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Calibration-free positioning method and system

A positioning method and positioning system technology, applied in navigation, instrumentation, surveying and navigation, etc., can solve the problems of users such as cumbersomeness, achieve the effects of reducing complexity, improving user experience, and ensuring positioning accuracy

Active Publication Date: 2018-11-30
杭州嘉澜创新科技有限公司
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Problems solved by technology

[0006] However, for the laser positioning method, the positioning base station needs to be calibrated first during calculation, and the position and direction to be determined are limited to the coordinate system set by the positioning base station for position calculation. However, this calibration process is very difficult for the user. more cumbersome

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  • Calibration-free positioning method and system
  • Calibration-free positioning method and system
  • Calibration-free positioning method and system

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Embodiment Construction

[0045] The technical content of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0046] This embodiment selects the field of VR positioning for specific description. It can be understood that the calibration-free positioning method can be applied not only to the field of VR, but also to AR (augmented reality), MR (mixed reality), drones, etc. The field of three-dimensional spatial positioning.

[0047] In the field of VR, in order to ensure the user experience in the virtual environment, there will be certain requirements for the continuity of operations and real-time response capabilities, which requires a strong processing speed for various data and accurate positioning of operations, and requires Ensure that the positioning process is always in the coordinate system set by the positioning base station. The calibration-free positioning method provided by the present invention does not perform ca...

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Abstract

The invention discloses a calibration-free positioning method, and a system. The calibration-free positioning method comprises following steps: 1, a positioning period is set, the first coordinates ofan objected to be positioned in a base station coordinate system are obtained at the end of a first positioning period, and the object is subjected to inertial navigation in the positioning period soas to obtain first inertial navigation results; 2, in a next positioning period, moving of the objected is controlled so as to obtain second coordinates in the base station coordinate system at the end of the second positioning period, the object is subjected to inertial navigation in the second positioning period so as to obtain second inertial navigation results, and the displacement vectors inthe base station coordinate system and the displacement vectors in the inertial navigation coordinate system are calculated; 3, rotations quaternions are calculated; 4, the coordinates obtained through inertial navigation are subjected to rotations quaternions transformation to the base station coordinate system, and after transformation, the position of the positioned objected are outputted. Thecalibration-free positioning method is capable of reducing calibration complex degree with ensured positioning accuracy.

Description

technical field [0001] The invention relates to a calibration-free positioning method and a positioning system for realizing the positioning method, belonging to the technical field of space positioning. Background technique [0002] In recent years, the related technologies and industries of location-based services are developing indoors, especially in the fields of VR (virtual reality) and AR (augmented reality), and location-based technology has become the basis for interaction between VR and AR. Existing positioning technologies in the field of VR and AR include: infrared optical positioning, visible light positioning and laser positioning. Interaction is usually with a handheld device such as a handle or glove. [0003] For the infrared positioning method, the positioning is generally performed according to the infrared rays emitted by the VR handle; however, the infrared rays have no obvious external characteristics, and it is difficult to distinguish each user's VR h...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16G01C21/1652G01C21/166G01P15/18G02B27/0176
Inventor 张益铭张佳宁张道宁
Owner 杭州嘉澜创新科技有限公司
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