A method of position correction for a gyroscopic space object

Abstract

The present application belongs to the technical field of micro-mechanical gyroscopes, and discloses a position correction method for a gyroscope space counterpart, comprising the following steps: step 1: specific matching of the position of the gyroscope and the gyroscope space counterpart, so that the gyroscope space counterpart and the gyroscope can move synchronously; step 2: correction according to the azimuth distance error of the gyroscope and the gyroscope space counterpart; and step 3: automatic resetting of the position of the gyroscope space counterpart. The present application realizes the correction and automatic resetting of the position of the gyroscope space counterpart, and solves the azimuth error between the gyroscope and the gyroscope space counterpart due to the existence of the boundary and the error caused by the existence of the gyroscope zero drift problem.

Description

Technical Field

[0001] This invention belongs to the field of micromechanical gyroscope technology, specifically relating to a method for position correction and automatic reset of a gyroscope spatial counterpart. Background Technology

[0002] Micromechanical gyroscopes, with their advantages of small size, high precision, and long lifespan, are widely used in various fields such as science, technology, military, and gaming to determine the position of moving objects. The spatial counterpart of a gyroscope is the object that requires a gyroscope to determine its position. The spatial counterpart of a gyroscope varies depending on the application field. For example, in the maritime field, the spatial counterpart could be a ship equipped with a gyroscope; in the gaming field, it could be a game character that requires a gyroscope to determine its direction and position.

[0003] The accuracy of a gyroscope determines the precision of its spatial counterpart's position. However, current gyroscopes commonly suffer from zero-point drift. Compensating for this zero-drift error in MEMS gyroscopes and effectively improving their accuracy has become a pressing problem in practical engineering. Furthermore, in situations where the spatial counterpart of the gyroscope has movement boundaries and its position is controlled by the gyroscope—such as in a game where the character's movement is controlled by the gyroscope in a game controller—the spatial counterpart might reach a boundary and be unable to continue moving in the current direction, while the gyroscope can still move in that direction. Similarly, the character might reach an internal boundary and be unable to move beyond it, while the controller can still move in the current direction. This leads to errors, causing the gyroscope and its spatial counterpart to become out of sync. Therefore, compensating for these errors and correcting the position of the spatial counterpart is crucial. When the error caused by zero-point drift is very large and difficult to correct, a reset function can be designed to bring the position of the gyroscope and its spatial counterpart back to the initial and position-synchronized state. How to design the reset judgment criteria and whether the reset occurs automatically are also issues that need to be considered.

[0004] To address the aforementioned requirements, most domestic algorithms handle the following: 1. In controlling the movement of the gyroscope's spatial counterpart using a gyroscope, firstly, attitude calculation is performed on the raw gyroscope data to obtain the pitch, roll, and yaw angles at different times. Secondly, the change in yaw angle over a certain time period represents the distance the gyroscope's spatial counterpart needs to move along the x-axis, and the change in pitch angle over a certain time period represents the distance the gyroscope's spatial counterpart needs to move along the y-axis. This achieves synchronous movement between the gyroscope and its spatial counterpart. 2. Regarding boundary handling, after the gyroscope and its spatial counterpart simultaneously reach the boundary (e.g., the left boundary), the gyroscope can continue rotating to obtain yaw angle data to the left, while the spatial counterpart remains stationary. When the data obtained by the gyroscope allows it to continue moving in the opposite direction, the spatial counterpart will immediately move at the same speed as before. This method generates significant errors, thus affecting the user experience. 3. In terms of resetting the position of the corresponding object in the gyroscope space, most domestic methods use buttons or key presses to trigger the position reset function. However, this method requires manual button presses, which is not intelligent enough and affects the user experience. Summary of the Invention

