Positioning method and device of VR glasses, VR glasses and storage medium

Abstract

The application provides a positioning method and device of a VR glasses, VR glasses and a storage medium, relates to the technical field of VR, and is applied to the VR glasses. The VR glasses include a gyroscope, a positioning component, a processor and a display screen. The positioning component is a positioning component based on GNSS. The method comprises the following steps: receiving acceleration information of the VR glasses detected by the gyroscope; receiving satellite positioning information of the VR glasses detected by the positioning component based on the GNSS; and determining target position information of the VR glasses based on the satellite positioning information and the acceleration information, wherein the target position information is used to instruct the processor to generate a VR image based on the target position information and display the VR image on the display screen. The application can accurately position the VR glasses.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of VR, in particular to a positioning method and device of a VR glasses, VR glasses and a storage medium. BACKGROUND

[0002] With the continuous development of VR (Virtual Reality) technology, VR glasses have emerged. The VR glasses are a kind of head-mounted VR display devices, which can close the vision of people to the outside world, guide the user to have a feeling of being in a virtual environment, and the display principle is that the left and right eye screens respectively display the images of the left and right eyes. After the human eyes obtain such information with differences, the stereoscopic effect is generated in the brain.

[0003] At present, the use scene of the VR glasses is mostly static scenes such as indoors. In the static scene, the VR glasses can accurately realize positioning through the built-in gyroscope, so that the satellite positioning information obtained by positioning is used to display the VR application on the display screen of the VR glasses.

[0004] However, with the layout of the metaverse on the car by many automobile enterprises, the use scene of the VR glasses has changed from the static scene to the dynamic scene of the car. The user wears the VR glasses while sitting in the car, and can see the moving pictures along with the car through the VR glasses as the car drives. In this case, only relying on the gyroscope cannot accurately position the user (head), and therefore, there is an urgent need for a method for the VR glasses to accurately position in the dynamic scene. SUMMARY

[0005] The embodiments of the present application provide a positioning method and device of VR glasses, VR glasses and a storage medium, which can accurately position the VR glasses to provide more accurate position information for the VR application. The technical solution is as follows:

[0006] In a first aspect, a positioning method of VR glasses is provided, which is applied to virtual reality (VR) glasses. The VR glasses include a gyroscope, a positioning component, a processor and a display screen. The positioning component is a global navigation satellite system (GNSS) positioning component. The method includes the following steps:

[0007] receiving acceleration information of the VR glasses detected by the gyroscope;

[0008] receiving satellite positioning information of the VR glasses detected by the positioning component based on the GNSS;

[0009] determine target position information of the VR glasses based on the satellite positioning information and the acceleration information, wherein the target position information is used to instruct the processor to generate a VR image based on the target position information and display the VR image on the display screen.

[0010] In a possible implementation, the determining the target position information of the VR glasses based on the satellite positioning information and the acceleration information comprises:

[0011] second-integrating the acceleration information with respect to time to obtain displacement information;

[0012] determining the target position information of the VR glasses based on the satellite positioning information and the displacement information.

[0013] In a possible implementation, the second-integrating the acceleration information with respect to time to obtain displacement information comprises:

[0014] second-integrating the acceleration information with respect to time to obtain displacement information;

[0015] the determining the target position information of the VR glasses based on the satellite positioning information and the displacement information comprises:

[0016] taking satellite positioning information received from the positioning component at the end of a previous iteration period as reference position information;

[0017] determining target position information of the VR glasses in the iteration period based on the reference position information and the displacement information.

[0018] In a possible implementation, the determining target position information of the VR glasses in the iteration period based on the reference position information and the displacement information comprises:

[0019] adding the reference position information and the displacement information to obtain first position information of the VR glasses in the iteration period;

[0020] multiplying satellite positioning information received from the positioning component in the iteration period by a first weight to obtain second position information;

[0021] multiplying the first position information by a second weight to obtain third position information;

[0022] adding the second position information and the third position information to obtain the target position information of the VR glasses in the iteration period.

