Object hybrid positioning system and positioning method suitable for immersive VR operation space

Abstract

The present invention discloses a hybrid positioning system and positioning method for objects in an immersive VR operating space, which belongs to the field of VR and includes a mobile tag device and a camera analysis system, wherein: the mobile tag device includes a laser emission system and an inertial navigation positioning system, the laser emission system is used to emit multi-color cross-line lasers, the inertial navigation positioning system includes a microprocessor and an integrated accelerometer and a gyroscope, the microprocessor is used to fuse the collected data with an action algorithm to obtain the spatial posture and inertial reference displacement data of the tag object and transmit it to a computer for analysis; the camera analysis system includes a camera group and a projection plane, the camera group is used to collect the laser projection signal projected onto each projection plane and transmit it to the computer end for image analysis. The present invention is a hybrid positioning solution that can effectively counteract occlusion and is suitable for small spaces, which can achieve high precision and ensure good positioning stability and high cost performance in practical applications.

Description

Technical Field

[0001] The present invention relates to the field of VR technology, and in particular to an object hybrid positioning system and a positioning method thereof suitable for an immersive VR operating space. Background Art

[0002] Spatial positioning is to solve the coordinates of the located object based on the distance relationship between the located object and the reference object. The solved positioning includes three-dimensional spatial position coordinate information and its posture information. The VR system can realize three-dimensional interaction in the VR scene by importing the relevant parameters of the located object. According to the sensor principle, it can be divided into optical positioning, wireless radio frequency positioning, ultrasonic positioning, etc. According to the solution principle, it can be mainly divided into active and passive types. According to different usage scenarios, it can be divided into small space high-precision positioning and large space coarse-precision positioning.

[0003] Common centralized positioning methods include:

[0004] The most representative product of this type of positioning technology is Opti Track's optical positioning camera (Noitom's positioning solution). The basic principle of this type of positioning solution is to use multiple infrared emitting cameras to cover the indoor positioning space, place infrared reflective points on the tracked object, and determine its position information in space by capturing the images reflected back to the camera by these reflective points. This type of positioning system has very high positioning accuracy. If a camera with a high frame rate is used, the delay will be very weak, and it can achieve very good results. Its disadvantage is that it is very expensive and the supply is very small.

[0005] Optical positioning is similar to infrared positioning and belongs to the visible light positioning solution. It also uses a camera to shoot indoor scenes, but the tracked points are not made of materials that reflect infrared rays, but are actively illuminated markers (similar to small light bulbs). Different positioning points are distinguished by different colors. In traditional optical solutions, the positioning light point is large and cannot achieve high-precision positioning in a small space. When part of the light-emitting part is blocked, it will cause positioning errors. If the light point is completely blocked by optical motion capture alone, positioning will be lost.

[0006] The UWB ultra-wideband radio frequency positioning method is to receive the radio signals emitted by the located object through a fixed base station, and then analyze the distance to each fixed base station through an algorithm to obtain its three-dimensional position in space. Since radio waves propagate in the air at the speed of light, their very short recognition time will result in a large error in positioning accuracy.

[0007] Positioning light tower solutions include HTC Vive's Lighthouse indoor positioning technology and G-Wearables' Step VR product motion capture and indoor positioning system. Two fixed horizontal and vertical scanning alternating periodic lasers are used to scan objects in the scene. The located objects are detected by installing optical sensors to determine the received periodic laser signals to calculate their positions. Positioning light tower solutions require larger optical receivers and are not suitable for fixing and capturing smaller objects.

[0008] There are also technologies such as Wifi positioning, radio frequency identification, ZigBee technology, etc., but so far they are rarely used in the VR field due to limited positioning accuracy.

[0009] Solutions that can achieve high precision in existing technologies, such as infrared positioning and optical positioning, are easily affected by occlusion and are expensive. The light tower solution has large objects to be located and is not easy to apply in small scenes. Radio frequency solutions such as UWB are not suitable for small scene applications due to their low precision and complex layout.