[0005] This invention provides a method for correcting the position of a gyroscope spatial counterpart, aiming to solve two problems: firstly, it aims to solve the orientation error between the gyroscope and its spatial counterpart caused by the existence of boundaries; secondly, it optimizes the reset function and rationally designs the judgment criteria so that the gyroscope spatial counterpart can be automatically reset, reducing the orientation error between the gyroscope and its spatial counterpart caused by the gyroscope zero drift problem.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] This invention is a method for position correction of a spatial counterpart of a gyroscope, specifically including the following steps:

[0008] Step 1: The specific matching of the position of the gyroscope and its spatial counterpart enables the gyroscope and its spatial counterpart to move synchronously;

[0009] Step 2: Correct the positional distance error between the gyroscope and its spatial counterpart;

[0010] Step 3: Automatic reset of the position of the gyroscope in space.

[0011] Preferably, the specific matching of the gyroscope and its spatial counterpart in step 1 includes the following steps:

[0012] Step 1-1: Set up a virtual intermediary object and a virtual intermediary variable, and initialize the position of the intermediary variable to be consistent with the position of the corresponding gyroscope object;

[0013] Steps 1-2: Obtain raw gyroscope data, including real-time acceleration and angular velocity when the gyroscope is in a non-stationary state;

[0014] Steps 1-3: Perform attitude calculation based on the raw data fed back by the gyroscope in Step 1-2 to obtain the orientation and distance that the gyroscope spatial counterpart needs to move, and obtain the real-time yaw angle and pitch angle. Let the change value of the gyroscope yaw angle within a certain time period represent the distance that the gyroscope spatial counterpart needs to move in the x-axis direction within that time period, and let the change value of the gyroscope pitch angle within a certain time period represent the distance that the gyroscope spatial counterpart needs to move in the y-axis direction within that time period.

[0015] Steps 1-4: Move the virtual intermediate variable to the position (x+deltax, y+deltay), where (x, y) represents the current position, and deltax and deltay represent the changes in the y-axis and pitch angle of the gyroscope over a certain period of time, respectively.

[0016] Preferably, in step 2, the orientation error between the gyroscope and its spatial counterpart is reduced by invalidating or de-inefficiently changing the gyroscope data outside the bounded region, thereby achieving position correction. Specifically, invalidating or de-inefficiently changing the gyroscope data means that the gyroscope and its spatial counterpart should originally move in a 1:1 ratio, but after de-inefficiency, they move in a 2:1 ratio.

[0017] Step 2 of the correction specifically includes the following steps:

[0018] Step 2-1: Determine whether the virtual object's position is outside the bounded area. If the determination is no, it means that the virtual intermediary object has not gone out of bounds, and the error caused by the boundary problem has not occurred. No correction is required. Just let the gyroscope spatial counterpart move with the virtual intermediary object until the virtual intermediary object goes out of bounds or until the gyroscope stops acquiring data. If the determination is yes, it means that the virtual intermediary object has gone out of bounds, and there is an error in the orientation between the gyroscope and the gyroscope spatial counterpart. In this case, position correction is required.

[0019] Step 2-2: Determine if deltax is greater than 0. If it is, it means that the intermediary has gone out of the left boundary and is moving towards the boundary. At this time, correction begins, and the spatial counterpart moves 0.5 * deltax units towards the boundary on the x-axis. deltax represents the magnitude of the change in the gyroscope's offset angle at this moment compared to the previous moment. If it is not, it means that the virtual intermediary continues to move in the direction of operation after going out of the boundary, while the gyroscope spatial counterpart cannot continue to move in the direction of operation due to the limitation of the bounded area. Therefore, the gyroscope spatial counterpart is placed at the boundary and continues to obtain gyroscope data.

[0020] Steps 2-3: Determine if the correction was successful: Determine if the correction was successful by checking if the virtual intermediary has caught up with the gyroscope spatial counterpart. If the determination is yes, it means that the virtual intermediary has "caught up" with the gyroscope spatial counterpart, and the correction is complete. Then, let the gyroscope spatial counterpart and the intermediary move in unison according to the changes in the gyroscope's offset angle and pitch angle values ​​until the gyroscope stops acquiring data. If the determination is no, continue to step 1-2 to acquire the original gyroscope data. Start from acquiring the original gyroscope data and let the gyroscope spatial counterpart continue to "slowly wait" for the virtual intermediary until the two are in the same position, and the correction is complete.