[0023] In a possible implementation, the VR glasses are vehicle VR glasses.

[0024] In a second aspect, a positioning device of VR glasses is provided, which is applied to virtual reality (VR) glasses, the VR glasses comprising a gyroscope, a positioning component, a processor and a display screen, the positioning component being a global navigation satellite system (GNSS) based positioning component, and the device comprising:

[0025] a receiving module configured to receive acceleration information of the VR glasses detected by the gyroscope;

[0026] the receiving module is further configured to receive satellite positioning information of the VR glasses detected by the positioning component based on the GNSS;

[0027] a processing module configured to determine target position information of the VR glasses based on the satellite positioning information and the acceleration information, wherein the target position information is used to instruct the processor to generate a VR image based on the target position information and display the VR image on the display screen.

[0028] In a possible implementation, the processing module is configured to:

[0029] secondarily integrate the acceleration information with respect to time to obtain displacement information;

[0030] determine the target position information of the VR glasses based on the satellite positioning information and the displacement information.

[0031] In a possible implementation, the processing module is configured to:

[0032] secondarily integrate, in each iteration period, acceleration information received from the gyroscope in the iteration period with respect to time to obtain displacement information;

[0033] use satellite positioning information received from the positioning component at the end of a previous iteration period as reference position information;

[0034] determine target position information of the VR glasses in the iteration period based on the reference position information and the displacement information.

[0035] In a possible implementation, the processing module is configured to:

[0036] add the reference position information and the displacement information to obtain first position information of the VR glasses in the iteration period;

[0037] multiply satellite positioning information received from the positioning component in the iteration period by a first weight to obtain second position information;

[0038] multiplying the first position information by a second weight to obtain third position information;

[0039] adding the second position information and the third position information to obtain target position information of the VR glasses in the iteration period.

[0040] In a possible implementation, the VR glasses are vehicle VR glasses.

[0041] In a third aspect, a VR glasses is provided, which comprises a gyroscope, a positioning component, a processor, a display screen and a memory, the positioning component is a GNSS-based positioning component, and the memory stores at least one instruction, which is loaded and executed by the processor to implement the operations performed by the positioning method of the VR glasses according to the first aspect and any possible implementation of the first aspect.

[0042] In a fourth aspect, a computer-readable storage medium is provided, which stores at least one instruction, which is loaded and executed by a processor to implement the operations performed by the positioning method of the VR glasses according to the first aspect and any possible implementation of the first aspect.

[0043] In a fifth aspect, a computer program product is provided, which stores at least one instruction, which is loaded and executed by a processor to implement the operations performed by the positioning method of the VR glasses according to the first aspect and any possible implementation of the first aspect.

[0044] The technical scheme provided by the embodiments of the present application has the following beneficial effects:

[0045] In the technical scheme provided by the embodiments of the present application, the gyroscope of the VR glasses detects the acceleration information of the VR glasses and sends the acceleration information to the processor of the VR glasses, and the positioning component of the VR glasses is based on GNSS and detects the satellite positioning information of the VR glasses and sends the position information to the processor of the VR glasses. Among them, the satellite positioning information is relatively accurate and stable in long-time positioning scene, and the positioning error of the gyroscope will gradually accumulate in long-time positioning scene, but the positioning is relatively accurate in short-time positioning scene, on this basis, the processor fuses the two to obtain the position information of the VR glasses, which is also relatively accurate. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0047] Figure 1 is a flow chart of a positioning method of a VR glasses provided by an embodiment of the present application;

[0048] Figure 2 is a flow chart of a positioning method of a VR glasses provided by an embodiment of the present application;

[0049] Figure 3 is a structural schematic diagram of a positioning device of a VR glasses provided by an embodiment of the present application;

[0050] Figure 4 is a structural schematic diagram of a VR glasses provided by an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail with reference to the drawings.

[0052] The present application provides a positioning method of a VR glasses, which can be implemented by the VR glasses, and the VR glasses can also be referred to as a VR display device, a VR head-mounted display, etc.

