WO2020216020A1 - 一种运用数字全息技术的惯性导航系统及方法 - Google Patents

一种运用数字全息技术的惯性导航系统及方法 Download PDF

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WO2020216020A1
WO2020216020A1 PCT/CN2020/082436 CN2020082436W WO2020216020A1 WO 2020216020 A1 WO2020216020 A1 WO 2020216020A1 CN 2020082436 W CN2020082436 W CN 2020082436W WO 2020216020 A1 WO2020216020 A1 WO 2020216020A1
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sensing unit
ninth
inertial sensor
module
inertial
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PCT/CN2020/082436
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English (en)
French (fr)
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曹自平
姜翔
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边缘智能研究院南京有限公司
南京邮电大学
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Publication of WO2020216020A1 publication Critical patent/WO2020216020A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03H—HOLOGRAPHIC PROCESSES OR APPARATUS
    • G03H1/00—Holographic processes or apparatus using light, infrared or ultraviolet waves for obtaining holograms or for obtaining an image from them; Details peculiar thereto
    • G03H1/22—Processes or apparatus for obtaining an optical image from holograms
    • G03H1/2294—Addressing the hologram to an active spatial light modulator

Definitions

  • the invention relates to the field of inertial navigation and holographic projection, in particular to an inertial navigation system and method using digital holographic technology.
  • the individual navigation system is suitable for scenes such as firefighting, emergency rescue and disaster relief, especially in situations where rescue operations are difficult to carry out after an indoor fire.
  • the satellite positioning system In traditional satellite positioning systems, satellite signals are extremely susceptible to interference due to indoor wall obstacles, so the satellite positioning system cannot accurately know the reliable location of the firefighter. Later, people developed an inertial navigation system. Since the inertial navigation system does not rely on external information, nor does it radiate energy to the outside, it is completely based on Newtonian mechanics by measuring the acceleration, direction angle and other sensor parameters of the carrier in the inertial reference frame and integrating Get the speed, direction angle, position, attitude and other information in the navigation coordinate system, so the inertial navigation system has become the first choice for indoor fire positioning. However, the inertial navigation system can only provide information such as the speed, position, and direction of the firefighter, and cannot accurately reflect the human motion state of the firefighter, and cannot better grasp the indoor rescue situation of the firefighter.
  • the present invention provides an inertial navigation system and method using digital holography technology, which can solve the problem of disconnection between navigation information and human body motion.
  • the inertial navigation system using digital holography technology of the present invention includes: a sensor module, a communication module, and a digital holography module, the sensor module is connected to the digital holography module through the communication module, and the sensor module It includes a first sensing unit, a second sensing unit, a third sensing unit, a fourth sensing unit, a fifth sensing unit, a sixth sensing unit, a seventh sensing unit, an eighth sensing unit, and a
  • the digital holographic module includes a host and a projection Device, the ninth sensing unit is connected to the host through the communication module, and the host is connected to the projection device.
  • the first sensing unit includes a first inertial sensor, a first Kalman filter, a first ARM controller, and a first Bluetooth transceiver connected in sequence;
  • the second sensing unit includes a second inertial sensor connected in sequence , The second Kalman filter, the second ARM controller and the second Bluetooth transceiver;
  • the third sensing unit includes a third inertial sensor, a third Kalman filter, a third ARM controller and a second Three Bluetooth transceivers;
  • the fourth sensing unit includes a fourth inertial sensor, a fourth Kalman filter, a fourth ARM controller, and a fourth Bluetooth transceiver connected in sequence;
  • the fifth sensing unit includes a sequence connection The fifth inertial sensor, the fifth Kalman filter, the fifth ARM controller and the fifth Bluetooth transceiver;
  • the sixth sensing unit includes a sixth inertial sensor, a sixth Kalman filter, and a sixth An ARM controller and a sixth Bluetooth transceiver;
  • the seventh sensing unit includes a
  • the first inertial sensor, second inertial sensor, third inertial sensor, fourth inertial sensor, fifth inertial sensor, sixth inertial sensor, seventh inertial sensor, eighth inertial sensor and ninth inertial sensor all adopt nine axes
  • the nine-axis inertial sensors include a three-axis gyroscope, a three-axis geomagnetometer, and a three-axis accelerometer.
