WO2018166051A1

WO2018166051A1 - Method and device for obtaining attitude data

Info

Publication number: WO2018166051A1
Application number: PCT/CN2017/083030
Authority: WO
Inventors: 姚尧; 王溯
Original assignee: 姚尧; 王溯
Priority date: 2017-03-13
Filing date: 2017-05-04
Publication date: 2018-09-20
Also published as: CN106931960B; CN106931960A

Abstract

A method and device for obtaining attitude data. The method comprises: obtaining first attitude data that is collected by a sensor carried on an object to be measured when the object to be measured rotates (S110); and correcting the first attitude data according to a horizontal angle difference between a coordinate system of the sensor and a reference coordinate system corresponding to the object to be measured, and determining the corrected first attitude data as the first attitude data of the object to be measured (S120). The sensor can be provided at any position of the object to be measured. The attitude data of the object to be measured collected by the sensor is corrected so that the obtained attitude data of the object to be measured meets actual requirements.

Description

Attitude data acquisition method and device

This application claims the priority of the Chinese Patent Application No. CN201710145454.1, entitled "A Method and Apparatus for Obtaining Attitude Data" submitted by the Chinese Patent Office on March 13, 2017, the entire contents of which are incorporated herein by reference. In the application.

Technical field

The present invention relates to the field of motion sensing technology, and in particular to a method and device for acquiring attitude data.

Background technique

In the field of motion sensing technology, with the development of interactive games, virtual reality and head-mounted display technology, it is more and more important to measure the posture of an object (object or human body) in real time, and the attitude data of the object is generally measured by a sensor.

In the prior art, when measuring the attitude data of an object by a sensor, it is generally required to mount or wear the sensor to the object in a specific positional relationship, or to orient the object at a certain distance using a third-party sensing device.

However, in the prior art, the sensor is installed or worn on the object according to a specific positional relationship, which increases the difficulty of production and assembly of the sensor, reduces the degree of freedom and convenience in use, and if there is a deviation in the wearing position or production assembly. Deviation of the position of the sensor will result in errors in the measured attitude data. The measured data does not meet the actual requirements. If a third-party sensing device is used, it does not have good mobility and is sensitive to environmental influences and is susceptible to interference. As a result, the posture data is incorrect, so that the measured data does not meet the actual needs of the user.

In summary, in the prior art, when the sensor is used to measure the attitude data of the object, the measured data is obtained. May not meet the actual needs of users.

Summary of the invention

In view of this, an object of the embodiments of the present invention is to provide a method and apparatus for acquiring attitude data, which solves the technical problem that the accuracy of the measured attitude data is low when using the attitude data of the sensor measurement object in the prior art.

In a first aspect, an embodiment of the present invention provides a method for acquiring gesture data, where the method includes the following steps:

Obtaining first posture data of the object to be measured collected by the sensor carried on the object to be measured while rotating;

Determining the first posture data according to a horizontal angle difference of a coordinate system of the sensor with respect to a reference coordinate system corresponding to the object to be measured, and determining the corrected first posture data as the object to be measured A gesture data.

With reference to the first aspect, the embodiment of the present invention provides the first possible implementation manner of the foregoing first aspect, wherein the horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system is determined according to the following steps:

Creating an object model to be measured and a sensor model in a three-dimensional space;

Obtaining second posture data of the object to be measured collected by the sensor to perform a downward rotation;

Determining, by the sensor model, motion trajectory information generated when the second attitude data is rotated;

The horizontal angle difference is determined according to motion trajectory information generated when the sensor model is rotated and the reference coordinate system.

With reference to the first possible implementation manner of the first aspect, the embodiment of the present invention provides the second possible implementation manner of the foregoing first aspect, wherein the determining the sensor model is based on the The steps of the motion track information generated when the two posture data is rotated include:

Determining motion trajectory information of an end of a cycloid starting from a rotation center point of the sensor model as a function of the sensor model;

The motion trajectory information of the end of the cycloid is determined as the motion trajectory information generated when the sensor model is rotated.