[0053] The implementation scene of the positioning method of the VR glasses provided by the embodiments of the present application will be exemplarily introduced below.

[0054] The implementation scenario can be a scenario in which a user rides a vehicle, the VR glasses can be vehicle VR glasses, the user can wear the VR glasses, ride the vehicle, and the vehicle can include a fuel vehicle, a new energy vehicle, a bicycle, an electric vehicle, a train, a high-speed rail, an airplane, etc. During the process in which the user rides the vehicle, the VR glasses can execute the positioning method of the VR glasses provided in the embodiments of the present application, and the VR glasses are positioned by using a gyroscope and a GNSS (Global Navigation Satellite System)-based positioning component together to obtain position information of the VR glasses, that is, position information of the user's head. Further, the VR glasses generate a VR image according to the position information and display the VR image on a display screen of the VR glasses. In a possible implementation, as the vehicle moves, the user can feel that he / she has made a corresponding movement in a virtual scene displayed by the VR image through the VR glasses. For example, the vehicle turns left, and the user will feel that he / she turns left in the virtual scene displayed by the VR image through the VR glasses. For another example, the vehicle accelerates, and the user will feel that he / she accelerates in the virtual scene displayed by the VR image through the VR glasses.

[0055] Referring to Figure 1 In the technical solution provided in the embodiments of the present application, the gyroscope of the VR glasses sends acceleration information to the processor of the VR glasses, the positioning component of the VR glasses sends satellite positioning information to the processor of the VR glasses, the processor processes the two, and outputs target position information. According to the target position information, a VR image can be generated and displayed on the display screen of the VR glasses.

[0056] A positioning method of a VR glasses provided in the embodiments of the present application is described below.

[0057] The embodiments of the present application provide a positioning method of a VR glasses, which is applied to virtual reality (VR) glasses. The VR glasses include a gyroscope, a positioning component, a processor, and a display screen. The positioning component is a GNSS-based positioning component. The method can include the following processing steps. Figure 2

[0058] Step 101: The gyroscope of the VR glasses detects acceleration information of the VR glasses and sends the acceleration information to the processor of the VR glasses.

[0059] ​In implementation, the gyroscope of the VR glasses can periodically detect acceleration information of the VR glasses. The detection period can be configured by relevant personnel according to actual needs, and the acceleration information can include acceleration corresponding to the gyroscope on three axes, such as x-axis acceleration, y-axis acceleration, and z-axis acceleration. The x-axis, y-axis, and z-axis can refer to coordinate axes in a world coordinate system, which can also be referred to as a geodetic coordinate system, etc. The embodiments of the present application do not limit this.

[0060] The gyroscope of the VR glasses can send the detected acceleration information of the VR glasses to the processor of the VR glasses in real time. In addition, the gyroscope of the VR glasses can also detect the direction, relative height, and other information of the VR glasses, which can also be sent to the processor of the VR glasses together with the acceleration information.

[0061] Step 102, the positioning component of the VR glasses detects satellite positioning information of the VR glasses based on GNSS, and sends the satellite positioning information to the processor of the VR glasses.

[0062] The GNSS is a generic satellite positioning system, which can provide three-dimensional coordinates, speed, and time information for users on the earth's surface or any location in near space at any time. It can be GPS (Global Positioning System), BDS (Beidou Navigation Satellite System), Galileo satellite navigation system, etc. The embodiments of the present application do not limit the specific satellite positioning system.

[0063] In implementation, the positioning component of the VR glasses can periodically detect satellite positioning information of the VR glasses based on GNSS. The detection period of the satellite positioning information can be configured by relevant personnel according to actual needs, which can be the same as the detection period of the gyroscope detecting the acceleration information. The satellite positioning information can be the three-dimensional coordinates of the VR glasses in the world coordinate system, such as x-axis coordinates, y-axis coordinates, and z-axis coordinates. The x-axis, y-axis, and z-axis can refer to coordinate axes in a world coordinate system, which can also be referred to as a geodetic coordinate system, etc. The embodiments of the present application do not limit this.