[0021] Preferably, step 3, the automatic reset of the spatial position of the gyroscope, specifically involves:

[0022] Step 3-1: Design a reasonable judgment criterion to determine whether automatic reset is needed in real time, that is, to determine whether the orientation error between the gyroscope and the corresponding object in the gyroscope space is too large. A reasonable judgment criterion is that the distance between the coordinate point of the gyroscope position and the coordinate point of the corresponding object in the gyroscope space is greater than a certain threshold. The threshold needs to be set according to the actual situation. When the distance between the two coordinate points is greater than the threshold, it is determined that the orientation error is large and automatic reset is needed.

[0023] Step 3-2: When the orientation error is determined to be too large, the position of the corresponding object in the gyroscope space is automatically reset. The effect achieved after the automatic reset of the corresponding object in the gyroscope space is that the corresponding object in the gyroscope space returns to the initial position. Only when the gyroscope also returns to the initial position will the gyroscope continue to control the movement of the corresponding object in the gyroscope space. The process is automated and requires no manual operation.

[0024] The beneficial effect of the present invention is that the position resetting method of the gyroscope spatial counterpart of the present invention can solve the orientation error between the gyroscope and the gyroscope spatial counterpart caused by the existence of the boundary.

[0025] The automatic reset method for the spatial counterpart of the gyroscope in this invention can solve the error between the gyroscope and the spatial counterpart caused by the zero drift problem of the gyroscope.

[0026] This invention makes the gyroscope and its spatial position more synchronized, so that users will not feel stuck at the boundary. It automatically determines when the spatial counterpart of the gyroscope needs to be reset to the initial position and resets its position accordingly. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the synchronization between the gyroscope and its spatial counterpart in this invention.

[0028] Figure 2 This is a schematic diagram illustrating the difference between the gyroscope and its spatial counterpart in this invention.

[0029] Figure 3 This is a schematic diagram illustrating the differences between the gyroscope and its spatial counterpart after returning to the bounded region.

[0030] Figure 4 This is a flowchart of the position correction process in step 2 of the present invention, taking left boundary correction as an example.

[0031] Figure 5 This is a simulation diagram of the position correction effect of the present invention.

[0032] Figure 6 This is a flowchart of the automatic reset of the spatial position of the gyroscope in step 3 of the present invention. Detailed Implementation

[0033] The embodiments of the present invention will be disclosed below with reference to the drawings. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not essential.

[0034] This invention provides a method for position correction and automatic reset of a gyroscope spatial counterpart, which realizes the functions of position correction and automatic position reset of the gyroscope spatial counterpart.

[0035] The purpose of the gyroscope spatial counterpart position correction method is to resolve the orientation error between the gyroscope and its spatial counterpart caused by the existence of boundaries. Ideally, the gyroscope and its spatial counterpart should achieve synchronization, meaning they should move proportionally in the same direction, such as... Figure 1 As shown, point A represents the position of the gyroscope, and point B represents the position of the gyroscope after moving within the bounded region. At this point, line segments AP and AG intersect, indicating that they are synchronized. However, when the spatial counterpart of the gyroscope moves to the boundary along with the gyroscope, the gyroscope can continue to move along its current direction, but the corresponding object cannot continue to move. This results in an orientation-distance error. Figure 2As shown, line segment AP represents the gyroscope having moved outside the bounded region, while line segment AG represents the gyroscope's spatial counterpart remaining inside the bounded region because it cannot leave the boundary. At this point, a positional distance error of length GP has formed between line segments AG and AP. When the gyroscope begins to move inward towards the boundary, its spatial counterpart will immediately follow suit. The scene when both the gyroscope and its spatial counterpart return to the bounded region is as follows. Figure 3 As shown, the orientation error between the two remains the length GP. Although the error is small at this point, if left unchecked, it will increase continuously with time and the number of boundary crossings. Therefore, solving this problem is crucial.