  • the projection device includes a laser and a spatial light modulator (SLM).
  • SLM spatial light modulator
  • the laser beam emitted by the laser is irradiated on the spatial light modulator, modulated by the hologram loaded on the spatial light modulator, and then diffracted into a digital holographic image.
  • An inertial navigation system and method using digital holography technology including the following steps:
  • the first sensing unit, second sensing unit, third sensing unit, fourth sensing unit, fifth sensing unit, sixth sensing unit, and seventh sensing unit of the user will be collected And the spatial positioning data in the eighth sensing unit are sent to the ninth sensing unit,
  • the ninth sensing unit and its own unit's spatial positioning data are sent to the host of the digital holography module;
  • the host obtains the spatial positioning data of 9 sensing units through the communication module, uses Maya 3D software to make a fictitious human body three-dimensional motion model and establishes a three-dimensional space coordinate system, uses three-dimensional modeling data to make computational holograms and holograms through fast algorithms
  • the picture is processed by the host, and the video is encoded into a digital hologram, and then loaded on the projection device;
  • the step (1) specifically includes:
  • the sensing data in the first inertial sensor of the first sensing unit is collected and controlled by the first ARM controller.
  • the sensing data is calibrated with feedback through the first Kalman filter, and the left wrist in the navigation coordinate system is obtained through integral operation
  • the spatial positioning data of the joint nodes are sent to the ninth sensing unit through the first Bluetooth transceiver, and correspondingly, the spatial positioning data of the corresponding human joint nodes in the second to eighth inertial sensors are collected and sent to The ninth Bluetooth transceiver of the ninth sensing unit.
  • the step (2) specifically includes:
  • the ninth ARM controller in the ninth sensing unit controls the collected spatial positioning data, receives the spatial positioning data from the other eight sensing units through the ninth Bluetooth transceiver, and uses the wireless communication module together with the spatial positioning of its own unit Data, send the collected data of the nine sensing units to the host of the digital holography module;
  • the hologram is input to the spatial light modulator of the projection device, the laser beam is irradiated on the spatial light modulator, is modulated by the hologram loaded on the spatial light modulator, and then diffracted into a digital holographic image.
  • the present invention has significant advantages: 1. Based on the inertial navigation system, the present invention overcomes the defect that the indoor satellite signal of the traditional satellite positioning system is easily interfered, and can obtain more accurate navigation without relying on external information. The data is suitable for firefighting scenes with complex terrain and many obstacles; 2.
  • the present invention uses multiple inertial sensors to monitor the spatial position of human joint nodes, and then capture the human body motion state, making full use of the high sensitivity characteristics of the inertial navigation system; 3
  • the present invention combines digital holography technology, uses Maya 3D software to make a three-dimensional human body motion model, and synthesizes a holographic film and television, which can more intuitively observe the rescue actions of firefighters with the naked eye.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a simulation diagram of the present invention
  • Fig. 3 is a schematic structural diagram of the sensor module of the present invention.
  • Figure 4 is a working flow chart of the digital holography module of the present invention.
  • Figure 5 is a flow chart of the method of the present invention.
  • the inertial navigation system using digital holography technology includes: a sensor module, a communication module and a digital holography module, the sensor module is connected to the digital holography module through the communication module,
  • the sensor module includes a first sensor unit, a second sensor unit, a third sensor unit, a fourth sensor unit, a fifth sensor unit, a sixth sensor unit, and a seventh sensor unit.
  • the sensor unit, the eighth sensor unit and the ninth sensor unit are respectively worn on the user's left wrist, right wrist, left elbow, right elbow, left knee, right knee, left ankle, right ankle and the middle of the waist .
  • the digital holography module includes a host computer and a projection device, the ninth sensing unit is connected to the host computer through the communication module, the host computer is connected to the projection device, and the computer computer implements 3D modeling, fast computerized holography, and video encoding.
  • the built-in image processing unit (GPU) and modeling software are used for computer-generated holograms (CGH).
  • the present invention uses but is not limited to Maya 3D.