[0064] The positioning component of the VR glasses can send the detected satellite positioning information of the VR glasses to the processor of the VR glasses in real time.

[0065] Step 103, the processor of the VR glasses determines target position information of the VR glasses based on the satellite positioning information and the acceleration information.

[0066] In implementation, for the received acceleration information from the gyroscope, the processor can perform quadratic integration on the acceleration information with respect to time to obtain displacement information. Corresponding to the acceleration information, the displacement information can also be three-axis displacement information. Corresponding to x-axis acceleration, quadratic integration with respect to time can obtain x-axis displacement. Corresponding to y-axis acceleration, quadratic integration with respect to time can obtain y-axis displacement. Corresponding to z-axis acceleration, quadratic integration with respect to time can obtain z-axis displacement.

[0067] Further, the processor can determine target position information of the VR glasses based on the satellite positioning information and the displacement information.

[0068] In a possible implementation, considering that quadratic integration of acceleration information with respect to time can accumulate positioning errors, and long-time accumulation can cause large errors, the acceleration information can be quadratically integrated with respect to time according to an iteration period. The reference position information is updated once in each new iteration period, and the reference position information is from the positioning component. The error is relatively constant and does not accumulate. In this way, the positioning error can be effectively reduced, and more accurate position information can be obtained.

[0069] Correspondingly, the processing can be as follows:

[0070] In each iteration period, the acceleration information received from the gyroscope in the iteration period is quadratically integrated with respect to time to obtain displacement information. The satellite positioning information received from the positioning component at the end of the last iteration period is taken as reference position information. Further, target position information of the VR glasses in the iteration period is determined based on the reference position information and the displacement information.

[0071] The determination of the target position information of the VR glasses in the iteration period based on the reference position information and the displacement information is described as follows:

[0072] The reference position information and the displacement information are added to obtain first position information of the VR glasses in the iteration period. The satellite positioning information received from the positioning component in the iteration period is multiplied by a first weight to obtain second position information. The first position information is multiplied by a second weight to obtain third position information. The second position information and the third position information are added to obtain position information of the VR glasses in the iteration period.

[0073] Specifically, the target position information is a three-dimensional coordinate. For each dimension of the three-dimensional coordinate, the calculation can be performed respectively.

[0074] For the x-axis coordinate in the target position information, the x-axis coordinate in the reference position information and the calculated x-axis displacement are added to obtain the x-axis coordinate in the first position information of the VR glasses in the iteration period. If the component direction of the moving direction of the vehicle in the x-axis is opposite to the positive direction of the x-axis, the x-axis displacement is negative. The x-axis coordinate of the satellite positioning information received from the positioning component in the iteration period is multiplied by the first weight to obtain the x-axis coordinate in the second position information. The x-axis in the first position information is multiplied by the second weight to obtain the x-axis coordinate in the third position information. The x-axis coordinate in the second position information and the x-axis coordinate in the third position information are added to obtain the x-axis coordinate in the target position information of the VR glasses in the iteration period. The sum of the first weight and the second weight is 1.

[0075] For the calculation of the x-axis coordinate in the target position information, the following formula (1) can be used:

[0076] x = a x + b L + ∫0 T a x d t + ∫0 T b L d t (1) GNSS + β (L Tx + ∫0 T ∫0 T a x d t d t)

[0077] Wherein, x represents the x-axis coordinate in the target position information, a represents the first weight, x GNSS represents the x-axis coordinate of the satellite positioning information from the positioning component, which is updated once for each received satellite positioning information, b represents the second weight, L Tx represents the x-axis coordinate in the reference position information, that is, the x-axis coordinate in the satellite positioning information from the positioning component received at the beginning of the current iteration period, that is, the x-axis coordinate in the satellite positioning information from the positioning component received at the end of the last iteration period. a x represents the x-axis acceleration in the acceleration information received from the gyroscope in the current iteration period, and T represents the length of the iteration period, which can be configured by the technician according to the actual demand, for example, T is 100 seconds.

