(k|k-1) is the co-mutation transition matrix, λ k is the scale factor, and A is the Transition matrix, P(k|k) is the current covariance matrix, and Q k is the process noise matrix; and
依該轉移矩陣對該目前狀態向量進行一映射運算以更新該狀態轉移向量,該映射運算表示為,為該狀態轉移向量,且為該目前狀態向量。 Perform a mapping operation on the current state vector according to the transition matrix to update the state transition vector, and the mapping operation is expressed as , Is the state transition vector, and Is the current state vector.
為達到前述之目的,本發明進一步提出一種觸控系統,其具有一觸控屏,其中,該觸控屏具有一處理單元及一記憶單元,該處理單元係用以執行預存於該記憶單元內之一韌體程式以實現如前述之觸控軌跡平滑化的方法。 In order to achieve the foregoing objective, the present invention further provides a touch system having a touch screen, wherein the touch screen has a processing unit and a memory unit, and the processing unit is used to execute pre-stored in the memory unit A firmware program to realize the smoothing method of touch trajectory as mentioned above.
為達到前述之目的,本發明進一步提出一種電子裝置,其包括一中央處理單元及如前述之觸控系統,且該中央處理單元係用以與該觸控屏通信以提供一觸控顯示功能。 To achieve the foregoing objective, the present invention further provides an electronic device, which includes a central processing unit and the aforementioned touch system, and the central processing unit is used to communicate with the touch screen to provide a touch display function.
在可能的實施例中,所述之電子裝置可為一智慧型手機或一可攜式電腦。 In a possible embodiment, the electronic device can be a smart phone or a portable computer.
100‧‧‧觸控系統 100‧‧‧Touch Control System
110‧‧‧觸控驅動電路 110‧‧‧Touch Drive Circuit
111‧‧‧處理單元 111‧‧‧Processing unit
112‧‧‧記憶單元 112‧‧‧Memory Unit
120‧‧‧觸控感測陣列 120‧‧‧Touch Sensor Array
130‧‧‧主應用處理器 130‧‧‧Main Application Processor
200‧‧‧電子裝置 200‧‧‧Electronic device
210‧‧‧中央處理單元 210‧‧‧Central Processing Unit
220‧‧‧觸控屏 220‧‧‧Touch screen
步驟a‧‧‧依一目前共變異矩陣更新一在先共變異矩陣,依一目前狀態向量更新一在先狀態向量,依該在先共變異矩陣經一轉移運算的結果與一過程雜訊矩陣之和產生一共變異轉移矩陣,及依一轉移矩陣對該在先狀態向量進行一第一映射運算以產生一狀態轉移向量 Step a‧‧‧Update a previous co-mutation matrix based on a current co-mutation matrix, update a previous state vector based on a current state vector, and based on the result of a transition operation of the previous co-mutation matrix and a process noise matrix The sum generates a total mutation transition matrix, and performs a first mapping operation on the previous state vector according to a transition matrix to generate a state transition vector
步驟b‧‧‧依一觀測雜訊矩陣及一量測雜訊矩陣對該共變異轉移矩陣進行一第二映射運算以產生一增益矩陣 Step b‧‧‧ Perform a second mapping operation on the co-mutation transition matrix based on an observation noise matrix and a measurement noise matrix to generate a gain matrix
步驟c‧‧‧依該狀態轉移向量及一變化向量之和更新該目前狀態向量,其中該變化向量等於該增益矩陣對一差值向量進行一第三映射運算的結果,且該差值向量等於一目前觸控位置向量與該量測雜訊矩陣對該狀態轉移向量進行一第四映射運算所產生的向量之差 Step c‧‧‧Update the current state vector according to the sum of the state transition vector and a change vector, where the change vector is equal to the result of a third mapping operation performed by the gain matrix on a difference vector, and the difference vector is equal to The difference between a current touch position vector and the vector generated by the measurement noise matrix performing a fourth mapping operation on the state transition vector
步驟d‧‧‧依一單位矩陣和該增益矩陣與該量測雜訊矩陣之積的差值矩陣對該共變異轉移矩陣進行一第五映射運算以更新該目前共變異矩陣,及依該目前狀態向量產生一觸控預測位置 Step d‧‧‧ Perform a fifth mapping operation on the co-mutation transition matrix based on an identity matrix and the difference matrix of the product of the gain matrix and the measurement noise matrix to update the current co-mutation matrix, and according to the current The state vector generates a touch predictive position
圖1繪示本發明之可使觸控軌跡平滑化的觸控系統之一實施例方塊圖。 FIG. 1 shows a block diagram of an embodiment of the touch system that can smooth the touch trajectory according to the present invention.