  • the communication module can be a GPRS module, 3G module, 4G module, NB-IOT module, LoRa module, Ethernet module, Bluetooth module, WIFI module, etc.
  • the present invention does not limit it, and modules of different networks also transmit different networks ,
  • the 4G module naturally uses the operator’s 4G network for data transmission
  • the lora module is transmitted through the 433MHz frequency band or other frequency bands
  • the Ethernet module uses the Ethernet (Internet) for the same reason.
  • the first sensing unit includes a first inertial sensor, a first Kalman filter, a first ARM controller and a first Bluetooth transceiver connected in sequence;
  • the second sensing unit includes a second inertial sensor connected in sequence, Two Kalman filters, a second ARM controller and a second Bluetooth transceiver;
  • the third sensing unit includes a third inertial sensor, a third Kalman filter, a third ARM controller and a third Bluetooth that are connected in sequence Transceiver;
  • the fourth sensing unit includes a fourth inertial sensor, a fourth Kalman filter, a fourth ARM controller, and a fourth Bluetooth transceiver that are connected in sequence;
  • the fifth sensing unit includes a fourth inertial sensor connected in sequence Five inertial sensors, a fifth Kalman filter, a fifth ARM controller and a fifth Bluetooth transceiver;
  • the sixth sensing unit includes a sixth inertial sensor, a sixth Kalman filter, and a sixth ARM control connected in sequence
  • the first inertial sensor, second inertial sensor, third inertial sensor, fourth inertial sensor, fifth inertial sensor, sixth inertial sensor, seventh inertial sensor, eighth inertial sensor and ninth inertial sensor all adopt nine axes
  • the nine-axis inertial sensors include a three-axis gyroscope, a three-axis geomagnetometer, and a three-axis accelerometer.
  • the invention utilizes multiple nine-axis inertial sensors to monitor the spatial positions of the joint nodes of the human body, thereby capturing the motion state of the human body, and fully utilizes the high sensitivity characteristic of the inertial navigation system.
  • the projection device includes a laser and a spatial light modulator, the laser beam emitted by the laser is irradiated on the spatial light modulator, is loaded on the hologram modulated on the spatial light modulator, and then Diffracted into a digital holographic image.
  • a high-resolution spatial light modulator in order to achieve high-quality three-dimensional reproduction effects, can be used; or multiple spatial light modulators can be used to adopt time multiplexing and spatial multiplexing technologies to improve resolution. rate.
  • the host obtains the real-time spatial positioning information of 9 inertial sensors through the 4G network, uses the real-time spatial positioning information of 9 joint nodes to simulate the motion of the human body, and uses Maya 3D software to make a fictitious human body three-dimensional motion model and establish a three-dimensional space Coordinate system to obtain 3D modeling data.
  • the hologram is processed by the computer and the video Encode and synthesize a digital hologram, and load it on the spatial light modulator.
  • system structure diagram in the embodiment of the present invention is to more clearly illustrate the technical solution in the embodiment of the present invention, and does not constitute a limitation to the technical solution provided in the embodiment of the present invention. It is not limited to the application of the inertial navigation system. For other system structures and business applications, the technical solutions provided by the embodiments of the present invention are equally applicable to similar problems.
  • an inertial navigation method using digital holography technology includes the following steps:
  • S100 will collect the first sensing unit, second sensing unit, third sensing unit, fourth sensing unit, fifth sensing unit, sixth sensing unit, seventh sensing unit and the The spatial positioning data in the eight sensing unit is sent to the ninth sensing unit.
  • the ninth sensing unit and its own unit's spatial positioning data are sent to the host of the digital holography module;
  • the S120 host obtains the spatial positioning data of 9 sensing units through the communication module, makes a fictitious human body three-dimensional motion model and establishes a three-dimensional space coordinate system, uses the three-dimensional modeling data to make a computational hologram through a fast algorithm, the hologram is processed by the host, and the video Encode and synthesize a digital hologram, and load it on the projection device;
  • the step (1) specifically includes:
  • the sensing data in the first inertial sensor of the first sensing unit is collected and controlled by the first ARM controller.
