Methods of Measuring the Position and Orientation of Objects

Abstract

The invention discloses a method for measuring the position and the azimuths of an object. In the process of measuring the azimuths of the object, the first azimuth is calculated according to a measurement result acquired from a three-axis gyroscope; the second azimuth is calculated by the three-axis acceleration sensor only when the object is in a stationary state; the third azimuth is calculated by the three-axis geomagnetic sensor when the object is in the stationary state or when the object continuously moves within a certain period of time; and the second azimuth and the third azimuth are corrections to the first azimuth. The traditional method for measuring the azimuths of the object only makes use of the three-axis gyroscope, which can generate accumulative errors and cause that the measurement result is inaccurate for a long time. According to the invention, on the basis of use of the three-axis gyroscope, the three-axis acceleration sensor and the three-axis geomagnetic sensor are used for correcting the measurement result of the azimuths, acquired from the three-axis gyroscope, and therefore the more accurate azimuths of the object can be acquired.

Description

technical field [0001] The invention relates to a method for measuring the orientation of an object which moves under the control of a human body, such as a game handle, a remote controller, a mouse, and the like. Background technique [0002] The position of an object refers to the linear displacement of the object in a specific coordinate system relative to a given reference point (usually the origin of the coordinate system). Mathematically, describing position is equivalent to describing linear displacement. Conceptually, position refers to a single state, while linear displacement refers to the difference between two positions. [0003] The orientation of an object, also known as the attitude of an object, describes the orientation of an object. The orientation of an object is described by a rotation from a known orientation (often called the source orientation), by an amount called the angular displacement. Mathematically, describing orientation is equivalent to des...

AI Technical Summary

Problems solved by technology

However, the measurement benchmark of the gyroscope is itself, and there is no absolute reference object outside the system. In addition, the integration time cannot be infinitely small, so the cumulative error of the integration operation will increase rapidly with the passage of time, and eventually the output angle will not match the actual angle.

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