[0078] For the y-axis coordinate in the target location information, the y-axis coordinate in the reference location information and the calculated y-axis displacement are added to obtain the y-axis coordinate in the first location information of the VR glasses within the iteration cycle. If the vehicle's movement direction is opposite to the positive x-axis direction in the y-axis component, the y-axis displacement is negative. The y-axis coordinate of the satellite positioning information received from the positioning component within the iteration cycle is multiplied by a first weight to obtain the y-axis coordinate in the second location information. The y-axis coordinate in the first location information is multiplied by a second weight to obtain the y-axis coordinate in the third location information. The y-axis coordinates of the second and third location information are added to obtain the x-axis coordinate in the target location information of the VR glasses within the iteration cycle. The sum of the first and second weights is 1.

[0079] The y-axis coordinate in the target location information can be calculated according to the following formula (2):

[0080] y = α × y GNSS +β(L Ty +∫0 T ∫0 T a y dtdt) (2)

[0081] Where y represents the y-axis coordinate in the target location information, α represents the first weight, and y GNSS This represents the y-axis coordinate of the satellite positioning information received from the positioning component. This value is updated once a new satellite positioning information is received. β represents the second weight, and L... Ty This represents the y-axis coordinate in the reference position information, that is, the y-axis coordinate in the satellite positioning information received from the positioning component at the beginning of the current iteration cycle, and also the y-axis coordinate in the satellite positioning information received from the positioning component at the end of the previous iteration cycle. y This represents the y-axis acceleration received from the gyroscope within the current iteration cycle. T represents the iteration cycle length, and the value of T can be configured by technicians according to actual needs. For example, T can be set to 100 seconds.

[0082] The z-axis coordinate in the target location information can be calculated according to the following formula (3):

[0083] z = α × z GNSS +β(L Tz +∫0 T ∫0 T a z dtdt) (3)

[0084] Where z represents the z-axis coordinate in the target location information, α represents the first weight, and z GNSSz-axis coordinate representing satellite positioning information from the positioning component, the value is updated once for each time satellite positioning information is received, β represents a second weight, L Tz z-axis coordinate in the reference position information, i.e., the z-axis coordinate in the satellite positioning information from the positioning component received at the beginning of the current iteration period, i.e., the z-axis coordinate in the satellite positioning information from the positioning component received at the end of the previous iteration period.a z z-axis acceleration in the acceleration information from the gyroscope received in the current iteration period, T represents the iteration period length, and the value of T can be configured by a technician according to actual needs, for example, T is 100 seconds.

[0085] There are various methods for determining the values of the first weight and the second weight, and some of the methods are exemplarily described as follows:

[0086] Method one for determining the values

[0087] At the beginning of an iteration period, the first weight is 0 and the second weight is 1, at the end of the iteration period, the first weight is 1 and the second weight is 0, and at the remaining time in the iteration period, the first weight is 0 and the second weight is 1. That is, at the end of an iteration period, the target position information of the VR glasses is the latest satellite positioning information from the positioning component, i.e., the reference position information (L Tx , L Ty , L Tz ) used in the next iteration period. In this way, the error accumulated in the current iteration period due to double integration can be eliminated, the error is not accumulated for a long time, and the positioning accuracy can be improved.

[0088] Method two for determining the values

[0089] At the beginning of an iteration period, the first weight is 0 and the second weight is 1, in the process of changing from 0 to T at the time of the iteration period, the value of the first weight increases from 0 to 1, and at the time of the iteration period changing to T (the end of the iteration period), the value of the first weight just increases to 1. Correspondingly, in the process of changing from 0 to T at the time of the iteration period, the value of the second weight decreases from 1 to 0, and at the time of the iteration period changing to T (the end of the iteration period), the value of the second weight just decreases to 0. At the end of an iteration period, the target position information of the VR glasses is the latest satellite positioning information from the positioning component, i.e., the reference position information (L Tx , L Ty , L TzIn this way, the error accumulated by the secondary integration in the current iteration period can be eliminated, the error is avoided from being accumulated for a long time, and the positioning accuracy can be improved.