  • the sensing data is calibrated with feedback through the first Kalman filter, and the left wrist in the navigation coordinate system is obtained through integral operation
  • the spatial positioning data of the joint nodes are sent to the ninth sensing unit through the first Bluetooth transceiver, and correspondingly, the spatial positioning data of the corresponding human joint nodes in the second to eighth inertial sensors are collected and sent to The ninth Bluetooth transceiver of the ninth sensing unit.
  • the step (2) specifically includes:
  • the ninth ARM controller in the ninth sensing unit controls the collected spatial positioning data, receives the spatial positioning data from the other eight sensing units through the ninth Bluetooth transceiver, and uses the wireless communication module together with the spatial positioning of its own unit Data, send the collected data of the nine sensing units to the host of the digital holography module;
  • S130 also includes that the hologram is input to the spatial light modulator of the projection device, the laser beam is irradiated on the spatial light modulator, modulated by the hologram loaded on the spatial light modulator, and then diffracted into a digital holographic image.
  • the first inertial sensor, second inertial sensor, third inertial sensor, fourth inertial sensor, fifth inertial sensor, sixth inertial sensor, seventh inertial sensor, eighth inertial sensor and ninth inertial sensor all adopt nine axes
  • the nine-axis inertial sensors include a three-axis gyroscope, a three-axis geomagnetometer, and a three-axis accelerometer.
  • the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete application embodiment, or an embodiment combining applications and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

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Abstract