In conjunction with the first possible implementation of the first aspect, the embodiment of the present invention provides a third possible implementation manner of the foregoing first aspect, wherein the motion trajectory information generated when the sensor model is rotated according to the The step of determining the horizontal angular difference by the reference coordinate system includes:

Determining connection information between an end point of the motion trajectory generated by the sensor model and a start point of the motion trajectory according to motion trajectory information generated when the sensor model is rotated;

Determining, according to the connection information, an angle between a line connecting the end point of the motion track and the start point and a horizontal coordinate axis of the reference coordinate system;

The horizontal angle difference is determined according to the included angle.

With reference to the first aspect, the embodiment of the present invention provides the fourth possible implementation manner of the foregoing first aspect, wherein the first posture data includes a three-axis rotation angle;

The step of correcting the first posture data according to a horizontal angle difference of a coordinate system of the sensor with respect to a reference coordinate system corresponding to the object to be measured includes:

And correcting the three-axis rotation angle according to a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system to obtain a three-axis rotation angle of the object to be measured.

In conjunction with the fourth possible implementation of the first aspect, the embodiment of the present invention provides the fifth possible implementation manner of the foregoing first aspect, wherein the coordinate system according to the sensor is relative to the reference coordinate system The step of correcting the three-axis rotation angle by the horizontal angle difference includes:

Calculating a sum of a horizontal rotation angle in the three-axis rotation angle and a horizontal angle difference of a coordinate system of the sensor with respect to the reference coordinate system;

Determining the sum value, the pitch angle and the roll angle in the three-axis rotation angle as the waiting Measures the three-axis rotation angle of the object.

In a second aspect, an embodiment of the present invention provides an attitude data acquiring apparatus, where the apparatus includes:

a first acquiring module, configured to acquire first posture data of the object to be measured collected by a sensor carried on the object to be measured while rotating;

a correction module configured to modify the first posture data according to a horizontal angle difference of a coordinate system of the sensor with respect to a reference coordinate system corresponding to the object to be measured, and determine the corrected first posture data as the The first pose data of the object to be measured.

With reference to the second aspect, the embodiment of the present invention provides the first possible implementation manner of the foregoing second aspect, wherein the device further includes:

Creating a module configured to create an object model to be measured and a sensor model in a three-dimensional space;

a second acquiring module, configured to acquire second posture data of the object to be measured collected by the sensor to perform a downward rotation;

a first determining module, configured to determine motion trajectory information generated when the sensor model is rotated based on the second posture data;

The second determining module is configured to determine the horizontal angle difference according to the motion trajectory information generated when the sensor model is rotated and the reference coordinate system.

With reference to the second aspect, the embodiment of the present invention provides the second possible implementation manner of the foregoing first aspect, wherein the first posture data includes a three-axis rotation angle;

The correction module includes:

And a correction unit configured to correct the three-axis rotation angle according to a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system to obtain a three-axis rotation angle of the object to be measured.

With the second possible implementation of the second aspect, the embodiment of the present invention provides a third possible implementation manner of the foregoing second aspect, wherein the modifying unit includes:

a calculation subunit configured to calculate a sum of a horizontal rotation angle of the three-axis rotation angle and a horizontal angle difference of a coordinate system of the sensor with respect to the reference coordinate system;

The determining subunit is configured to determine the sum value, the pitch angle and the roll angle in the three-axis rotation angle as the three-axis rotation angle of the object to be measured.

In the method and device for acquiring the attitude data provided by the embodiment of the present invention, the sensor may be disposed at an arbitrary position on the object to be measured, and the attitude data of the measured object collected by the sensor is corrected to obtain the posture of the measured object to be measured. The data meets the actual needs.

The above described objects, features and advantages of the present invention will become more apparent from the aspects of the appended claims.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly described below. It should be understood that the following drawings show only certain embodiments of the present invention, and therefore It should be seen as a limitation on the scope, and those skilled in the art can obtain other related drawings according to these drawings without any creative work.

FIG. 1 is a flowchart of a method for acquiring object posture data according to an embodiment of the present invention;

FIG. 2 is a flowchart of determining a horizontal angle difference between a coordinate system of a sensor and a reference coordinate system in an object posture data acquiring method according to an embodiment of the present invention;

3 is a schematic diagram showing an initial state of an object model and a sensor model to be measured established in a three-dimensional space in an embodiment of the present invention;

4 is a schematic diagram showing a state of a model to be measured and a sensor model established in a three-dimensional space in the embodiment of the present invention, after the sensor model is rotated;

FIG. 5 is a schematic structural diagram of an attitude acquiring apparatus according to an embodiment of the present invention;

FIG. 6 is a schematic diagram showing a second structure of an attitude acquiring apparatus according to an embodiment of the present invention.

