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
CN104764451AInactive Publication Date: 2015-07-08BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2015-07-08
Estimated Expiration
Not applicable · inactive patent

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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.
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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...

Claims

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