圖2繪示本發明之觸控軌跡平滑化的方法之一實施例流程圖。 FIG. 2 shows a flowchart of an embodiment of a method for smoothing a touch track according to the present invention.
圖3為本發明之電子裝置之一實施例的方塊圖。 FIG. 3 is a block diagram of an embodiment of the electronic device of the present invention.
本發明之原理在於:為兼顧動態反應和簡化計算複雜度,本發明採用強追蹤自我調整濾波處理程序來實現觸控軌跡的平滑化。 The principle of the present invention is that in order to take into account dynamic response and simplify the calculation complexity, the present invention adopts a strong tracking self-adjusting filter processing program to achieve smoothing of the touch track.
請參照圖1,其繪示本發明之可使觸控軌跡平滑化的觸控系統之一實施例方塊圖。如圖1所示,一觸控系統100具有一觸控驅動電路110、一觸控感測陣列120及一主應用處理器130,其中,觸控驅動電路110具有一處理單元111及一記憶單元112,處理單元111係用以執行預存於記憶單元112內之一韌體程式以實現本發明之觸控軌跡平滑化的方法;觸控感測陣列120可為一電容式觸控感測陣列、一光學式觸控感測陣列或一電磁式觸控感測陣列;以及主應用處理器130可為一RISC(reduced instruction set computing;精簡指令集計算)處理器。
Please refer to FIG. 1, which shows a block diagram of an embodiment of the touch system that can smooth the touch trajectory according to the present invention. As shown in FIG. 1, a
請參照圖2,其繪示本發明之觸控軌跡平滑化的方法之一實施例流程圖。如圖2所示,該方法包括以遞迴的方式執行以下步驟:依一目前共變異矩陣更新一在先共變異矩陣,依一目前狀態向量更新一在先狀態向量,依該在先共變異矩陣經一轉移運算的結果與一過程雜訊矩陣之和產生一共變異轉移矩陣,及依一轉移矩陣對該在先狀態向量進行一第一映射運算以產生一狀態轉移向量(步驟a);依一觀測雜訊矩陣及一量測雜訊矩陣對該共變異轉移矩陣進行一第二映射運算以產生一增益矩陣(步驟b);依該狀態轉移向量及一變化向量之和更新該目前狀態向量,其中該變化向量等於該增益矩陣對一差值向量進行一第三映射運算的結果,且該差值向量等於一目前觸控位置向量與該量測雜訊矩陣對該狀態轉移向量進行一第四映射運算所產生的向量之差(步驟c);以及依一單位矩陣和該增益矩陣與該量測雜訊矩陣之積的差值矩陣對該共變異轉移矩陣進行一第五映射運算以更新該目前共變異矩陣,及依該目前狀態向量產生一觸控預測位置(步驟d)。 Please refer to FIG. 2, which shows a flow chart of an embodiment of the method for smoothing the touch track of the present invention. As shown in FIG. 2, the method includes the following steps in a recursive manner: updating a prior co-mutation matrix based on a current co-mutation matrix, updating a prior state vector based on a current state vector, and updating a prior co-mutation matrix based on the prior co-mutation matrix The sum of the result of a transition operation of the matrix and a process noise matrix generates a total mutation transition matrix, and a first mapping operation is performed on the previous state vector according to the transition matrix to generate a state transition vector (step a); An observation noise matrix and a measurement noise matrix perform a second mapping operation on the co-mutation transition matrix to generate a gain matrix (step b); update the current state vector according to the sum of the state transition vector and a change vector , Wherein the change vector is equal to the result of a third mapping operation performed by the gain matrix on a difference vector, and the difference vector is equal to a current touch position vector and the measurement noise matrix performs a first step on the state transition vector The difference between the vectors generated by the four-mapping operation (step c); and performing a fifth mapping operation on the covariance transition matrix based on a unit matrix and the difference matrix of the product of the gain matrix and the measurement noise matrix to update The current co-mutation matrix and a touch prediction position are generated according to the current state vector (step d).