Icons: 1 - object model to be measured; 2 - sensor model; 3 - cycloid in the initial state; 3" - cycloid in the post-rotation state; - line between the end point of the motion trajectory and the starting point.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. The components of the embodiments of the invention, which are generally described and illustrated in the figures herein, may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention in the claims All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Considering the prior art, when measuring the attitude data of an object, the sensor is generally mounted or worn on the object according to a specific positional relationship, or a third-party sensing device is used, so that the posture data of the measured object is possible. Does not meet actual needs. Based on this, an embodiment of the present invention provides a method and an apparatus for acquiring posture data, which are described below by way of embodiments.

The embodiment of the present invention provides a method for acquiring posture data. When the posture data of the object to be measured is acquired by using the method, the sensor can be set at an arbitrary position of the object to be measured, and the posture data of the measured object collected by the sensor is performed. Correction, so that the accuracy of the attitude data of the measured object meets the actual needs.

Referring to FIG. 1 , a method for acquiring posture data according to an embodiment of the present invention includes steps S110-S120, which are specifically as follows.

S110. Acquire first posture data of the object to be measured collected by the sensor carried on the object to be measured while rotating.

The object to be measured may be any part of the human body, for example, a head, an arm or a leg, etc., and may also be a mobile phone or other object.

The above-mentioned sensor is carried on the object to be measured, and the sensor is mounted on the object to be measured or the sensor is worn on the object to be measured. The specific carrying mode can be measured according to the actual application scenario. For example, if the object to be measured is a human body, The sensor needs to be worn on the human body. If the object to be measured is an object, the sensor can be mounted on the object to integrally form the sensor and the object.

S120: Correct the first posture data according to a horizontal angle difference of a coordinate system of the sensor with respect to a reference coordinate system corresponding to the object to be measured, and determine the corrected first posture data as the first posture data of the object to be measured.

The coordinate system of the above sensor refers to the sensor's own coordinate system. The coordinate origin of the sensor's own coordinate system can be any position on the sensor. The X axis of the sensor's own coordinate system can be directly in front of the sensor, on the horizontal plane where the sensor is located and vertical. The axis of the X-axis is taken as the Y-axis of the sensor's own coordinate system, and the vertical direction perpendicular to the horizontal plane of the sensor is taken as the Z-axis of the sensor's own coordinate system.

The X-axis, the Y-axis, and the Z-axis of the reference coordinate system may be established according to a specific object to be measured. For example, when the object to be measured is a human head, the sensor is worn at any position on the human head, and is established. When the reference coordinate system corresponding to the human head is used, the arbitrary position of the human head can be taken as the origin of the reference coordinate system, and the front of the human head is taken as the X-axis of the reference coordinate system, and the plane of the X-axis is perpendicular to the human body. The direction directly in front of the head is the Y-axis, and the direction perpendicular to the top of the head is the Z-axis.

For example, when the object to be measured is a rectangular parallelepiped object, the sensor is mounted on the object, and when the reference coordinate system corresponding to the object is established, any position on the object may be used as the origin of the reference coordinate system. The direction in which the width of the object lies is taken as the X-axis of the reference coordinate system, and the direction in which the length of the object is located is taken as the Y-axis of the reference coordinate system, and the direction in which the height of the object is located is taken as the Z-axis of the reference coordinate system.

In the above, the reference coordinate system corresponding to the object to be measured is described by taking the human head and the cuboid object as an example. The reference coordinate system corresponding to the object to be measured can be established according to the actual application, which is not limited by the embodiment of the present invention.

Referring to FIG. 2, in the embodiment of the present invention, the horizontal angle difference between the coordinate system of the sensor and the reference coordinate system may be determined according to the following steps:

S210, creating an object model to be measured and a sensor model in a three-dimensional space;

S220, acquiring second posture data of the object to be measured collected by the sensor to perform a downward rotation;

S230, determining motion trajectory information generated when the sensor model is rotated based on the second attitude data;

S240. Determine the horizontal angle difference according to the motion trajectory information generated when the sensor model is rotated and the reference coordinate system.