[0010] In general, solutions suitable for large-space positioning have complex structures, high costs, are easily affected by occlusions, and have low positioning accuracy; solutions suitable for small spaces are generally relatively expensive, and it is difficult to achieve stable positioning in small space scenes of 2 meters squared due to the large number of obstructions. Summary of the invention

[0011] The technical problem to be solved by the present invention is to provide an object hybrid positioning system and a positioning method thereof which are suitable for an immersive VR operating space and have a high-precision positioning effect, which is particularly suitable for a small space.

[0012] In order to solve the above technical problems, the technical solutions provided by the present invention are as follows:

[0013] On the one hand, the present invention provides an object hybrid positioning system suitable for immersive VR operating space, especially suitable for small space positioning, including a mobile tag device and a camera analysis system, wherein:

[0014] The mobile tag device is used to be fixed on a mobile tag object in an operation space, and includes a laser emission system and an inertial navigation positioning system. The laser emission system is used to emit multi-color cross-line lasers. The inertial navigation positioning system includes an integrated accelerometer and a gyroscope, and a microprocessor MCU. The microprocessor is used to perform an action algorithm fusion on the data collected by the integrated accelerometer and the gyroscope to obtain the spatial posture data and inertial reference displacement of the tag object and transmit them to a computer for analysis;

[0015] The video analysis system includes a camera group and a projection plane for installation on an operating space frame. The camera group is used to collect laser projection signals projected onto each projection plane and transmit the collected signals to a computer for image analysis.

[0016] Furthermore, the laser emission system includes a laser emitter and a laser optical diffraction plate, and the laser optical diffraction plate is used to form the laser emitted by the laser emitter into a fan-shaped cross-line laser.

[0017] Furthermore, the laser emitter is a semiconductor laser emitter capable of emitting red, green, blue and purple lasers.

[0018] Furthermore, the laser optical diffraction plate is a straight line laser optical diffraction plate.

[0019] Furthermore, the integrated accelerometer and gyroscope is an integrated speedometer of an accelerometer and an angular speedometer.

[0020] Furthermore, the accelerometer and gyroscope are an integrated chip of a three-axis MEMS accelerometer and a three-axis MEMS angular velocity meter, which are used to distinguish external communications by performing data transmission through different data addresses.

[0021] Furthermore, the inertial navigation positioning system is provided with a wireless WIFI data transmitter for transmitting the inertial navigation data to the computer via a local area network;

[0022] Furthermore, the mobile tag device is also provided with a power supply for supplying power to the laser emission system and the inertial navigation positioning system.

[0023] Furthermore, the camera group includes at least four cameras, which are respectively installed on the upper part and at least three sides of the operating space.

[0024] Furthermore, the photographic plane is a frosted glass plate or a stretched gauze, which is used to receive the laser line to form a projection.

[0025] Furthermore, it also includes a computer analysis module, which is a data analysis program running on a computer and is used to obtain the position and posture of the captured object by fusing the acquired projection image and the spatial posture data of the inertial navigation.

[0026] Furthermore, the computer's analysis method is: by analyzing the images obtained by each camera, the lines of each color laser are identified respectively, and then the starting point and end point of the spatial position of the projection line of each color laser projected on each surface are determined, and the spatial focus position and attitude orientation of the tag are obtained by three-dimensional space analysis; at the same time, the position movement data of the inertial navigation spatial attitude data and acceleration data integrated by the inertial navigation positioning system are fused with the tag spatial attitude and relative position data obtained by image analysis to obtain the position and attitude of the captured object.