[0036] Zero drift, or zero-drift phenomenon, refers to the dispersion of the gyroscope's output around its mean (zero value) when the gyroscope is stationary and the input angular rate is zero. It can be represented by the equivalent input angular rate corresponding to the standard deviation of the output over a specified time. This phenomenon means that when the gyroscope is stationary, its raw data, such as angular velocity and acceleration, are not static. Similarly, the offset and pitch angles generated after attitude calculations are not static either; the offset angle increases over time. Ideally, when the gyroscope is stationary, the offset and pitch angles calculated from the raw gyroscope data should be constant, and the gyroscope's spatial counterpart should not move. However, in reality, due to zero drift, the pitch and offset angles continuously increase when the gyroscope is stationary. Since the movement of the gyroscope's spatial counterpart is based on changes in the offset and pitch angles, the position of the gyroscope's spatial counterpart changes, ultimately resulting in a situation where the gyroscope itself does not move, but the gyroscope's spatial counterpart does. Therefore, one of the important reasons for resetting the position of the spatial counterpart of the gyroscope is to solve the error caused by the zero drift phenomenon of the gyroscope.

[0037] The position correction method for a gyroscope spatial counterpart provided by this invention is used to solve the orientation error between the gyroscope and its spatial counterpart, and specifically includes the following steps:

[0038] Step 1: The specific matching of the position of the gyroscope and its spatial counterpart enables the gyroscope and its spatial counterpart to move synchronously;

[0039] Step 2: Correct the positional distance error between the gyroscope and its spatial counterpart;

[0040] Step 3: Automatic reset of the position of the gyroscope in space.

[0041] like Figure 4The flowchart illustrates the gyroscope spatial counterpart position correction method, which uses four boundaries (up, down, left, and right) as an example. This method addresses the orientation error between the gyroscope and its spatial counterpart caused by the presence of the left boundary. The specific steps include:

[0042] Step 1: Set up a virtual intermediary object and a virtual intermediary variable. This intermediary variable is essentially a coordinate point, and its initial position is consistent with that of the gyroscope's corresponding object. The error exists mainly because at the boundary, the gyroscope can continue to move while its spatial counterpart cannot. Therefore, this invention creates a virtual variable that can go out of bounds, representing the position the gyroscope's spatial counterpart should have moved to if there were no bounded region.

[0043] Step 2: Obtain raw gyroscope data. The raw data includes the real-time acceleration and angular velocity of the gyroscope when it is in a non-stationary state. This data can be obtained by writing C language code.

[0044] Step 3: First, perform attitude calculation based on the raw data fed back from the gyroscope in Step 2 to obtain the real-time yaw and pitch angles. Second, obtain the azimuth and distance the gyroscope's spatial counterpart needs to move. Attitude calculation involves converting the raw data (angular velocity, acceleration, etc.) obtained from the gyroscope into yaw and pitch angles. The specific attitude calculation process can also be achieved by writing C language code. Next, obtain the azimuth and distance the gyroscope's spatial counterpart needs to move. The transformation of the yaw angle data and its sign represents the distance and azimuth the gyroscope's spatial counterpart needs to move along the x-axis, and the transformation of the pitch angle data and its sign represents the distance and azimuth the gyroscope's spatial counterpart needs to move along the y-axis. For example, if the yaw angle of the gyroscope changes by 30° in the positive direction relative to the previous data, then the spatial counterpart of the gyroscope moves 30 units in the positive x-axis direction; if the pitch angle of the gyroscope changes by 30° in the positive direction relative to the previous data, then the spatial counterpart of the gyroscope moves 30 units in the positive y-axis direction.