The second attitude data includes a three-axis rotation angle when the object to be measured is rotated downward, and specifically includes: a horizontal rotation angle, a pitch angle, and a roll angle.

The object model to be measured is created according to the object to be measured. For example, if the object to be measured is a human head, the object model to be measured created in the three-dimensional space is a human head model, that is, in a three-dimensional space. The created object model to be measured is consistent with the shape of the object to be measured. Similarly, the above sensor model is also created based on the sensor.

The relative position between the object model to be measured and the sensor model created in the three-dimensional space is arbitrary. In the embodiment of the present invention, the object to be measured and the sensor model are determined according to the object model to be measured and the sensor model created in the three-dimensional space. The positional relationship between the sensors.

As shown in FIG. 3, an initial schematic diagram of the object model to be measured and the sensor model created in the three-dimensional space, the horizontal plane in the three-dimensional space is equivalent to the ground level, that is, the positional relationship between the object model to be measured and the horizontal plane and the object to be measured The positional relationship with the horizontal plane is the same. Therefore, the planes of the X-axis and the Y-axis of the reference coordinate system corresponding to the object model to be measured are parallel to the horizontal plane of the three-dimensional space, and the X-axis, the Y-axis, and the Z-axis correspond to the object to be measured. The X coordinate, the Y axis, and the reference coordinate system The Z axis is consistent.

In the schematic diagram shown in FIG. 3, the object to be measured is a cube-shaped object, and after the object is horizontally placed on the three-dimensional space, only the back surface of the object can be seen.

After the object model and the sensor model to be measured are created in the three-dimensional space, the positional relationship between the sensor and the object to be measured is determined, which is specifically achieved by the following process:

First, the object to be measured is kept in the horizontal direction at the initial position, the downward rotation is performed, and the angle of the downward rotation is non-zero. When the object to be measured is rotated in the downward direction, the sensor carried on the object to be measured collects the second posture data when the object to be measured is rotated downward, and the posture data acquiring device in the embodiment of the present invention acquires the second posture acquired by the sensor. The data is then controlled to control the sensor model in the three-dimensional space according to the second attitude data, and when the sensor model is rotated in the three-dimensional space, the motion model information of the sensor model based on the downward rotation is determined.

Specifically, when the object to be measured is rotating downward, if the object to be measured is perpendicular to the horizontal plane of the object to be measured, the object to be measured is rotated downward along an axis perpendicular to the horizontal plane; If there is a certain degree of inclination to the left or the right, the downward rotation is performed along the axis that coincides with the inclination of the object to be measured, and in the embodiment of the present invention, the object to be measured can allow the object to be measured while doing the downward rotation. There is a certain inclination, but the angle of inclination needs to be less than 90°.

The above-described motion trajectory information refers to coordinate values of respective positions in the three-dimensional space with respect to the reference coordinate system when the sensor model is rotated based on the second attitude data.

In the embodiment of the present invention, the motion track information generated when the sensor model is rotated based on the second posture data is determined by the following process:

The motion trajectory information of the end of the cycloid with the rotation center point of the sensor model as a function of the sensor model is determined; the motion trajectory information of the end of the cycloid is determined as the motion trajectory information generated when the sensor model is rotated.

The rotation center point of the sensor model may be any point at a certain height of the three-dimensional space from the horizontal plane. Preferably, it may be any point located at a certain distance above the sensor model.

Starting from the rotation center point of the sensor model, a vertical line is made vertically downward, the length of the vertical line is arbitrary, and the relationship between the vertical line and the sensor model is bound, that is, the plumb line The rotation of the sensor model is rotated, and the vertical line is a cycloid in the initial state. The embodiment of the present invention does not limit the specific length of the cycloid.

When the sensor model is rotated based on the second attitude data, the pendulum rotates with the rotation of the sensor model, and when the cycloid is rotated, the end of the cycloid leaves a motion trajectory in three-dimensional space, and the motion trajectory is When the cycloid is rotated, the end of the cycloid consists of a series of points.

In the embodiment of the present invention, in order to determine the motion trajectory information generated when the sensor model is rotated, the motion trajectory information of the end of the cycloid as the sensor model is rotated may be determined first, because the rotation of the sensor model and the cycloid is the same. Therefore, the motion trajectory information of the end of the cycloid is determined as the motion trajectory information generated when the sensor model is rotated.