[0027] On the other hand, a method for hybrid positioning of objects in an immersive VR operating space is provided, comprising the following steps:

[0028] 1) Obtain and analyze the video signal of the multi-color laser captured by the camera group;

[0029] Wherein, the video signal includes a laser line image projected from a laser transmitter of a mobile tag object onto a projection plane of the operation space;

[0030] The analysis of the video signal includes: first, identifying the lines of multi-color laser colors, then determining the starting and ending points of the spatial positions projected on each surface, and obtaining the spatial focus position and posture orientation of the mobile tag object through three-dimensional spatial analysis;

[0031] 2) Simultaneously receive the spatial attitude data of the inertial navigation system;

[0032] The spatial attitude data of the inertial navigation system is obtained by an inertial navigation system installed on a mobile tag object, including spatial attitude data obtained by performing an action algorithm fusion on the acceleration and angular velocity of the mobile tag object and position movement data obtained by integrating the acceleration data;

[0033] 3) The position and attitude of the captured object are obtained by fusing the position movement data of the spatial and acceleration data integration of the inertial navigation with the spatial attitude and relative data obtained by image analysis.

[0034] 4) When the inertial navigation spatial attitude and integral position are fused with the spatial attitude and position of image analysis, when the image is unobstructed, the analyzed spatial position and attitude are the spatial attitude and position of image analysis. When judging whether the image is obstructed, the optical spatial attitude and position at the previous moment are used as the reference benchmark data, and the position and spatial attitude change increment calculated by the inertial navigation system after the optical occlusion moment are added to obtain the real-time spatial attitude and position.

[0035] Furthermore, in the step 1), the multicolor laser includes red, green, blue and purple lasers, and is fan-shaped cross-line laser diffracted by an optical diffraction sheet.

[0036] Furthermore, in the step 1), the acquisition of the image includes: the camera groups are located on different surfaces of the operating space, respectively reading the laser projections of each surface of the operating space, analyzing the color and direction position information of the straight lines of light and shadow formed by the laser projected on the projection plane, and performing spatial information calculation on the laser lines obtained by at least four different cameras to determine that the intersection position is the position where the laser light source is emitted.

[0037] After adopting such a design, the present invention has at least the following advantages:

[0038] The present invention adopts cross-line laser emission points to replace light ball emission, which can achieve higher cross-positioning accuracy. At the same time, the cross-line laser method with multi-color coding can obtain the spatial orientation of the object by calculation to obtain the spatial posture of the object; and combined with the wireless synchronization of the micro-MEMS sensor to obtain the object's motion information, it can achieve accurate tracking of the object's position and posture in a short time when the object to be identified is blocked. The positioning system of the present invention can track tiny objects and has a wide range of applications: the laser emission component is attached to the tracked object using a micro-circuit board, which is small in size and light in weight and easy to fix on various objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] Figure 1 It is a structural schematic diagram of an embodiment of a mobile tag device of an object hybrid positioning system suitable for an immersive VR operating space of the present invention;

[0041] Figure 2 It is a schematic diagram of the installation distribution structure of an embodiment of a camera group of an object hybrid positioning system of a breast pump suitable for an immersive VR operating space of the present invention;

[0042] Figure 3 It is a schematic diagram of an embodiment of the present invention in which multi-color lasers of the object hybrid positioning system suitable for immersive VR operating space are projected onto frosted glass. DETAILED DESCRIPTION

[0043] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0044] The present invention provides an embodiment of an object hybrid positioning system suitable for an immersive VR operating space, such as Figures 1 to 3 As shown, it is particularly suitable for small space positioning, including a mobile tag device and a camera analysis system, wherein: the mobile tag device is used to be fixed on a mobile tag object in the operating space, including a laser emission system and an inertial navigation positioning system, the laser emission system is used to emit multi-color cross-line lasers, the inertial navigation positioning system includes an integrated accelerometer and gyroscope 15 and a microprocessor MCU16, the microprocessor 16 is used to perform action algorithm fusion on the data collected by the integrated accelerometer and gyroscope to obtain the spatial posture data and inertial reference displacement of the tag object and transmit them to the computer for analysis; the camera analysis system includes a camera group 22 and a projection plane 21 for installation on the operating space frame, the camera group 22 is used to collect laser projections projected onto each projection plane 21 and transmit the collected signals to the computer end for image analysis to obtain the spatial focus position and posture orientation.