[0045] Step 4: Move the virtual intermediate variable to the position (x+deltax, y+deltay), where (x, y) represents the current position, and deltax and deltay represent the changes in the y-axis and pitch angle of the gyroscope over a certain period of time, respectively.

[0046] Step 5: Determine if the virtual intermediary is outside the boundary. For example, if the bounded area is a rectangle with a length of 20cm and a width of 10cm, using the center of the rectangle as the origin, if the virtual intermediary's coordinates are (10, 10), it indicates it is outside the boundary. If the determination is yes, the virtual intermediary is outside the boundary; that is, from now on, the gyroscope can continue to move to the left, and the virtual intermediary can also continue to move to the left. However, the gyroscope's spatial counterpart cannot continue to move to the left due to the boundary. At this point, there is an error in the orientation of the gyroscope and its spatial counterpart, requiring position correction. Proceed to step 6. If the determination is no, the virtual intermediary is not outside the boundary, and the error caused by the boundary issue has not occurred, requiring no correction. Therefore, simply let the gyroscope's spatial counterpart follow the virtual intermediary until the virtual intermediary goes outside the boundary or until the gyroscope stops acquiring data.

[0047] Step 6: Determine if deltax is greater than 0. If yes, it indicates the intermediary has crossed the left boundary and moved to the right. Correction can begin at this point, moving the spatial counterpart to the right along the x-axis by 0.5 * deltax units. deltax represents the change in the gyroscope's offset angle at this moment compared to the previous moment. Moving the spatial counterpart by 0.5 * deltax units is to inefficiently manage gyroscope data changes; this is key to the correction algorithm, creating a situation where the gyroscope's spatial counterpart "moves slowly, waiting for the virtual intermediary to catch up." If no, it indicates the virtual intermediary has crossed the left boundary and continues to move left, while the gyroscope's spatial counterpart cannot continue to move left due to the bounded region. Therefore, the gyroscope's spatial counterpart is placed at the boundary and continues to receive gyroscope data. This returns to step one.

[0048] Step 7: Determine if the correction was successful: The success of the correction is determined by whether the virtual intermediary has caught up with the gyroscope spatial counterpart. The criterion is whether the position of the intermediary is to the right of the counterpart or the same as the counterpart. If the determination is yes, it means that the virtual intermediary has "caught up" with the gyroscope spatial counterpart, and the correction is complete. After that, the gyroscope spatial counterpart and the intermediary are uniformly assigned and moved according to the changes in the values ​​of the gyroscope offset angle and pitch angle until the gyroscope no longer acquires data. If the determination is no, the process continues to return to Step 1-2 to acquire the original gyroscope data. Starting from acquiring the original gyroscope data, the gyroscope spatial counterpart continues to "slowly wait" for the virtual intermediary until the two are in the same position, and the correction is completed.

[0049] Figure 5This diagram illustrates the simulated effect of position correction using left boundary correction as an example, describing the effect achieved after the correction method is implemented. The method's application in actual engineering has four stages. In the diagram, solid circles represent the gyroscope spatial counterpart, solid rectangles represent virtual mediator variables, and large rectangles represent bounded regions. Virtual mediator variables are invisible in practical applications; they represent the state the gyroscope spatial counterpart should have reached if it could have gone out of bounds. In the first stage, the virtual mediator and the gyroscope spatial counterpart move synchronously within the bounded region. In the second stage, the virtual mediator goes out of bounds and continues to move left, while the gyroscope spatial counterpart remains at the boundary and cannot move further due to the constraint of the bounded region. In the third stage, the virtual mediator begins to move right, and the gyroscope spatial counterpart also moves right, preventing the user from experiencing the feeling that the gyroscope spatial counterpart is stuck at the boundary. When the virtual intermediary object moves a certain distance to the right according to the gyroscope yaw angle data change value, such as 2*delta units, the corresponding object in the gyroscope space moves to the right by delta units. This achieves inefficient gyroscope data change, gradually reducing the orientation error between the gyroscope and its spatial counterpart, thus achieving correction. In the fourth stage, correction is successful, and the positions of the gyroscope and its spatial counterpart are aligned, meaning there is no longer any error. After correction, the gyroscope and its spatial counterpart can move synchronously.

