Target posture tracking method based on inertia and geomagnetic sensor

A geomagnetic sensor and target attitude technology, applied in the direction of instruments, ground navigation, measuring devices, etc., can solve the problems that the influence of linear acceleration cannot be solved, and the three-degree-of-freedom attitude information acceleration sensor cannot be obtained, so as to eliminate drift errors and the method is simple Ease of operation and improved accuracy

Inactive Publication Date: 2015-07-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

This method uses the components of the earth's gravity on the three sensitive axes of the accelerometer to calculate the pitch angle and roll angle of the target, and can obtain the attitude information of the target in two degrees of freedom. The disadvantage is that the complete three-freedom cannot be obtained only through the gravity component. degree attitude information and accelerometer data is not suitable for Kalman filter which can improve system accuracy
[0010] Attitude tracking methods using gyroscopes, accelerometers and magnetic se

Method used

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  • Target posture tracking method based on inertia and geomagnetic sensor
  • Target posture tracking method based on inertia and geomagnetic sensor
  • Target posture tracking method based on inertia and geomagnetic sensor

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[0037] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0038] Such as figure 1 It is a flow chart of the method of the present invention. Gyroscopes, accelerometers, and geomagnetic sensors are used to collect the components of the angular velocity, acceleration, and magnetic intensity data corresponding to the current attitude of the target on the three sensitive axes, and the Kalman filter is used to fuse the above three sensor data and calculate the target. The attitude information of , the sensor body coordinate system represented by b and the space coordinate system represented by r are defined as figure 2 As shown, the specific method is as follows:

[0039] Step 1. Time update the target attitude information through the Kalman filter:

[0040] The time update equation of the discrete Kalman filter is as follows:

[0041]

[0042] where the state vector in the time update equation consists of a r...

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Abstract

The invention discloses a target posture tracking method based on inertia and a geomagnetic sensor. According to the target posture tracking method, posture tracking can be realized without any reference marker and a specific tracking environment, and the method is simple and feasible; a gyroscope, an accelerometer and the geomagnetic sensor are used for respectively acquiring components of angular speeds, accelerated speeds and magnetic intensity data corresponding to a current posture of a target in three sensitive axes; a posture tracking result of the gyroscope is corrected by using the accelerometer and the geomagnetic sensor and drift errors are eliminated so that the precision of a tracking result is improved; and the target posture tracking method utilizes an efficient offline operated Kalman filtering algorithm and fuses a multi-sensor tracking result, so that the real-time online posture tracking is realized.

Description

technical field [0001] The invention relates to the technical field of intelligent sensing and human-computer interaction, in particular to a target posture tracking method based on inertial and geomagnetic sensors. Background technique [0002] Augmented reality technology based on attitude tracking superimposes and displays computer-generated information such as virtual three-dimensional objects, videos, texts, and pictures into real scenes in real time, and realizes natural human-computer interaction through attitude tracking. , education and entertainment industries have broad application prospects. The purpose of attitude tracking in augmented reality is to identify moving targets and obtain information about their attitude changes. The acquired attitude information is usually applied in the following five aspects: [0003] 1) Field of view control, using attitude information to control the position and direction of the virtual camera; [0004] 2) Navigation, assistin...

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Application Information

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IPC IPC(8): G01C21/16G01C21/08
CPCG01C21/165G01C21/20
Inventor 刘越贺长宇闫达远常军翁冬冬
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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