[0045] When the present invention is in use, the mobile tag device installed on the mobile tag object emits multi-color cross-line lasers to replace the light ball emission, which can achieve higher cross-positioning accuracy. At the same time, the multi-color coded cross-line laser method can obtain the spatial orientation of the object by calculation to obtain the spatial posture of the object; and combined with the micro-MEMS inertial sensor to wirelessly and synchronously obtain the object's motion information, it can achieve accurate tracking of the object's position and posture in a short time when the object to be identified is blocked. The positioning system of the present invention can track tiny objects and has a wide range of applications: a micro-circuit board is used to attach the laser emission component to the tracked object, which is small in size and light in weight and easy to fix on various objects.

[0046] The present invention proposes a hybrid positioning solution of an optical solution for laser posture solution plus an inertial integral compensation solution. The optical solution part adopts an active cross-arranged multi-color linear laser light emitter mobile end to emit a pulse light source, and a fixed cross-angle camera acquires images and solves information about the object's position and posture; the inertial sensor system is on the positioned mobile end, and when the mobile emission light source is blocked, it performs integral position solution to compensate for the airborne position information when blocked. Therefore, the hybrid positioning system of the present invention is a hybrid positioning solution that is suitable for small spaces (2 meters square) or below and can effectively resist occlusion. It can not only achieve high precision, but also ensure good positioning stability and high cost performance in practical applications.

[0047] Furthermore, the laser emitting system includes a laser emitter 13 and a laser optical diffraction plate 14. The laser optical diffraction plate 14 is used to form the laser emitted by the laser emitter 13 into a fan-shaped cross-line laser.

[0048] Furthermore, the laser emitter 13 is a semiconductor laser emitter, which can emit red, green, blue and purple lasers.

[0049] Furthermore, the laser optical diffraction plate 14 is a straight line laser optical diffraction plate.

[0050] Furthermore, the integrated accelerometer and gyroscope 15 is an integrated chip of an accelerometer and an angular velocity meter.

[0051] Furthermore, the integrated accelerometer and gyroscope is an integrated chip of a three-axis MEMS accelerometer and a three-axis MEMS angular velocity meter, which is used to distinguish external communications by performing data transmission through different data addresses.

[0052] Furthermore, the inertial navigation positioning system is provided with a wireless WIFI data transmitter for transmitting the inertial navigation data to the computer via the local area network;

[0053] Furthermore, the mobile tag device is also provided with a power source, which may be a rechargeable button battery, for powering the laser emission system and the inertial navigation positioning system.

[0054] Further, the camera group 22 includes at least four cameras, which are respectively installed on the upper part and at least three sides of the operation space.

[0055] Furthermore, the photographic plane 21 is a frosted glass plate or a stretched gauze, which is used to receive the laser line to form a projection.

[0056] Furthermore, it also includes a computer analysis module, which is a data analysis program running on a computer and is used to obtain the position and posture of the captured object by fusing the acquired projection image and the spatial posture data of the inertial navigation.

[0057] Furthermore, the computer's analysis method is as follows: by analyzing the images obtained by each camera, the lines of each color laser are identified respectively, and then the starting point and end point of the spatial position of the projection line of each color laser projected on each surface are determined, and the spatial focus position and attitude orientation of the tag are obtained by three-dimensional space analysis; at the same time, the inertial navigation spatial attitude data and position movement data of the inertial navigation positioning system are integrated with the tag spatial attitude and relative position data obtained by image analysis to obtain the position and attitude of the captured object.

[0058] On the other hand, a hybrid positioning method for an object in an immersive VR operating space is provided, which may adopt the above positioning system and includes the following steps:

[0059] 1) Obtain and analyze the video signal of the multi-color laser captured by the camera group;

[0060] Wherein, the video signal includes a laser line image projected from a laser transmitter of the mobile tag object onto a projection plane of the operation space;

[0061] The analysis of the video signal includes: first, identifying the lines of multi-color laser colors, then determining the starting and ending points of the spatial positions of the projection lines of each color laser on each surface, and obtaining the spatial focus position and posture orientation of the mobile tag object through three-dimensional space analysis;

[0062] 2) Simultaneously receive the spatial attitude data of the inertial navigation system;

[0063] The spatial attitude data of the inertial navigation system is obtained by the inertial navigation system installed on the mobile tag object, including the spatial attitude data obtained by performing an action algorithm fusion on the acceleration and angular velocity of the mobile tag object and the position movement data of the acceleration data integration;

[0064] 3) The position and attitude of the captured object are obtained by fusing the position movement data of the spatial and acceleration data integration of the inertial navigation with the spatial attitude and relative data obtained by image analysis.