[0050] Figure 6 This is a flowchart illustrating the automatic reset of the spatial counterpart position of the gyroscope according to the present invention. It is used to address the orientation error between the gyroscope and its spatial counterpart caused by zero drift, specifically including:

[0051] Step 1: Obtain the offset angle and pitch angle of the gyroscope at the time of initialization. The values ​​of the offset angle and pitch angle are both in the range of [-180°, 180°].

[0052] Step 2: Determine if automatic reset is needed. If the positional error between the virtual intermediary and its spatial counterpart is small, automatic reset is unnecessary; only position correction (steps 1-7) is required to reduce the orientational error between the gyroscope and its spatial counterpart. Specifically, determine if the positional error between the virtual intermediary and its spatial counterpart exceeds a threshold value, which needs to be set according to the actual situation. If the determination is negative, reset is not needed, and steps 1-7 of the gyroscope spatial counterpart position correction method of this invention should be executed; otherwise, proceed to step 3.

[0053] Step 3: Begin resetting, setting the positions of both the gyroscope space counterpart and the virtual intermediary to 0 and immobilizing them, and start timing. Assuming that a person sees the gyroscope space counterpart return to its initial position, they will subconsciously put the gyroscope back to its initial position.

[0054] Step 4: Determine if the gyroscope has returned to its initial position. This involves checking if the current offset and pitch angles are consistent with those at initialization. If yes, the gyroscope has returned to its initial position, and both the gyroscope's spatial counterpart and the gyroscope itself are in the same initial position, indicating the correction is complete. The gyroscope's spatial counterpart is no longer kept stationary; it can continue moving with the gyroscope. If no, the gyroscope has not returned to its initial position, and step 5 is executed.

[0055] Step 5: Determine if the timeout period is greater than or equal to 3 seconds. If yes, it means the waiting time has been long enough and the gyroscope has not returned to its initial position. In this case, allow the gyroscope's spatial counterpart to continue moving with the gyroscope. Since the gyroscope has not returned to its initial position while the spatial counterpart is, there is a positional error between them. Steps 1-7 are then executed to reduce this error using a correction algorithm. If no, it means the 3 seconds have not been reached. Continue checking if the gyroscope has returned to its initial position until it does. Then, allow the spatial counterpart to move synchronously with the gyroscope, or until the waiting time exceeds 3 seconds, at which point the spatial counterpart begins to move, and the correction method is used to correct the positional error. Finally, return to the initial starting point until the gyroscope stops acquiring data.

[0056] The correction and reset method of the present invention realizes the correction and automatic reset of the position of the gyroscope spatial counterpart, and solves the orientation error between the gyroscope and the gyroscope spatial counterpart caused by the existence of the boundary, as well as the error caused by the existence of the gyroscope zero drift problem.

[0057] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for position correction of a spatial counterpart of a gyroscope, characterized in that: The position correction method is used to resolve the orientation error between the gyroscope and its spatial counterpart, and specifically includes the following steps: Step 1: The specific matching of the position of the gyroscope and its spatial counterpart ensures that the spatial counterpart and the gyroscope move synchronously; Step 2: Correct the orientation error based on the gyroscope and its spatial counterpart; Step 3: Automatic reset of the gyroscope's spatial position, specifically: The design incorporates a reasonable judgment criterion to determine in real time whether an automatic reset is needed. This involves assessing whether the orientation error between the gyroscope and its corresponding spatial counterpart is too large. A reasonable criterion is that the distance between the gyroscope's position coordinates and the corresponding spatial counterpart's position coordinates exceeds a certain threshold. This threshold needs to be set based on the actual situation. When the distance between the two coordinates exceeds the threshold, it is determined that the orientation error is large, requiring an automatic reset. The spatial counterpart of the gyroscope returns to its initial position, and only when the gyroscope also returns to its initial position will it continue to control the movement of the spatial counterpart.

