Pen-based three-dimensional positioning method based on ultrasonic waves and inertial sensor

Abstract

The invention relates to a pen-based three-dimensional positioning method based on ultrasonic waves and an inertial sensor, and suitable for the application fields of virtual reality, man-machine interaction, informationized education, three-dimensional multimedia interaction control and the like. In the method, an electronic pen is integrated with an ultrasonic transmitter, an infrared transmitter and the nine-axis inertial sensor, the three-dimensional coordinate of the nib of the electronic pen is obtained through a three-dimensional ultrasonic wireless positioning technology, when ultrasonic signals are sheltered, three-dimensional positioning is conducted by means of the nine-axis inertial sensor, and the coordinate of the electronic pen ultrasonic sensor is calculated according to posture information. The problem that the electronic pen cannot be positioned under the condition that the ultrasonic waves are sheltered is solved, the accumulative error of the positioning coordinate of the nine-axis sensor is corrected in real time by means of the three-dimensional ultrasonic coordinate, so that mutual compensation of ultrasonic positioning and nine-axis inertial sensor positioning is achieved, non-sheltered trace tracking and continuous control of a three-dimensional interaction space are achieved.

Description

Technical field [0001] The invention relates to a three-dimensional pen-type positioning method, in particular to a three-dimensional joint positioning technology based on ultrasonic and nine-axis (three-axis acceleration, three-axis gyroscope and three-axis geomagnetism) inertial sensor, mainly based on ultrasonic three-dimensional positioning. When the ultrasonic sensor is blocked, the nine-axis sensor realizes the positioning of the electronic pen. The cumulative error of the nine-axis sensor is corrected in real time by the ultrasonic three-dimensional positioning coordinates, which can realize the three-dimensional unobstructed real-time positioning and tracking of the electronic pen, and can be used in virtual reality (VR) , Human-computer interaction, information education, three-dimensional multimedia interactive control and other application fields. Background technique [0002] With the rapid development of three-dimensional human-computer interaction and virtual realit...

AI Technical Summary

Problems solved by technology

[0009] Advantages and disadvantages: The advantage of infrared optical positioning technology is that it has high positioning accuracy and low delay rate. The disadvantage is that the cost of the whole set of equipment is very high, and it is very troublesome to use. It needs to build a lot of cameras in the space. Obscuring and unable to locate the problem

[0023] The Chinese patent "An Ultrasonic Positioning Device and Its Positioning Method" (Application No. 200710026504.0) discloses an ultrasonic positioning device and method, using more than 4 ultrasonic receiving modules to realize the three-dimensional positioning of the transmitting pen and support the non-contact touch function , but the problem of ultrasonic occlusion is not considered, and the electronic pen does not have the gesture recognition function

[0024] The Chinese patent "Large-scale multi-target ultrasonic tracking and positioning system and method" (application number 201010546442.8) discloses a large-scale multi-target ultrasonic tracking and positioning system and method, which uses different frequencies and different time slots to realize multi-target recognition, and uses space segmentation method Achieving large-scale positioning and tracking, but does not consider the problem of ultrasonic occlusion, and does not have the function of gesture recognition

[0026] The Chinese patent "A Multi-sensory Portable Smart Pen" (Application No. 201420470088.90) discloses a multi-sensory portable smart pen, including a pen case, a capacitive touch pen head, an NFC induction coil, a barcode scanning engine module, and an acceleration / gyroscope. Meter / geomagnetic nine-axis sensor, temperature / humidity sensor, control chip, Bluetooth / WIFI communication module, etc., can realize handwriting on the touch screen through the capacitive touch head, obtain the smart pen attitude through the nine-axis sensor, and pass the Bluetooth / WIFI communication module Send posture and barcode information to interconnected devices, but the smart pen can only realize two-dimensional positioning on the touch screen, and the positioning range is small, so it cannot realize three-dimensional positioning of the smart pen

[0027] Chinese patent "A three-dimensional positioning method and device based on inertial attitude and ultrasonic ranging" (application number 201610081788.2) discloses a positioning method and device based on inertial attitude and ultrasonic ranging. In this invention, the ground positioning reference module Including an ultrasonic transmitting unit and a wireless synchronization unit, the target module to be positioned includes an inertial unit, an ultrasonic receiving unit and a wireless synchronization unit, using no less than three ultrasonic distance values ​​from the ground reference module to the target module to be positioned, combined with the target module to be positioned Attitude data, calculate the three-dimensional coordinate value of the target module to be positioned, and use the inertial sensor to obtain the attitude, when the module to be positioned (quadrocopter) is tilted, the ground positioning reference module is positioned. This invention only selects four receivers Three of them are used to reduce the occlusion of the ultrasonic signal, which can only partially reduce the occlusion problem, and does not consider the joint positioning problem of the inertial sensor and the ultrasonic signal

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