[0065] 4) When the inertial navigation spatial attitude and integral position are fused with the spatial attitude and position of image analysis, when the image is unobstructed, the analyzed spatial position and attitude are the spatial attitude and position of image analysis. When judging whether the image is obstructed, the optical spatial attitude and position at the previous moment are used as the reference benchmark data, and the position and spatial attitude change increment calculated by the inertial navigation system after the optical occlusion moment are added to obtain the real-time spatial attitude and position.

[0066] Furthermore, in step 1), the multicolor laser includes red, green, blue and purple lasers, and is fan-shaped cross-line laser diffracted by an optical diffraction sheet.

[0067] Furthermore, in step 1), the acquisition of the image includes: the camera groups are located on different surfaces of the operating space, respectively reading the laser projections of each surface of the operating space, analyzing the color and direction position information of the straight lines of light and shadow formed by the laser projected on the projection plane, and performing spatial information calculation on the laser lines obtained by at least four different cameras to determine that the intersection position is the position where the laser light source is emitted.

[0068] A specific embodiment of the present invention may be:

[0069] The present invention involves two main components, namely a mobile tag device (wireless laser emission system and inertial navigation positioning system tag) and a camera analysis system.

[0070] The laser emission system is fixed on the mobile end and is attached to the tracked object. Figure 1 As shown, the camera analysis system is fixed on the frame of the VR desktop operation space, such as Figure 2As shown, each side of the frame has an organic frosted glass plate or a stretched gauze, which is responsible for receiving the laser line to form a projection. The laser emitted by the laser emission system is fan-shaped, and the projection on the plane can form a straight line of light and shadow, such as Figure 3 shown.

[0071] The laser emitted by the laser emission system is projected onto the projection plane of the VR operating space where the camera analysis system is located. The camera group reads the laser projections of each surface respectively, analyzes the color and direction position information of the straight line of light and shadow formed by the laser projection on the frosted glass plate, and uses four different cameras to obtain laser lines for spatial information solution to determine that the intersection position is the position of the mobile tag at the laser light source emission point. The relative spatial posture of the mobile tag relative to the area where the camera analysis system is located can be obtained through spatial posture information solution.

[0072] There are two parallel circuit systems on the mobile tag device, one is the laser emission system, and the other is the inertial navigation positioning system. The laser emitter is composed of a discrete semiconductor laser emitter 13 and a straight line laser optical diffraction sheet 14 on it that can help form a fan-shaped laser. The laser emitter 13 is composed of red, green, blue and purple lasers, and its laser projection effect is as follows: Figure 3 As shown. The inertial navigation positioning system is composed of an integrated chip 15 of a three-axis MEMS accelerometer and a three-axis MEMS angular velocity meter. Its data is transmitted to the microprocessor MCU16 through the IIC bus. The MCU obtains the spatial posture data of the tag through the action algorithm fusion, sends it to the local area network via the WIFI radio frequency antenna, and transmits it to the computer for posture analysis to obtain the spatial posture of the fixed object. The laser emission of the positioning tag, the inertial navigation calculation and the WIFI radio frequency are powered by a rechargeable button battery welded 17.

