WO2021151363A1

WO2021151363A1 - Method and apparatus for calculating position offset

Info

Publication number: WO2021151363A1
Application number: PCT/CN2020/142105
Authority: WO
Inventors: 于毅欣
Original assignee: 于毅欣
Priority date: 2020-01-27
Filing date: 2020-12-31
Publication date: 2021-08-05
Also published as: CN113324536A

Abstract

An apparatus for calculating a position offset, comprising: a gyroscope and a software system. The gyroscope is a device that can give the acceleration information and axial information of an object. The software system is a system that records, tracks, and calculates an offset or information according to the information of the gyroscope. The purpose of resetting tracking parameters is achieved by zeroing current tracking offset coordinates. One feature of the apparatus is that an origin in the case of relative tracking offset can be dynamically specified.

Description

Method and device for calculating position offset

Technical field

The invention relates to the field of position offset calculation, in particular to a method and device for position offset calculation.

Background technique

Gyroscope technology is improving day by day. The present invention is determined to describe or track the movement of objects and even the details of the movement through the gyroscope, and can set or set the process of tracking through the gyroscope, mainly by adjusting the current tracking deviation Reset the tracking parameters by resetting the moving coordinates. A feature of the device of the present invention is that it can dynamically specify the origin when tracking the relative offset.

Summary of the invention

According to one aspect of the present disclosure, a device for calculating a position offset is characterized by comprising: a gyroscope and a software system.

The gyroscope is a device capable of giving acceleration information and axial information of an object.

The software system is a system that records, tracks, and calculates offset or information based on the information of the gyroscope.

According to an aspect of the present disclosure, a method for calculating a position offset is characterized by comprising: the software system reads the parameters of the gyroscope from a configuration file.

The software system reads data from the gyroscope.

The software system calculates the relative displacement based on the data read from the gyroscope.

The software system resets the previous relative displacement data under certain circumstances or conditions.

Preferably, the configuration file may include the refresh rate of the gyroscope (used to calculate the time interval or the average value of the time interval between two data).

Preferably, the information synchronized by the software system from the gyroscope may include device time, axial angle, acceleration, angular acceleration, and angular velocity.

Preferably, the relative offset often refers to the offset of the axial angle relative to the reference axis of the gyroscope (that is, the axis when the readings are all 0).

Preferably, when calculating the relative displacement, the displacement relative to a certain reference point is calculated.

Preferably, the displacement offset value relative to the reference point can be cleared at a certain position to recalculate the displacement offset value.

Preferably, as an optional implementation manner, if the movement vector or offset has been calculated according to its own gyroscope information, it can be used directly to accumulate the cumulative displacement of the user relative to the reference point.

Further, that is to say, after moving to a certain position, the previously calculated offset value (relative displacement value) is cleared, then the coordinate offset is tracked relative to the current coordinate point as the origin.

Furthermore, since the speed and acceleration information is not cleared, but the relative offset value is cleared, it can be ensured that the tracking of the coordinate offset is more realistic or close to the true displacement.

Preferably, as an optional implementation, the data of each frame of the gyroscope contains time, angle, acceleration, angular acceleration, angular velocity and other information (or several of them), and the acceleration is multiplied by the time interval of each frame , You can get the speed change offset of this frame, add up these speed change offsets to get the instant (per frame) speed value (average speed value during the period), and use this accumulated instantaneous speed value to calculate The average speed is multiplied by the time interval of each frame to obtain the displacement offset value of each frame, and the displacement offset value is accumulated to obtain the position offset of the user relative to the origin or reference point.

Preferably, as an optional implementation manner, when acceleration and velocity are included in the gyroscope data, the movement vector or offset relative to the reference point can also be calculated according to the acceleration and velocity in the gyroscope data.

Preferably, when resetting, both the gyroscope information of the previous frame and the calculated velocity value are retained, but the relative displacement value is cleared.

Preferably, the reset operation is an accumulated displacement, and both the current velocity value and acceleration value can be retained.

Preferably, the reset operation may be an interface called by the outside.

Preferably, if the current angular velocity is provided, the angular velocity may not be calculated or accumulated by itself.

Detailed ways

The following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

Example 1

Step 1: The software system reads the parameters of the gyroscope from the configuration file, which may include the refresh frequency.