2. The method for position correction of a spatial counterpart of a gyroscope according to claim 1, characterized in that: In step 2, outside the bounded region, the orientation error between the gyroscope and its spatial counterpart is reduced by invalidating or de-inefficiently changing the gyroscope data, thereby achieving position correction. Specifically, invalidating or de-inefficiently changing the gyroscope data means that the gyroscope and its spatial counterpart originally moved in a 1:1 ratio, but after de-inefficiency, they move in a 2:1 ratio.

3. The method for position correction of a spatial counterpart of a gyroscope according to claim 2, characterized in that: The specific matching of the gyroscope's position with its spatial counterpart in step 1 includes the following steps: Step 1-1: Set up a virtual intermediary object and a virtual intermediary variable, and initialize the position of the intermediary variable to be consistent with the position of the corresponding gyroscope object; Steps 1-2: Obtain raw gyroscope data, including real-time acceleration and angular velocity when the gyroscope is in a non-stationary state; Steps 1-3: Perform attitude calculation based on the raw data fed back by the gyroscope in Step 1-2 to obtain the orientation and distance that the gyroscope spatial counterpart needs to move, and obtain the real-time yaw angle and pitch angle. Let the change value of the gyroscope yaw angle within a certain time period represent the distance that the gyroscope spatial counterpart needs to move in the x-axis direction within that time period, and let the change value of the gyroscope pitch angle within a certain time period represent the distance that the gyroscope spatial counterpart needs to move in the y-axis direction within that time period. Steps 1-4: Move the virtual intermediate variable to the position (x+deltax, y+deltay), where (x, y) represents the current position, and deltax and deltay represent the changes in the y-axis and pitch angle of the gyroscope over a certain period of time, respectively.

4. The method for position correction of a spatial counterpart of a gyroscope according to claim 3, characterized in that: The correction in step 2 specifically includes the following steps: Step 2-1: Determine whether the virtual object's position is outside the bounded area. If the determination is no, it means that the virtual intermediary object has not gone out of bounds, and the error caused by the boundary problem has not occurred. No correction is required. Just let the gyroscope spatial counterpart move with the virtual intermediary object until the virtual intermediary object goes out of bounds or until the gyroscope stops acquiring data. If the determination is yes, it means that the virtual intermediary object has gone out of bounds, and there is an error in the orientation between the gyroscope and the gyroscope spatial counterpart. In this case, position correction is required. Step 2-2: Determine if deltax is greater than 0. If it is, it means that the intermediary has gone out of the left boundary and is moving towards the boundary. At this time, correction begins, and the spatial counterpart moves 0.5 * deltax units towards the boundary on the x-axis. deltax represents the magnitude of the change in the gyroscope's offset angle at this moment compared to the previous moment. If it is not, it means that the virtual intermediary continues to move in the direction of operation after going out of the boundary, while the gyroscope spatial counterpart cannot continue to move in the direction of operation due to the limitation of the bounded area. Therefore, the gyroscope spatial counterpart is placed at the boundary and continues to obtain gyroscope data. Steps 2-3: Determine if the correction was successful: Determine if the correction was successful by checking if the virtual intermediary has caught up with the gyroscope spatial counterpart. If the determination is yes, it means that the virtual intermediary has "caught up" with the gyroscope spatial counterpart, and the correction is complete. Then, let the gyroscope spatial counterpart and the intermediary move in unison according to the changes in the gyroscope's offset angle and pitch angle values ​​until the gyroscope stops acquiring data. If the determination is no, continue to step 1-2 to acquire the original gyroscope data. Start from acquiring the original gyroscope data and let the gyroscope spatial counterpart continue to "slowly wait" for the virtual intermediary until the two are in the same position, and the correction is complete.

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