[0073] The camera group 22 transmits the video captured signals to the computer via the USB hub for image analysis. The computer first identifies the lines of four laser colors by analyzing the images obtained by each camera, and then determines the starting and ending points of the spatial positions of the projections on each surface, and obtains the spatial focus position and attitude orientation of the tag by three-dimensional space analysis. The data of the inertial navigation positioning system is transmitted to the computer for analysis via WIFI via the local area network, and then the computer fuses the spatial attitude data of the inertial navigation and the position movement data of the acceleration data integration with the spatial attitude and relative position data of the tag obtained by image analysis to obtain the position and attitude of the captured object.

[0074] Compared with the radio frequency solution, the single radio frequency solution cannot obtain the spatial attitude, while the positioning accuracy of the present invention is higher and the spatial attitude of a single point can be obtained.

[0075] Compared with the traditional optical positioning solution, the problem that high-precision positioning in a small space cannot be achieved due to the large positioning light point is solved. The present invention can provide an optical high-precision posture acquisition method, using multi-color cross-line laser to achieve higher positioning accuracy.

[0076] Although the positioning method designed in this scheme also adopts the method of optical image positioning, its differences and advantages over other optical images are as follows:

[0077] 1) High precision: Using cross-line laser emission points instead of light ball emission can achieve higher cross positioning accuracy;

[0078] 2) It can track tiny objects and has a wide range of applications: the laser emission component is attached to the tracked object using a flexible circuit board, which is small in size and easy to fit and fix on the surface of objects of various shapes;

[0079] 3) The spatial orientation of an object can be obtained by using a multi-color coded cross-line laser method, and the spatial orientation of the object can be obtained by calculation;

[0080] 4) Using micro-MEMS sensors to wirelessly and synchronously obtain object motion information, the position and posture of the object can be accurately tracked in a short time when the object is obstructed.

[0081] Compared with the existing technology, the radio frequency positioning method has poor accuracy and high cost, and is difficult to deploy and apply in a small desktop space; the existing Lighthouse indoor positioning technology has complex deployment and requires the object to be positioned to fix multiple positioning points, and needs to be deployed over a large area and is not suitable for use on tiny objects; and the traditional technology of optical camera positioning requires a larger volume of the luminous ball to be marked, and cannot achieve high-precision positioning in a small space, and because the ball is tracked, the posture of the object cannot be determined.

[0082] The beneficial effects of the present invention are as follows: 1) the multi-color cross-line laser method is adopted, and the spatial attitude can be obtained in addition to positioning; 2) the positioning and spatial attitude loss caused by short-term occlusion during optical positioning can be avoided by using the optical posture and inertial navigation compensation method; 3) the projection image of the cross laser is obtained by using frosted glass or gauze, so that the projection line is clearly visible;

[0083] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Those skilled in the art may make some simple modifications, equivalent changes or modifications using the technical contents disclosed above, which all fall within the protection scope of the present invention.

Claims

1. A hybrid object positioning system suitable for an immersive VR operating space, characterized in that: It includes a mobile tag device and a camera analysis system, wherein: The mobile tag device is used to be fixed on a mobile object in an operating space, and includes a laser emission system and an inertial navigation positioning system. The laser emission system is used to emit multi-color cross-line lasers. The inertial navigation positioning system includes a microprocessor and an integrated accelerometer and a gyroscope. The microprocessor is used to perform motion algorithm fusion on the data collected by the integrated accelerometer and the gyroscope to obtain the spatial posture data and inertial reference displacement of the tag object and transmit them to a computer for analysis; The camera analysis system includes a camera group and a projection plane for installation on the operating space frame, wherein the camera group is used to collect laser projection signals projected onto each projection plane and transmit the collected signals to a computer for image analysis; It also includes a computer analysis module, which is a data analysis program running on a computer, and is used to obtain the position and posture of the captured object by fusing the acquired projection image and the spatial posture data of the inertial navigation. The analysis method of the computer analysis module is as follows: by analyzing the images acquired by each camera, the lines of each color laser are respectively identified, and then the starting point and end point of the spatial position of the projection line of each color laser projected on each surface are determined, and the spatial focus position and posture orientation of the tag are obtained by three-dimensional space analysis; at the same time, the position movement data of the inertial navigation spatial posture data and acceleration data integrated by the inertial navigation positioning system are fused with the label spatial posture and relative position data obtained by image analysis to obtain the position and posture of the captured object.