Of course, in addition to using the motion trajectory of the end of the cycloid to determine the motion trajectory information of the sensor model, the motion trajectory of any point on the pendulum line can be used to determine the motion trajectory information of the sensor model.

After determining the motion trajectory information generated when the sensor model is rotated, the level between the coordinate system of the sensor and the reference coordinate system corresponding to the object to be measured is determined according to the motion trajectory information generated by the rotation of the sensor model and the reference coordinate system. The difference in angle includes:

Determining the connection information between the end point of the motion trajectory generated by the sensor model and the start point of the motion trajectory according to the motion trajectory information generated when the sensor model is rotated; determining the end point of the motion trajectory generated by the sensor model according to the connection information The angle between the line connecting the starting point and the horizontal coordinate axis of the reference coordinate system; according to the above angle, the horizontal angle difference between the coordinate system of the sensor and the reference coordinate system is determined.

As shown in Fig. 4, the state diagram of the cycloid is rotated with the sensor model by a certain angle, wherein 1 is the object model to be measured, 2 is the sensor model, and 3′′ is the cycloid in the state after the rotation, that is, the sensor model rotates. After the cycloid, 3 is the cycloid in the initial state, that is, the cycloid before the rotation of the sensor model, 4 is the line connecting the end point of the motion trajectory and the starting point, that is, the end of the cycloid after the rotation of the sensor model The connection between the end and the end of the cycloid before the rotation, in the embodiment of the present invention, determining the coordinate system of the sensor and the reference coordinate system according to the angle between the horizontal coordinate axes of the connection and the reference coordinate system The horizontal angle difference between the two.

The above-described wiring information includes a slope that may include a line between the end point of the motion trajectory and the start point of the motion trajectory, and an intercept on the horizontal axis on the reference coordinate system.

The horizontal coordinate axis of the above reference coordinate system refers to two coordinate axes parallel to the horizontal plane of the three-dimensional space.

For example, if the object to be measured is the head of the human body, the front side of the human head is taken as the X axis of the reference coordinate system, and the direction on the plane of the X axis and perpendicular to the front of the human head is the Y axis, and finally needs to be determined. The horizontal angle difference is the angle between the line connecting the end point of the motion trajectory of the sensor model and the starting point and the X axis. If the above determination is the angle between the above line and the X axis, then the angle will be directly The angle is determined as a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system; if the angle between the above-mentioned line and the Y-axis is determined as described above, according to the angle between the X-axis and the Y-axis and the above determination The angle between the and the X-axis determines the horizontal angular difference between the sensor's coordinate system and the reference coordinate system.

In the embodiment of the present invention, the horizontal angle difference between the coordinate system of the sensor and the reference coordinate system that needs to be determined is the angle between the straight line and the front of the object to be measured, and the front side of the object to be measured may be based on actual conditions. The scene is determined.

The first attitude data described above includes a three-axis rotation angle.

Specifically, the above three-axis rotation angle includes a horizontal rotation angle, a pitch angle, and a roll angle.

After determining the horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system corresponding to the object to be measured, the first posture data is corrected according to the horizontal angle difference, which specifically includes:

According to the horizontal angle difference between the coordinate system of the sensor and the reference coordinate system, the three-axis rotation angle is corrected to obtain a three-axis rotation angle of the object to be measured.

Specifically, the above correction of the triaxial rotation angle is achieved by the following steps:

Calculating a horizontal rotation angle in the three-axis rotation angle and a sum of horizontal angle differences of the coordinate system of the sensor with respect to the reference coordinate system; determining the pitch angle and the roll angle in the above-mentioned sum value, the three-axis rotation angle as the object to be measured Three-axis rotation angle.

In the embodiment of the present invention, only the horizontal rotation angle in the three-axis rotation angle needs to be corrected.

In addition, the first attitude data further includes a triaxial acceleration. In the embodiment of the present invention, the triaxial acceleration acquired by the sensor is not corrected, that is, the triaxial acceleration acquired by the sensor is the triaxial acceleration of the object to be measured.

The method for acquiring the attitude data provided by the embodiment of the present invention, the sensor can be set at any position on the object to be measured, and the posture data of the measured object collected by the sensor is corrected, so that the acquired attitude data of the measured object meets the actual demand. .