詳細而言,該觸控軌跡平滑化的方法可包含: In detail, the method for smoothing the touch track may include:
(1)將觸控驅動電路110掃描觸控感測陣列120所得到的第一個觸控位置的座標儲存為T0(x0,y0)。
(1) Store the coordinates of the first touch position obtained by the
(2)設置初始共變異矩陣P0(4*4),轉移矩陣A(4*4),初始過程雜訊矩陣Q0(4*4),觀測雜訊矩陣R(4*4)以及量測雜訊矩陣C(4*4),其中, (2) Set the initial covariance matrix P 0 (4*4), the transition matrix A (4*4), the initial process noise matrix Q 0 (4*4), the observation noise matrix R(4*4) and the amount Noise measurement matrix C (4*4), of which,
(3)依一轉移矩陣A對初始狀態向量X0進行一映射運算以產生一狀態轉移向量,其中該映射運算可表示為:。 (3) Perform a mapping operation on the initial state vector X 0 according to a transition matrix A to generate a state transition vector , Where the mapping operation can be expressed as: .
(4)依初始共變異矩陣P0(4*4)經一轉移運算的結果與初始過程雜訊矩陣Q0(4*4)之和產生一共變異轉移矩陣P(k|k-1),其中該轉移運算可表示為AP0AT,且共變異轉移矩陣P(k|k-1)可表示為P(k|k-1)=AP0AT+Q0。 (4) A total mutation transition matrix P(k|k-1) is generated according to the sum of the initial common mutation matrix P 0 (4*4) and the result of a transition operation and the initial process noise matrix Q 0 (4*4), The transition operation can be expressed as AP 0 A T , and the co-mutation transition matrix P(k|k-1) can be expressed as P(k|k-1)=AP 0 A T +Q 0 .
(5)依觀測雜訊矩陣R(4*4)及量測雜訊矩陣C(4*4)對共變異轉移矩陣P(k|k-1)進行一映射運算以產生一增益矩陣K,其中該映射運算可表示為:K=P(k|k-1)CT(R+CP(k|k-1)CT)-1 (5) Perform a mapping operation on the co-mutation transition matrix P(k|k-1) according to the observation noise matrix R(4*4) and the measurement noise matrix C(4*4) to generate a gain matrix K, The mapping operation can be expressed as: K=P(k|k-1)C T (R+CP(k|k-1)C T ) -1
(6)依狀態轉移向量及一變化向量之和更新一目前狀態向量,其中該變化向量等於增益矩陣K對一差值向量進行一映射運算的結果,且該差值向量等於一目前觸控位置向量T0(x0,y0)與量測雜訊矩陣C(4*4)對狀態轉移向量進行另一映射運算所產生的向量之差,其中,所述另一映射運算可表示為,所述映射運算可表示為,且目前狀態向量可表示為。 (6) Transition vector by state And a change vector sum to update a current state vector , Where the change vector is equal to the result of a mapping operation performed by the gain matrix K on a difference vector, and the difference vector is equal to a current touch position vector T 0 (x 0 , y 0 ) and a measurement noise matrix C( 4*4) Pair state transition vector The difference between the vectors generated by performing another mapping operation, where the another mapping operation can be expressed as , The mapping operation can be expressed as , And the current state vector Can be expressed as .