2. The object hybrid positioning system suitable for immersive VR operating space according to claim 1, characterized in that: The laser emitting system comprises a laser emitter and a laser optical diffraction plate, wherein the laser optical diffraction plate is used for forming the laser emitted by the laser emitter into a fan-shaped cross-line laser.

3. The object hybrid positioning system suitable for immersive VR operating space according to claim 2, characterized in that: The laser emitter is a semiconductor laser emitter that can emit red, green, blue and purple lasers; And / or, the laser optical diffraction plate is a straight line laser optical diffraction plate.

4. The object hybrid positioning system suitable for immersive VR operating space according to any one of claims 1 to 3, characterized in that: The integrated accelerometer and gyroscope is an integrated chip of a three-axis MEMS accelerometer and a three-axis MEMS angular velocity meter, and is used to distinguish external communications by performing data transmission through different data addresses.

5. The object hybrid positioning system suitable for immersive VR operating space according to any one of claims 1 to 3, characterized in that: The inertial navigation positioning system is provided with a wireless WIFI data transmitter for transmitting the inertial navigation data to the computer via the local area network; And / or, the mobile tag device is also provided with a power supply for supplying power to the laser emission system and the inertial navigation positioning system.

6. The object hybrid positioning system suitable for immersive VR operating space according to any one of claims 1 to 3, characterized in that: The camera group includes at least four cameras, which are respectively installed on the upper part and at least three sides of the operation space; And / or, the photographic plane is a frosted glass plate or a stretched gauze, which is used to receive the laser line to form a projection.

7. A hybrid object positioning method suitable for an immersive VR operating space, characterized in that: The object hybrid positioning system applicable to an immersive VR operating space according to any one of claims 1 to 6 comprises the following steps: 1) Obtain and analyze the video signals of multi-color lasers captured by the camera group; Wherein, the video signal includes a laser line image projected from a laser transmitter of a mobile tag object onto a projection plane of the operation space; The analysis of the video signal includes: first, identifying the lines of multi-color laser colors, then determining the starting point and end point of the spatial position of the lines of each color laser projected on each surface, and obtaining the spatial focus position and posture orientation of the mobile tag object through three-dimensional space analysis; 2) Simultaneously receive the spatial attitude data of the inertial navigation system; The spatial attitude data of the inertial navigation system is obtained by an inertial navigation system installed on a mobile tag object, including spatial attitude data obtained by performing an action algorithm fusion on the acceleration and angular velocity of the mobile tag object and position movement data obtained by integrating the acceleration data; 3) The position and attitude of the captured object are obtained by fusing the position movement data of the spatial and acceleration data integration of the inertial navigation with the spatial attitude and relative data obtained by image analysis; 4) When the inertial navigation spatial attitude and integral position are fused with the spatial attitude and position of image analysis, when the image is unobstructed, the analyzed spatial position and attitude are the spatial attitude and position of image analysis. When judging whether the image is obstructed, the optical spatial attitude and position at the previous moment are used as the reference benchmark data, and the position and spatial attitude change increment calculated by the inertial navigation system after the optical occlusion moment are added to obtain the real-time spatial attitude and position.

8. The object hybrid positioning method applicable to an immersive VR operating space according to claim 7, characterized in that: In the step 1), the multicolor laser includes red, green, blue and purple lasers, and is fan-shaped cross-line laser diffracted by an optical diffraction sheet.

9. The object hybrid positioning method applicable to an immersive VR operating space according to claim 7 or 8, characterized in that: In the step 1), the acquisition of the image includes: the camera groups are located on different surfaces of the operating space, respectively reading the laser projections of each surface of the operating space, analyzing the color and direction position information of the straight line of light and shadow formed by the laser projected on the projection plane, and performing spatial information calculation on the laser lines obtained by at least four different cameras to determine that the intersection position is the position where the laser light source is emitted.

Images