一种运用数字全息技术的惯性导航系统，系统包括：传感器模块、通信模块和数字全息模块，传感器模块通过通信模块与数字全息模块相连，传感器模块包括第一传感单元、第二传感单元、第三传感单元、第四传感单元、第五传感单元、第六传感单元、第七传感单元、第八传感单元和第九传感单元，分别佩戴于使用者的左手腕、右手腕、左手肘、右手肘、左膝盖、右膝盖、左脚腕、右脚腕和腰部正中上，数字全息模块包括主机和投影设备，第九传感单元与主机通过通信模块连接。该惯性导航系统克服了传统卫星定位系统室内卫星信号易受干扰的缺陷，能够不依靠外部信息获取较为精确的导航数据，并且能实时反映佩戴者的运动状态，适用于地形复杂，障碍物多的消防场景。还公开了一种运用数字全息技术的惯性导航系统实现的方法。

Description

一种运用数字全息技术的惯性导航系统及方法 技术领域
本发明涉及惯性导航和全息投影领域，尤其是一种运用数字全息技术的惯性导航系统及方法。
背景技术
单兵导航系统适用于消防，抢险救灾等场景，尤其在室内失火后，救援行动工作难以进行的场合。需要一种单兵导航系统，能够在紧急救援，目标追踪等突发情况下，为消防员提供高级别的安全保障。
传统的卫星定位系统，由于室内墙体障碍物的影响，卫星信号极易受到干扰，所以卫星定位系统无法准确地获知消防员的可靠位置。后来人们开发出了惯性导航系统，由于惯性导航系统不依赖于外部信息，也不向外部辐射能量，完全以牛顿力学为基础通过测量载体在惯性参考系的加速度，方向角等传感参数，积分得到导航坐标系中的速度，方向角，位置，姿态等信息，因此惯性导航系统成为了室内消防定位的首选。然而惯性导航系统只能提供消防员的速度，位置，方向等信息，不能准确反映消防员的人体运动状态，无法更好地掌握消防官兵的室内救援情况。
发明内容
发明目的：为了克服现有技术的不足，本发明提供一种运用数字全息技术的惯性导航系统及方法，该系统可以解决导航信息与人体运动状态脱节的问题。
技术方案：本发明所述的运用数字全息技术的惯性导航系统，该系统包括：传感器模块、通信模块和数字全息模块，所述传感器模块通过通信模块与所述数字全息模块相连，所述传感器模块包括第一传感单元、第二传感单元、第三传感单元、第四传感单元、第五传感单元、第六传感单元、第七传感单元、第八传感单元和第九传感单元，分别佩戴于使用者的左手腕、右手腕、左手肘、右手肘、左膝盖、右膝盖、左脚腕、右脚腕和腰部正中上，所述数字全息模块包括主机和投影设备，所述第九传感单元与主机通过所述通信模块连接，所述主机和投影设备连接。
进一步的，包括：
所述第一传感单元包括依次连接的第一惯性传感器，第一卡尔曼滤波器，第一ARM控制器和第一蓝牙收发器；所述第二传感单元包括依次连接的第二惯性传感器，第二卡尔曼滤波器，第二ARM控制器和第二蓝牙收发器；所述第三传感单元包括依次连接的第三惯性传感器，第三卡尔曼滤波器，第三ARM控制器和第三蓝牙收发器；所述第四传感单元包括依次连接的第四惯性传感器，第四卡尔曼滤波器，第四ARM控制器和第四蓝牙收发器；所述第五传感单元包括依次连接的第五惯性传感器，第五卡尔曼滤波器，第五ARM控制器和第五蓝牙收发器；所述第六传感单元包括依次连接的第六惯性传感器，第六卡尔曼滤波器，第六ARM控制器和第六蓝牙收发器；所述第七传感单元包括依次连接的第七惯性传感器，第七卡尔曼滤波器，第七ARM控制器和第七蓝牙收发器；所述第八传感单元包括依次连接的第八惯 性传感器，第八卡尔曼滤波器，第八ARM控制器和第八蓝牙收发器，所述第九传感单元包括依次连接的第九惯性传感器，第九卡尔曼滤波器，第九ARM控制器和第九蓝牙收发器，所述第九传感单元还包括无线通讯单元，所述无线通讯单元与所述第九ARM控制器连接。
进一步的，包括：
所述第一惯性传感器，第二惯性传感器，第三惯性传感器，第四惯性传感器，第五惯性传感器，第六惯性传感器，第七惯性传感器，第八惯性传感器以及第九惯性传感器均采用九轴惯性传感器，所述九轴惯性传感器包括三轴陀螺仪，三轴地磁计，三轴加速度计。
进一步的，包括：
所述投影设备包括激光器和空间光调制器(SLM)，所述激光器发出的激光束照射到空间光调制器上，被加载到空间光调制器上的全息图调制，然后衍射成数字全息影像。
进一步的，包括：
所述空间光调制器有多个。
一种运用数字全息技术的惯性导航系统及方法，包括以下步骤：
(1)将采集使用者的身上第一传感单元、第二传感单元、第三传感单元、第四传感单元、第五传感单元、第六传感单元、第七传感单元和第八传感单元中的空间定位数据发送至第九传感单元，