(7)依一單位矩陣I和增益矩陣K與量測雜訊矩陣C(4*4)之積的差值矩陣對共變異轉移矩陣P(k|k-1)進行一映射運算以產生一目前共變異矩陣P(k|k),其中,該映射運算可表示為P(k|k)=(I-KC)P(k|k-1)。 (7) Perform a mapping operation on the co-mutation transition matrix P(k|k-1) according to the difference matrix of the product of the identity matrix I, the gain matrix K and the measurement noise matrix C (4*4) to generate a The current covariance matrix P(k|k), where the mapping operation can be expressed as P(k|k)=(I-KC)P(k|k-1).
(8)依目前狀態向量產生一第一觸控預測位置TP0,其中,TP0可表示為。 (8) According to the current state vector Generate a first touch prediction position T P0 , where T P0 can be expressed as .
(9)對觸控感測陣列120進行第二幀掃描,掃描到的目前觸控位置向量表示為Tk(xk,yk)。
(9) Perform a second frame scan on the
(10)依目前共變異矩陣P(k|k)更新一在先共變異矩陣P(k-1|k-1),其表示式為P(k-1|k-1)=P(k|k);依目前狀態向量更新一在先狀態向量,其表示式為;依在先共變異矩陣 P(k-1|k-1)經一轉移運算的結果及初始過程雜訊矩陣Q0(4*4)之和產生共變異轉移矩陣P(k|k-1),其中,該轉移運算可表示為AP(k-1|k-1)AT,且P(k|k-1)可表示為P(k|k-1)=AP(k-1|k-1)AT+Q0;以及依轉移矩陣A對在先狀態向量之一映射運算的結果產生狀態轉移向量,其中,該映射運算可表示為: (10) Update a previous co-mutation matrix P(k-1|k-1) according to the current co-mutation matrix P(k|k), and its expression is P(k-1|k-1)=P(k |k); According to the current state vector Update a prior state vector , Its expression is ; According to the previous co-mutation matrix P(k-1|k-1), the result of a transition operation and the sum of the initial process noise matrix Q 0 (4*4) generate co-mutation transition matrix P(k|k-1 ), where the transfer operation can be expressed as AP(k-1|k-1) AT , and P(k|k-1) can be expressed as P(k|k-1)=AP(k-1| k-1)A T +Q 0 ; and pair the previous state vector according to the transition matrix A The result of one of the mapping operations produces a state transition vector , Where the mapping operation can be expressed as:
(11)依觀測雜訊矩陣R(4*4)及量測雜訊矩陣C(4*4)對共變異轉移矩陣P(k|k-1)進行一映射運算以更新增益矩陣K,其中,該映射運算可表示為:K=P(k|k-1)CT(R+CP(k|k-1)CT)-1。 (11) Perform a mapping operation on the co-mutation transition matrix P(k|k-1) according to the observation noise matrix R(4*4) and the measurement noise matrix C(4*4) to update the gain matrix K, where , The mapping operation can be expressed as: K=P(k|k-1)C T (R+CP(k|k-1)C T ) -1 .
(12)依狀態轉移向量及一變化向量之和更新目前狀態向量,其中該變化向量等於增益矩陣K對一差值向量進行一映射運算的結果,且該差值向量等於目前觸控位置向量Tk(xk,yk)與量測雜訊矩陣C(4*4)對狀態轉移向量進行另一映射運算所產生的向量之差,其中,所述另一映射運算可表示為,所述映射運算可表示為,且目前狀態向量可表示為。 (12) Transition vector by state And a change vector sum to update the current state vector , Where the change vector is equal to the result of a mapping operation performed by the gain matrix K on a difference vector, and the difference vector is equal to the current touch position vector T k (x k , y k ) and the measurement noise matrix C(4 *4) For state transition vector The difference between the vectors generated by performing another mapping operation, where the another mapping operation can be expressed as , The mapping operation can be expressed as , And the current state vector Can be expressed as .