As shown in FIG. 5, an embodiment of the present invention further provides a gesture data acquisition apparatus, which is configured to perform a gesture data acquisition method provided by an embodiment of the present invention, the apparatus includes a first acquisition module 510 and a correction module 520;

The first acquiring module 510 is configured to acquire first posture data when the object to be measured collected by the sensor carried on the object to be measured is rotated;

The correction module 520 is configured to correct the first posture data according to the horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system of the object to be measured, and determine the corrected first posture data as the first object to be measured. Gesture data.

The above-mentioned sensor is carried on the object to be measured, and the sensor is mounted on the object to be measured or the sensor is worn on the object to be measured. The specific carrying mode can be measured according to the actual application scenario. For example, if the object to be measured is a human body, The sensor needs to be worn on the human body. If the object to be measured is an object, the sensor can be mounted on the object to make the sensor and the object. One piece.

Referring to FIG. 6 , the gesture data acquiring apparatus provided by the embodiment of the present invention further includes a creating module 530, a second obtaining module 540, a first determining module 550, and a second determining module 560. In the embodiment of the present invention, a module may be created. 530. The second obtaining module 540, the first determining module 550, and the second determining module 560 determine a horizontal angle difference between the coordinate system of the sensor and the reference coordinate system, as follows:

The creating module 530 is configured to create an object model to be measured and a sensor model in a three-dimensional space;

The second acquiring module 540 is configured to acquire second posture data of the object to be measured collected by the sensor to perform a downward rotation;

The first determining module 550 is configured to determine motion trajectory information generated when the sensor model is rotated based on the second posture data;

The second determining module 560 is configured to determine the horizontal angle difference according to the motion trajectory information generated when the sensor model is rotated and the reference coordinate system.

In the embodiment of the present invention, the first posture data includes a three-axis rotation angle;

Therefore, the correction module 520 corrects the first posture data according to the horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system of the object to be measured, and determines the corrected first posture data as the first posture of the object to be measured. The data is implemented by the correction unit, including:

The correction unit is configured to correct the three-axis rotation angle according to the horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system to obtain a three-axis rotation angle of the object to be measured.

The correction unit performs the correction of the three-axis rotation angle by calculating the sub-unit and the determining sub-unit, and specifically includes:

The calculating subunit configured to calculate a horizontal rotation angle of the three-axis rotation angle and a sum of horizontal angle differences of the coordinate system of the sensor with respect to the reference coordinate system; the determining subunit configured to convert the sum value and the three-axis rotation angle The pitch angle and roll angle in the middle are determined as the three-axis rotation angle of the object to be measured degree.

The posture data acquiring device provided by the embodiment of the present invention can set the sensor at any position on the object to be measured, and correct the posture data of the measured object collected by the sensor, so that the acquired posture data of the measured object meets the actual demand. .

The posture data acquiring device provided by the embodiment of the present invention may be specific hardware on the device or software or firmware installed on the device. The implementation principle and the technical effects of the device provided by the embodiments of the present invention are the same as those of the foregoing method embodiments. For a brief description, where the device embodiment is not mentioned, reference may be made to the corresponding content in the foregoing method embodiments. A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working processes of the foregoing system, the device and the unit can refer to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some communication interface, device or unit, and may be electrical, mechanical or otherwise.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in the embodiment provided by the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

The functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on this understanding, the technique of the present invention The portion of the technical solution that contributes in nature or to the prior art, or portions of the technical solution, may be embodied in the form of a software product stored in a storage medium, including instructions for causing a computer The device (which may be a personal computer, server, or network device, etc.) performs all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

It should be noted that similar reference numerals and letters indicate similar items in the following figures. Therefore, once an item is defined in a drawing, it is not necessary to further define and explain it in the subsequent drawings. Moreover, the terms "first", "second", "third", and the like are used merely to distinguish a description, and are not to be construed as indicating or implying a relative importance.

Finally, it should be noted that the above-mentioned embodiments are merely specific embodiments of the present invention, and are used to explain the technical solutions of the present invention, and are not limited thereto, and the scope of protection of the present invention is not limited thereto, although reference is made to the foregoing. The present invention has been described in detail, and those skilled in the art should understand that any one skilled in the art can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed by the present invention. The changes may be easily conceived, or equivalents may be substituted for some of the technical features. The modifications, variations, and substitutions of the present invention do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention. All should be covered by the scope of the present invention. Therefore, the scope of the invention should be determined by the scope of the claims.