Step 2: The software system obtains data from the gyroscope. If the gyroscope data contains time information, it does not use the refresh frequency read in the configuration file to calculate the average time, but uses the time in the gyroscope data to calculate the two The time interval between frame data TimeErase.

Step 3: The software system uses the current acceleration multiplied by TimeErase to be the speed offset value SpeedOffset in TimeErase time, collects and accumulates this SpeedOffset to obtain the average speed CurAverSpeed of the current frame, and uses CurAverSpeed to multiply TimeErase to be the time The gyroscope displacement in the interval TimeErase.

Step 4: If you want to get the angle of attitude, use a similar method, but this is using angular acceleration. The software system uses the current angular acceleration multiplied by TimeErase to be the speed change offset value AngleSpeedOffset in the TimeErase time, collects and accumulates this AngleSpeedOffset to obtain the average speed of the current frame CurAngleAverSpeed, and uses CurAngleAverSpeed to multiply by TimeErase is the time interval TimeErase Gyro angle changes in the.

Further, in order to separate the displacement of the gyroscope from the change of the rotation angle of the gyroscope, the gyroscope can be deployed in the center or a relatively central position of the object.

Step 5: The software system can provide an interface to the outside world. When the interface is called, the current accumulated displacement value or the current accumulated rotation angle change value is cleared to achieve the origin from the current gyroscope position and gyroscope rotation angle ( Or reference point) or reference axis to track the object's next position offset value and rotation angle offset value.

The above are specific embodiments of the present invention, but the protection scope of the present invention should not be limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention shall be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be defined by the claims. The scope of protection shall prevail.

Claims

A device for calculating position offset, which is characterized by comprising: a gyroscope and a software system;

The gyroscope is a device capable of giving acceleration information and axial information of an object;

The software system is a system that records, tracks, and calculates offset or information based on the information of the gyroscope.
A method for calculating position offset, characterized in that it comprises:

The software system reads the parameters of the gyroscope from the configuration file;

The software system reads data from the gyroscope;

The software system calculates the relative displacement based on the data read from the gyroscope;

The software system resets the previous relative displacement data under certain circumstances or conditions.
The method according to claim 2, wherein the software system reads the parameters of the gyroscope from the configuration file, and further comprises:

The configuration file can include the refresh rate of the gyroscope (used to calculate the time interval between two data or the average of the time interval).
The method according to claim 2, wherein the software system reads data from the gyroscope, further comprising:

The information synchronized by the software system from the gyroscope may include device time, axial angle, acceleration, angular acceleration, and angular velocity.
The method according to claim 2, wherein the software system calculates the relative displacement based on the data read from the gyroscope, further comprising:

The relative offset often refers to the offset of the axial angle relative to the reference axis of the gyroscope (that is, the axis when the readings are all 0);

When calculating the relative displacement, it is to calculate the displacement relative to a certain reference point;

The displacement offset value relative to the reference point can be cleared at a certain position to recalculate the displacement offset value;

As an optional implementation manner, if the movement vector or offset has been calculated according to its own gyroscope information, it can be used directly to accumulate the user's displacement relative to the origin or reference point;

As an optional implementation, the data of each frame of the gyroscope contains information such as time, angle, acceleration, angular acceleration, angular velocity (or several of them), and the acceleration is multiplied by the time interval of each frame to obtain The speed change offset of this frame, add up these speed change offsets to get the instant (per frame) speed value (average speed value during the period), multiply the average speed calculated by this accumulated instantaneous speed value The offset value of the displacement of each frame can be obtained at the time interval of each frame, and the position offset of the user relative to the origin or reference point can be obtained by accumulating the displacement offset value;

As an optional implementation manner, when acceleration and velocity are included in the gyroscope data, the movement vector or offset relative to the reference point can also be calculated according to the acceleration and velocity in the gyroscope data.
The method according to claim 2, wherein the software system resets the previous relative displacement data under certain circumstances or conditions, further comprising:

When resetting, the gyroscope information of the previous frame and the calculated speed value can be retained, but the relative displacement value is cleared;

The reset operation is an accumulated displacement, and the current speed value and acceleration value can be retained;

The reset operation can be an interface called externally.
A computer readable and writable medium on which a computer program and related data are stored, and is characterized in that when the program is executed by a processor, the related computing functions and content of the present invention are realized.
An electronic device, characterized in that it comprises:

One or more processors;

The storage device is used to store one or more programs.