(13)依單位矩陣I和增益矩陣K與量測雜訊矩陣C(4*4)之積的差值矩陣對共變異轉移矩陣P(k|k-1)進行一映射運算以更新目前共變異矩陣P(k|k),其中,該映射運算可表示為P(k|k)=(I-KC)P(k|k-1)。 (13) Perform a mapping operation on the co-mutation transition matrix P(k|k-1) according to the difference matrix of the product of the unit matrix I, the gain matrix K and the measurement noise matrix C (4*4) to update the current total The mutation matrix P(k|k), where the mapping operation can be expressed as P(k|k)=(I-KC)P(k|k-1).
(14)依目前狀態向量產生一觸控預測位置向量TPk: (14) According to the current state vector Generate a touch predictive position vector T Pk :
另外,為加強本發明的環境適應能力,本發明進一步增加以下步驟:In addition, in order to strengthen the environmental adaptability of the present invention, the present invention further adds the following steps:
(15)根據目前觸控位置向量Tk和前一個觸控位置向量Tk-1的向量差的大小v來確認當前觸控軌跡的移動速度,並通過v來自適應地改變過程雜訊Qk,其中,Qk的數值大小和v正相關; (15) According to the magnitude v of the vector difference between the current touch position vector T k and the previous touch position vector T k-1 , confirm the moving speed of the current touch trajectory, and use v to adaptively change the process noise Q k , Where the value of Q k is positively correlated with v;
(16)通過Tk和TPk的向量差的大小d來決定一比例因數λk,其中, λk的數值和d負相關; (16) A scale factor λ k is determined by the magnitude d of the vector difference between T k and T Pk , where the value of λ k is negatively correlated with d;
(17)依比例因數λk與目前共變異矩陣P(k|k)經所述轉移運算的結果 (17) The scale factor λ k and the current co-mutation matrix P(k|k) are the result of the transfer operation
AP(k|k)AT之積與過程雜訊矩陣Qk之和更新共變異轉移矩陣P(k|k-1): The sum of the product of AP(k|k)A T and the process noise matrix Q k updates the co-mutation transition matrix P(k|k-1):
P(k|k-1)=λkAP(k|k)AT+Qk; P(k|k-1)=λ k AP(k|k)A T +Q k ;
(18)依轉移矩陣A對目前狀態向量之一映射運算的結果更新狀態轉移向量:; (18) According to the transition matrix A, the current state vector The result of one of the mapping operations Update state transition vector : ;
(19)對觸控感測陣列120進行下一幀掃描以更新目前觸控位置向量Tk(xk,yk),然後回到步驟(11)。
(19) Scan the
也就是說,通過對步驟(11)-(19)進行遞迴運算,本發明即可在兼顧動態反應和計算複雜度的情況下有效實現觸控軌跡的平滑化。 In other words, by performing recursive operations on steps (11)-(19), the present invention can effectively smooth the touch track while taking into account dynamic response and computational complexity.
依上述的說明,本發明進一步提出一種電子裝置。請參照圖3,其為本發明之電子裝置之一實施例的方塊圖。如圖3所示,一電子裝置200包括一中央處理單元210及一觸控屏220,其中,觸控屏220具有如圖1所示之觸控系統100。
Based on the above description, the present invention further provides an electronic device. Please refer to FIG. 3, which is a block diagram of an embodiment of the electronic device of the present invention. As shown in FIG. 3, an
中央處理單元210係用以與觸控屏220通信以提供一觸控顯示功能。
The
另外,在可能的實施例中,電子裝置200可為一智慧型手機或一可攜式電腦。
In addition, in possible embodiments, the
依上述的說明可知,本發明可提供以下的優點: According to the above description, the present invention can provide the following advantages:
1.本發明的觸控軌跡平滑化的方法可在兼顧動態反應和簡化計算複雜度的情況下實現觸控軌跡的平滑化。 1. The method for smoothing the touch track of the present invention can realize the smoothing of the touch track while taking into account dynamic response and simplifying calculation complexity.
