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Virtual reality headset and method and device for tracking spatial attitude information thereof

A technology of virtual reality and space attitude, applied in the field of virtual reality, can solve the problems of data with noise, jitter, space quaternion or Euler angle error, etc., to reduce interference, improve accuracy, save time and processing resources Effect

Active Publication Date: 2017-04-26
BEIJING PICO TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing schemes for tracking the spatial attitude information of virtual reality helmets do not process the data in the process of obtaining the data of the attitude sensor, and often directly use the data output by the attitude sensor, but the data output by the attitude sensor contains noise and jitter. , and zero drift and other phenomena, there is a large error between the space quaternion or Euler angle obtained by using these data operations and the actual space attitude of the virtual reality helmet

Method used

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  • Virtual reality headset and method and device for tracking spatial attitude information thereof
  • Virtual reality headset and method and device for tracking spatial attitude information thereof
  • Virtual reality headset and method and device for tracking spatial attitude information thereof

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Embodiment 1

[0024] figure 1 It is a functional block diagram of a device for tracking spatial attitude information of a virtual reality helmet provided by an embodiment of the present invention, such as figure 1 As shown, the device for tracking spatial attitude information of a virtual reality helmet provided in this embodiment includes: a data acquisition unit 110 , a data correction unit 120 , a state judgment unit 130 , a data fusion unit 140 and an attitude information output unit 150 .

[0025] The data collection unit 110 is used to collect the data output by the posture sensor in the virtual reality helmet in real time, and the posture sensor includes a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer.

[0026] The data correction unit 120 is used for correcting the gyroscope data collected by the data acquisition unit 110 to obtain corrected gyroscope data and avoid zero drift of the gyroscope data.

[0027] The state judging unit 130 is configured ...

Embodiment 2

[0043] figure 2 is a functional block diagram of a virtual reality helmet provided by an embodiment of the present invention, such as figure 2 As shown, the virtual reality helmet 200 provided in this embodiment includes an attitude sensor 210 and a device 220 for tracking the spatial attitude information of the virtual reality helmet as described in the first embodiment above. The attitude sensor 210 includes a three-axis gyroscope and a three-axis accelerometer. , Three-axis magnetometer. The device 220 for tracking the spatial attitude information of the virtual reality helmet can effectively reduce the negative influence of the zero drift and noise of the attitude sensor 210 itself on the tracking result, provide more accurate spatial attitude information to the virtual reality helmet 200, and greatly reduce Positioning deviation caused by the noise of the sensor 210 itself and external environmental factors such as equipment vibration.

Embodiment 3

[0045] image 3 It is a flow chart of a method for tracking spatial attitude information of a virtual reality helmet provided by an embodiment of the present invention, such as image 3 As shown, the method for tracking the spatial posture information of a virtual reality helmet provided in this embodiment includes:

[0046] Step S310: Collect the data output by the posture sensor in the virtual reality helmet in real time. The attitude sensor in this embodiment is a nine-axis attitude sensor, which includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.

[0047] Step S320: Correct the collected gyroscope data to obtain corrected gyroscope data.

[0048] Preferably, "correcting the collected gyroscope data" in step S320 specifically includes: subtracting the pre-acquired correction offset offset from each gyroscope data collected in real time to obtain the corresponding corrected gyroscope Data, so as to correct the zero drift value of th...

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Abstract

The invention discloses a method and device for tracking spatial attitude information of a virtual reality headset and a virtual reality headset. The device comprises a data acquisition unit, a data correction unit, a state judgment unit, a data fusion unit and an attitude information output unit, wherein the data acquisition unit is used for acquiring data of an attitude sensor in real time; the data correction unit is used for carrying out correction on acquired gyroscope data so as to avoid harmful effects caused by a zero drift phenomenon; the state judgment unit is used for judging whether the virtual reality headset is in a static state; the data fusion unit is used for fusing acquired magnetometer data and accelerometer data with the corrected gyroscope data to form the spatial attitude information when the virtual reality headset is not in the static state; and the attitude information output unit is used for reporting information representing that a spatial attitude is not changed without carrying out attitude fusion operation when the virtual reality headset is in the static state so as to save time and processing resources, and reporting the fused spatial attitude information when the virtual reality headset is not in the static state so as to reduce interference of environment factors and improve tracking accuracy.

Description

technical field [0001] The invention relates to the technical field of virtual reality, in particular to a method and a device for tracking space attitude information of a virtual reality helmet and a virtual reality helmet. Background technique [0002] The real-time tracking technology of the head position and posture is one of the key technologies of the virtual reality helmet. The existing schemes for tracking the spatial attitude information of virtual reality helmets do not process the data in the process of obtaining the data of the attitude sensor, and often directly use the data output by the attitude sensor, but the data output by the attitude sensor contains noise and jitter. , and zero drift and other phenomena, there is a large error between the space quaternion or Euler angle obtained by using these data operations and the actual space attitude of the virtual reality helmet. Contents of the invention [0003] The present invention provides a method and devic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F3/01
CPCG06F3/012
Inventor 赵红廷张瑞生夏九
Owner BEIJING PICO TECH