(2)第九传感单元连同自身单元的空间定位数据，发送都数字全息模块的主机中；
(3)主机通过通信模块获取9个传感单元的空间定位数据，使用Maya 3D软件制作虚构人体三维运动模型并建立三维空间坐标系，利用三维建模数据，通过快速算法制作计算全息图，全息图经主机处理，视频编码合成数字化全息图，加载到投影设备上；
进一步的，包括：
所述步骤(1)具体包括：
采集第一传感单元的第一惯性传感器中的传感数据，由第一ARM控制器控制，传感数据经过第一卡尔曼滤波器进行反馈式校准，经过积分运算得到导航坐标系中左手腕关节节点的空间定位数据，通过第一蓝牙收发器将采集的数据发送至第九传感单元，对应的，采集第二至第八惯性传感器中的对应人体关节节点的空间定位数据，并发送至第九传感单元的第九蓝牙收发器。
进一步的，包括：
所述步骤(2)具体包括：
第九传感单元中的第九ARM控制器控制采集的空间定位数据，通过第九蓝牙收发器接收来自其他八个传感单元的空间定位数据，并通过无线通讯模块，连同自身单元的空间定位数据，将采集到的九个传感单元的数据发送至数字全息模块的主机中；
进一步的，包括：
还包括所述全息图输入到投影设备的空间光调制器上，激光束照射到所述空间光调制器上，被加载到空间光调制器上的全息图调制，然后衍射成数字全息影像。
有益效果：本发明与现有技术相比，其显著优点是：1、本发明基于惯性导航系统克服了传统卫星定位系统室内卫星信号易受干扰的缺陷，能够不依靠外部信息获取较为精确的导航数据，适用于地形复杂，障碍物多的消防场景；2、本发明利用多个惯性传感器能够监控人体关节节点的空间位置，进而捕获人体运动状态，充分利用了惯性导航系统灵敏度高 的特性；3、本发明结合数字全息技术，利用Maya 3D软件制作人体三维运动模型，并合成全息影视，更能直观地裸眼观察消防员的救援行动。
附图说明
图1是本发明的结构示意图；
图2是本发明的仿真模拟图；
图3是本发明的传感器模块的结构示意图；
图4是本发明的数字全息模块的工作流程图；
图5是本发明的方法流程图。
具体实施方式
下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
如图1所示，本发明所述的运用数字全息技术的惯性导航系统，该系统包括：传感器模块、通信模块和数字全息模块，所述传感器模块通过通信模块与所述数字全息模块相连，
如图2和3所示，传感器模块包括第一传感单元、第二传感单元、第三传感单元、第四传感单元、第五传感单元、第六传感单元、第七传感单元、第八传感单元和第九传感单元，分别佩戴于使用者的左手腕、右手腕、左手肘、右手肘、左膝盖、右膝盖、左脚腕、右脚腕和腰部正中上。
所述数字全息模块包括主机和投影设备，所述第九传感单元与主机通过所述通信模块连接，所述主机和投影设备连接，计算主机实现3D建模，快速计算全息，视频编码，主机中自带图像处理单元(GPU)，建模软件，用于计算机制全息图(CGH)，本发明使用但不限于使用Maya 3D。
通信模块可为GPRS模块、3G模块、4G模块、NB-IOT模块、LoRa模块、以太网模块、蓝牙模块、WIFI模块等，本发明并不对其进行限定，不同网络的模块也就传输的网络不同、比如4G模块自然是用运营商的4G网络来进行数据传输、lora模块是通过433MHz频段或者其他频段传输，同理以太网模块就是使用以太网(Internet)。
第一传感单元包括依次连接的第一惯性传感器，第一卡尔曼滤波器，第一ARM控制器和第一蓝牙收发器；所述第二传感单元包括依次连接的第二惯性传感器，第二卡尔曼滤波器，第二ARM控制器和第二蓝牙收发器；所述第三传感单元包括依次连接的第三惯性传感器，第三卡尔曼滤波器，第三ARM控制器和第三蓝牙收发器；所述第四传感单元包括依次连接的第四惯性传感器，第四卡尔曼滤波器，第四ARM控制器和第四蓝牙收发器；所述第五传感单元包括依次连接的第五惯性传感器，第五卡尔曼滤波器，第五ARM控制器和第五蓝牙收发器；所述第六传感单元包括依次连接的第六惯性传感器，第六卡尔曼滤波器，第六ARM控制器和第六蓝牙收发器；所述第七传感单元包括依次连接的第七惯性传感器，第七卡尔曼滤波器，第七ARM控制器和第七蓝牙收发器；所述第八传感单元包括依次连接的第八惯性传感器，第八卡尔曼滤波器，第八ARM控制器和第八蓝牙收发器，所述第九传感单元包括依次 连接的第九惯性传感器，第九卡尔曼滤波器，第九ARM控制器和第九蓝牙收发器，所述第九传感单元还包括无线通讯单元，所述无线通讯单元与所述第九ARM控制器连接，该无线通信单元优选为4G无线通讯。