2.本發明的觸控系統可在兼顧動態反應和簡化計算複雜度的情況下實現觸控軌跡的平滑化。 2. The touch control system of the present invention can realize the smoothing of the touch trajectory while taking into account dynamic response and simplifying calculation complexity.
3.本發明的電子裝置的觸控系統可在兼顧動態反應和簡化計算複雜度的情況下實現觸控軌跡的平滑化。 3. The touch control system of the electronic device of the present invention can realize smoothing of the touch trajectory while taking into account dynamic response and simplifying calculation complexity.
本發明所揭示者,乃較佳實施例之一種,舉凡局部之變更或修飾 而源於本發明之技術思想而為熟習該項技藝知人所易於推知者,俱不脫本發明之專利權範疇。 What is disclosed in the present invention is one of the preferred embodiments, with all partial changes or modifications Those who are derived from the technical idea of the present invention and are easily inferred by those who are familiar with the technique will not depart from the scope of the patent right of the present invention.
綜上所陳,本案無論目的、手段與功效,皆顯示其迥異於習知技術,且其首先發明合於實用,確實符合發明之專利要件,懇請 貴審查委員明察,並早日賜予專利俾嘉惠社會,是為至禱。 In summary, regardless of the purpose, means and effects of this case, it is shown that it is very different from the conventional technology, and its first invention is suitable for practicality, and it does meet the patent requirements of the invention. I implore the examiner to observe it and grant the patent as soon as possible. Society is for the best prayer.
步驟a‧‧‧依一目前共變異矩陣更新一在先共變異矩陣,依一目前狀態向量更新一在先狀態向量,依該在先共變異矩陣經一轉移運算的結果與一過程雜訊矩陣之和產生一共變異轉移矩陣,及依一轉移矩陣對該在先狀態向量進行一第一映射運算以產生一狀態轉移向量 Step a‧‧‧Update a previous co-mutation matrix based on a current co-mutation matrix, update a previous state vector based on a current state vector, and based on the result of a transition operation of the previous co-mutation matrix and a process noise matrix The sum generates a total mutation transition matrix, and performs a first mapping operation on the previous state vector according to a transition matrix to generate a state transition vector
步驟b‧‧‧依一觀測雜訊矩陣及一量測雜訊矩陣對該共變異轉移矩陣進行一第二映射運算以產生一增益矩陣 Step b‧‧‧ Perform a second mapping operation on the co-mutation transition matrix based on an observation noise matrix and a measurement noise matrix to generate a gain matrix
步驟c‧‧‧依該狀態轉移向量及一變化向量之和更新該目前狀態向量,其中該變化向量等於該增益矩陣對一差值向量進行一第三映射運算的結果,且該差值向量等於一目前觸控位置向量與該量測雜訊矩陣對該狀態轉移向量進行一第四映射運算所產生的向量之差 Step c‧‧‧Update the current state vector according to the sum of the state transition vector and a change vector, where the change vector is equal to the result of a third mapping operation performed by the gain matrix on a difference vector, and the difference vector is equal to The difference between a current touch position vector and the vector generated by the measurement noise matrix performing a fourth mapping operation on the state transition vector
步驟d‧‧‧依一單位矩陣和該增益矩陣與該量測雜訊矩陣之積的差值矩陣對該共變異轉移矩陣進行一第五映射運算以更新該目前共變異矩陣,及依該目前狀態向量產生一觸控預測位置 Step d‧‧‧ Perform a fifth mapping operation on the co-mutation transition matrix based on an identity matrix and the difference matrix of the product of the gain matrix and the measurement noise matrix to update the current co-mutation matrix, and according to the current The state vector generates a touch predictive position
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