Claims

A method for acquiring attitude data, characterized in that the method comprises the steps of:

Obtaining first posture data of the object to be measured collected by the sensor carried on the object to be measured while rotating;

Determining the first posture data according to a horizontal angle difference of a coordinate system of the sensor with respect to a reference coordinate system corresponding to the object to be measured, and determining the corrected first posture data as the object to be measured A gesture data.
The method of claim 1 wherein the horizontal angular difference of the coordinate system of the sensor relative to the reference coordinate system is determined according to the following steps:

Creating an object model to be measured and a sensor model in a three-dimensional space;

Obtaining second posture data of the object to be measured collected by the sensor to perform a downward rotation;

Determining, by the sensor model, motion trajectory information generated when the second attitude data is rotated;

The horizontal angle difference is determined according to motion trajectory information generated when the sensor model is rotated and the reference coordinate system.
The method according to claim 2, wherein the step of determining the motion trajectory information generated when the sensor model is rotated based on the second attitude data comprises:

Determining motion trajectory information of an end of a cycloid starting from a rotation center point of the sensor model as a function of the sensor model;

The motion trajectory information of the end of the cycloid is determined as the motion trajectory information generated when the sensor model is rotated.
The method according to claim 2, wherein the step of determining the horizontal angular difference according to the motion trajectory information generated when the sensor model is rotated and the reference coordinate system comprises:

Determining connection information between an end point of the motion trajectory generated by the sensor model and a start point of the motion trajectory according to motion trajectory information generated when the sensor model is rotated;

Determining, according to the connection information, an angle between a line connecting the end point of the motion track and the start point and a horizontal coordinate axis of the reference coordinate system;

The horizontal angle difference is determined according to the included angle.
The method of claim 1 wherein said first attitude data comprises a three-axis rotation angle;

The step of correcting the first posture data according to a horizontal angle difference of a coordinate system of the sensor with respect to a reference coordinate system corresponding to the object to be measured includes:

And correcting the three-axis rotation angle according to a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system to obtain a three-axis rotation angle of the object to be measured.
The method according to claim 5, wherein the step of correcting the three-axis rotation angle according to a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system comprises:

Calculating a sum of a horizontal rotation angle in the three-axis rotation angle and a horizontal angle difference of a coordinate system of the sensor with respect to the reference coordinate system;

The sum value, the pitch angle and the roll angle in the three-axis rotation angle are determined as the three-axis rotation angle of the object to be measured.
An attitude data acquiring device, characterized in that the device comprises:

a first acquiring module, configured to acquire first posture data of the object to be measured collected by a sensor carried on the object to be measured while rotating;

a correction module configured to modify the first posture data according to a horizontal angle difference of a coordinate system of the sensor with respect to a reference coordinate system corresponding to the object to be measured, and determine the corrected first posture data as the The first pose data of the object to be measured.
The device according to claim 7, wherein the device further comprises:

Creating a module configured to create an object model to be measured and a sensor model in a three-dimensional space;

a second acquiring module, configured to acquire second posture data of the object to be measured collected by the sensor to perform a downward rotation;

a first determining module, configured to determine motion trajectory information generated when the sensor model is rotated based on the second posture data;

The second determining module is configured to determine the horizontal angle difference according to the motion trajectory information generated when the sensor model is rotated and the reference coordinate system.
The apparatus according to claim 7, wherein said first attitude data comprises a three-axis rotation angle;

The correction module includes:

And a correction unit configured to correct the three-axis rotation angle according to a horizontal angle difference of the coordinate system of the sensor with respect to the reference coordinate system to obtain a three-axis rotation angle of the object to be measured.
The apparatus according to claim 9, wherein said correction unit comprises:

a calculation subunit configured to calculate a sum of a horizontal rotation angle of the three-axis rotation angle and a horizontal angle difference of a coordinate system of the sensor with respect to the reference coordinate system;

The determining subunit is configured to determine the sum value, the pitch angle and the roll angle in the three-axis rotation angle as the three-axis rotation angle of the object to be measured.