所述第一惯性传感器，第二惯性传感器，第三惯性传感器，第四惯性传感器，第五惯性传感器，第六惯性传感器，第七惯性传感器，第八惯性传感器以及第九惯性传感器均采用九轴惯性传感器，所述九轴惯性传感器包括三轴陀螺仪，三轴地磁计，三轴加速度计。
本发明利用多个九轴惯性传感器能够监控人体关节节点的空间位置，进而捕获人体运动状态，充分利用了惯性导航系统灵敏度高的特性。
进一步地，本发明实施例中，所述投影设备包括激光器和空间光调制器，所述激光器发出的激光束照射到空间光调制器上，被加载到空间光调制器上的全息图调制，然后衍射成数字全息影像。
进一步地，本发明实施例中，为了达到优质的三维再现效果，可以使用高分辨率的空间光调制器；也可以通过多个空间光调制器，采用时间复用和空间复用技术，提高分辨率。
如图4所示，主机通过4G网络获取9个惯性传感器的实时空间定位信息，利用9个关节节点的实时空间定位信息模拟人体躯干运动，通过Maya 3D软件制作虚构人体三维运动模型并建立三维空间坐标系，获取三维建模数据，由于要求实时显示，可以使用自带图像处理单元(GPU)的计算机主机，通过快速算法制作计算全息图(CGH)来解决这个问题，全息图经计算机处理，视频编码合成数字化全息图，加载到空间光调制器上。
值得说明的是，本发明实施例中的系统结构图是为了更加清楚地说明本发明实施例中的技术方案，并不构成对本发明实施例提供的技术方案的限制，并且，本发明实施例中也不仅限于惯性导航系统的应用，对于其它的系统结构和业务应用，本发明实施例提供的技术方案对于类似的问题，同样适用。
如图5所示，一种运用数字全息技术的惯性导航方法，包括以下步骤：
S100将采集使用者的身上第一传感单元、第二传感单元、第三传感单元、第四传感单元、第五传感单元、第六传感单元、第七传感单元和第八传感单元中的空间定位数据发送至第九传感单元。
S110第九传感单元连同自身单元的空间定位数据，发送至数字全息模块的主机中；
S120主机通过通信模块获取9个传感单元的空间定位数据，制作虚构人体三维运动模型并建立三维空间坐标系，利用三维建模数据，通过快速算法制作计算全息图，全息图经主机处理，视频编码合成数字化全息图，加载到投影设备上；
进一步的，包括：
所述步骤(1)具体包括：
采集第一传感单元的第一惯性传感器中的传感数据，由第一ARM控制器控制，传感数据经过第一卡尔曼滤波器进行反馈式校准，经过积分运算得到导航坐标系中左手腕关节节点的空间定位数据，通过第一蓝牙收发器将采集的数据发送至第九传感单元，对应的，采集第二至第八惯性传感器中的对应人体关节节点的空间定位数据，并发送至第九传感单元的第九蓝牙收发器。
进一步的，包括：
所述步骤(2)具体包括：
第九传感单元中的第九ARM控制器控制采集的空间定位数据，通过第九蓝牙收发器接收来自其他八个传感单元的空间定位数据，并通过无线通讯模块，连同自身单元的空间定位数据，将采集到的九个传感单元的数据发送至数字全息模块的主机中；
进一步的，包括：
S130还包括所述全息图输入到投影设备的空间光调制器上，激光束照射到所述空间光调制器上，被加载到空间光调制器上的全息图调制，然后衍射成数字全息影像。
进一步的，包括：
所述第一惯性传感器，第二惯性传感器，第三惯性传感器，第四惯性传感器，第五惯性传感器，第六惯性传感器，第七惯性传感器，第八惯性传感器以及第九惯性传感器均采用九轴惯性传感器，所述九轴惯性传感器包括三轴陀螺仪，三轴地磁计，三轴加速度计。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者一个操作与另一个实体或者另一个操作区分开来，而不一定要求或者暗示这些实体或者操作之间存在任何这种实际的关系或者顺序。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全应用实施例、或结合应用和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围 之内，则本发明也意图包含这些改动和变型在内。

Claims (9)

