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Wireless head tracker design method based on Kalman filtering and PPM coding

A Kalman filtering and design method technology, applied in position/direction control, control using feedback, TV, etc., can solve the problem of large error in three-way accelerometer measurement, achieve high precision, strong versatility, and light weight Effect

Inactive Publication Date: 2016-09-28
NANYANG NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The problem to be solved by the present invention is to provide a wireless head tracking design method based on Kalman filtering and PPM coding, using a nine-axis attitude detection module, which has the advantages of small size, light weight, and high precision, and can more accurately analyze unmanned The machine attitude, and the Kalman filter fusion algorithm is used to solve the problem of large error in the measurement of the three-way accelerometer

Method used

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  • Wireless head tracker design method based on Kalman filtering and PPM coding
  • Wireless head tracker design method based on Kalman filtering and PPM coding
  • Wireless head tracker design method based on Kalman filtering and PPM coding

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Embodiment 1

[0045] This embodiment provides a wireless head tracking design method based on Kalman filtering and PPM coding, including the following steps:

[0046] Step 1: The camera on the aircraft terminal equipment first collects the image information and audio information in front of the drone or model aircraft, and transmits them to the user's head equipment in a wireless form through image transmission transmission;

[0047] Step 2: After receiving the image information and audio information transmitted by the drone, the image transmission in the user's head device outputs to the video glasses, and the video glasses present the received image and sound signals to the operator;

[0048] Step 3: The operator moves the head according to the initial screen sent back by the UAV or model aircraft, and combines the detection requirements. The nine-axis posture detection module on the user's head device senses the movement posture of the operator's head, and the main control board passes th...

Embodiment 2

[0060] This embodiment also provides an attitude angle estimation algorithm based on the Kalman filter, as follows:

[0061] According to the gravity component measured by the accelerometer under static conditions, the roll angle and pitch angle of the head of the carrier can be calculated according to formulas (1) and (2):

[0062] (1)

[0063] (2)

[0064] After the roll angle and pitch angle are calculated, the measured value of the magnetoresistive sensor is transformed once using formula (3):

[0065] (3)

[0066] According to formula (4), the yaw angle can be calculated by using the transformed magnetoresistive sensor data:

[0067] (4)

[0068]However, under dynamic conditions, it has unknown acceleration motion and vibration. At this time, the accelerometer must be affected by non-gravity acceleration. If the attitude angle is still calculated according to the above formula, there must be a large deviation between the result and the real value . Howev...

Embodiment 3

[0091] like figure 1 and figure 2 As shown: this embodiment also provides a wireless head-tracking system based on Kalman filtering and PPM coding, including user head equipment and aircraft end equipment, and the user head equipment includes video glasses, image transmission receiving, and master control board, a transmitter and a sensor board, the aircraft end equipment includes a receiver, a pan / tilt, a video transmission transmitter and a camera, the camera, a video transmission transmitter, a video transmission receiver and video glasses are connected in sequence, and the sensor, the main control board , the transmitter, the receiver and the pan / tilt are connected in sequence, and the camera is set on the pan / tilt.

[0092] The main control board includes a single-chip microcomputer chip.

[0093] The sensor board adopts a nine-axis attitude detection module, which includes a three-axis gyroscope, a three-axis digital accelerometer and a three-axis magnetoresistive sen...

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Abstract

The invention discloses a wireless head tracker design method based on Kalman filtering and PPM coding and a wireless head tracker design system thereof. The wireless head tracker design system comprises user head equipment and aircraft side equipment. The user head equipment comprises video glasses, an image transmission receiver, a master control panel, a transmitter and a sensor board. The aircraft side equipment comprises a receiver, a holder, an image transmission transmitter and a camera. A nine-axis attitude detection module is adopted. The module has the advantages of being small in size, low in weight and high in accuracy and can more accurately analyze the attitude of an unmanned aerial vehicle. The corresponding Kalman filtering fusion algorithm is adopted so that the problem of high error in measurement of a three-way accelerometer can be solved, and correct detection of the object attitude under the static and dynamic conditions can be realized. The adopted PPM coding technology is mutually compatible with a wireless module which is sold on the market at present and uses PPM communication so that universality is high, and the calculated two-channel steering signals can be transmitted to the transmitting module by using PPM coding.

Description

technical field [0001] The invention relates to the technical field of video monitoring, in particular to a wireless head tracking design method based on Kalman filtering and PPM coding. Background technique [0002] Aviation model movement is the movement of using aviation knowledge, making model airplanes and manipulating airplanes in various ways. It can not only cultivate people's interest in aviation, popularize aviation knowledge and technology, cultivate aviation talents, but also develop young people's intelligence, Improve people's health. With the continuous advancement of science and technology and the development of the economy, the price of aircraft model products has been continuously reduced, and the operation methods have become more and more convenient. The number of people who love aircraft models has also continued to grow. It's time to count FPV. FPV means first-person perspective, and its full name is First Person View. It is a new method of installin...

Claims

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Application Information

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IPC IPC(8): G05D3/20H04N7/18
CPCG05D3/203H04N7/183
Inventor 郑扬冰薛晓陈怡翔杨磊周学建刘昊然金学明黄桥
Owner NANYANG NORMAL UNIV