  1. 一种运用数字全息技术的惯性导航系统，其特征在于，该系统包括：传感器模块、通信模块和数字全息模块，所述传感器模块通过通信模块与所述数字全息模块相连，所述传感器模块包括第一传感单元、第二传感单元、第三传感单元、第四传感单元、第五传感单元、第六传感单元、第七传感单元、第八传感单元和第九传感单元，分别佩戴于使用者的左手腕、右手腕、左手肘、右手肘、左膝盖、右膝盖、左脚腕、右脚腕和腰部正中上，所述数字全息模块包括主机和投影设备，所述第九传感单元与主机通过所述通信模块连接，所述主机和投影设备连接。
  2. 根据权利要求1所述的运用数字全息技术的惯性导航系统，其特征在于，所述第一传感单元包括依次连接的第一惯性传感器，第一卡尔曼滤波器，第一ARM控制器和第一蓝牙收发器；所述第二传感单元包括依次连接的第二惯性传感器，第二卡尔曼滤波器，第二ARM控制器和第二蓝牙收发器；所述第三传感单元包括依次连接的第三惯性传感器，第三卡尔曼滤波器，第三ARM控制器和第三蓝牙收发器；所述第四传感单元包括依次连接的第四惯性传感器，第四卡尔曼滤波器，第四ARM控制器和第四蓝牙收发器；所述第五传感单元包括依次连接的第五惯性传感器，第五卡尔曼滤波器，第五ARM控制器和第五蓝牙收发器；所述第六传感单元包括依次连接的第六惯性传感器，第六卡尔曼滤波器，第六ARM控制器和第六蓝牙收发器；所述第七传感单元包括依次连接的第七惯性传感器，第七卡尔曼滤波器，第七ARM控制器和第七蓝牙收发器；所述第八传感单元包括依次连接的第八惯性传感器，第八卡尔曼滤波器，第八ARM控制器和第八蓝牙收发器，所述第九传感单元包括依次连接的第九惯性传感器，第九卡尔曼滤波器，第九ARM控制器和第九蓝牙收发器，所述第九传感单元还包括无线通讯单元，所述无线通讯单元与所述第九ARM控制器连接。
  3. 根据权利要求2所述的运用数字全息技术的惯性导航系统，其特征在于，所述第一惯性传感器，第二惯性传感器，第三惯性传感器，第四惯性传感器，第五惯性传感器，第六惯性传感器，第七惯性传感器，第八惯性传感器以及第九惯性传感器均采用九轴惯性传感器，所述九轴惯性传感器包括三轴陀螺仪，三轴地磁计，三轴加速度计。
  4. 根据权利要求1所述的运用数字全息技术的惯性导航系统，其特征在于，所述投影设备包括激光器和空间光调制器，所述激光器发出的激光束照射到空间光调制器上，被加载到空间光调制器上的全息图调制，然后衍射成数字全息影像。
  5. 根据权利要求1所述的运用数字全息技术的惯性导航系统，其特征在于，所述空间光调制器有多个。
  6. 一种根据权利要求1-5任一项所述的运用数字全息技术的惯性导航系统实现的方法，其特征在于，包括以下步骤：
    (1)将采集使用者的身上第一传感单元、第二传感单元、第三传感单元、第四传感单元、第五传感单元、第六传感单元、第七传感单元和第八传感单元中的空间定位数据发送至第九传感单元；
    (2)第九传感单元连同自身单元的空间定位数据，发送至数字全息模块的主机中；
    (3)主机通过通信模块获取9个传感单元的空间定位数据，使用Maya3D软件制作虚构人体三维运动模型并建立三维空间坐标系，利用三维建模数据，通过快速算法制作计算全息图，全息图经主机处理，视频编码合成数字化全息图，加载到投影设备上。
  7. 根据权利要求6所述的运用数字全息技术的惯性导航方法，其特征在于，所述步骤 (1)具体包括：
    采集第一传感单元的第一惯性传感器中的传感数据，由第一ARM控制器控制，传感数据经过第一卡尔曼滤波器进行反馈式校准，经过积分运算得到导航坐标系中左手腕关节节点的空间定位数据，通过第一蓝牙收发器将采集的数据发送至第九传感单元，对应的，采集第二至第八惯性传感器中的对应人体关节节点的空间定位数据，并发送至第九传感单元的第九蓝牙收发器。
  8. 根据权利要求7所述的运用数字全息技术的惯性导航方法，其特征在于，所述步骤(2)具体包括：
    第九传感单元中的第九ARM控制器控制采集的空间定位数据，通过第九蓝牙收发器接收来自其他八个传感单元的空间定位数据，并通过无线通讯模块，连同自身单元的空间定位数据，将采集到的九个传感单元的数据发送至数字全息模块的主机中。
  9. 根据权利要求6所述的运用数字全息技术的惯性导航方法，其特征在于，还包括所述数字化全息图输入到投影设备的空间光调制器上，激光束照射到所述空间光调制器上，被加载到空间光调制器上的全息图调制，然后衍射成数字全息影像。
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