[0090] In addition, the sum of the first weight and the second weight is always 1 at any moment.

[0091] In a possible implementation, the virtual scene displayed by the VR image in the VR glasses can be a dinosaur world scene, a mountain and forest scene, a dreamlike wonderland scene, or the like. The correspondence between the target position information, the field of view direction, and the virtual coordinates and direction in the virtual scene can be pre-set in the VR glasses. When the target position information and the field of view direction of the user change, the position and direction of the virtual scene displayed by the VR glasses on the display screen can also change accordingly. When the user is riding a vehicle, the scene viewed by the user through the VR glasses is as if the user is moving in the virtual scene, and the moving speed and direction of the user match the moving speed and direction of the vehicle.

[0092] In a possible implementation, when the position indicated by the target position information is in a specified area during the movement of the user, additional information corresponding to the specified area can be displayed in the VR glasses, and the additional information includes advertising information. For example, when the position indicated by the target position information is in a certain scenic area, advertising information or attraction introduction information of the scenic area can be displayed in the VR image.

[0093] The embodiments of the present application determine the coordinates and direction corresponding to the current position and field of view direction in the virtual map by acquiring the position information (target position information of the VR glasses) and the field of view direction (direction detected by the gyroscope) of the user. When the actual position of the user changes, the corresponding coordinates of the user in the virtual scene also change. Therefore, when the user is riding a vehicle, the user is equivalent to walking in the virtual scene during the driving of the vehicle, without the need for the user to control. The user obtains the dual enjoyment of vision and feeling during the movement, and the interest is enhanced.

[0094] In the technical solution provided in the embodiments of the present application, the gyroscope of the VR glasses detects the acceleration information of the VR glasses and sends the acceleration information to the processor of the VR glasses. The positioning component of the VR glasses detects the satellite positioning information of the VR glasses based on the GNSS and sends the position information to the processor of the VR glasses. In a long-time positioning scenario, the satellite positioning information is relatively accurate and stable, and the positioning error of the gyroscope will gradually accumulate in a long-time positioning scenario, but the positioning is relatively accurate in a short-time positioning scenario. On this basis, the processor fuses the two to obtain the position information of the VR glasses, which is also relatively accurate.

[0095] All the optional technical solutions described above can be combined to form optional embodiments of the present disclosure, which will not be described one by one here.

[0096] Based on the same technical concept, the embodiments of the present application also provide a positioning device of a VR glasses, which can be applied to the VR glasses, as shown in Figure 3 The device can include a receiving module 510 and a processing module 520, wherein:

[0097] The receiving module 510 is configured to receive acceleration information of the VR glasses detected by the gyroscope;

[0098] The receiving module 510 is further configured to receive satellite positioning information of the VR glasses detected by the positioning assembly based on the GNSS;

[0099] The processing module 520 is configured to determine target position information of the VR glasses based on the satellite positioning information and the acceleration information, wherein the target position information is used to instruct the processor to generate a VR image based on the target position information and display the VR image on the display screen.

[0100] In a possible implementation, the processing module 520 is configured to:

[0101] Secondly integrate the acceleration information with respect to time to obtain displacement information;

[0102] Determine the target position information of the VR glasses based on the satellite positioning information and the displacement information.

[0103] In a possible implementation, the processing module 520 is configured to:

[0104] Secondly integrate the acceleration information received from the gyroscope in each iteration period with respect to time to obtain displacement information;

[0105] Take the satellite positioning information received from the positioning assembly at the beginning of the iteration period as reference position information;

[0106] Determine the target position information of the VR glasses in the iteration period based on the reference position information and the displacement information.

[0107] In a possible implementation, the processing module 520 is configured to:

[0108] Add the reference position information and the displacement information to obtain first position information of the VR glasses in the iteration period;

[0109] multiplying the satellite positioning information received from the positioning component in the iteration period by a first weight to obtain second position information;

[0110] multiplying the first position information by a second weight to obtain third position information;

[0111] adding the second position information and the third position information to obtain target position information of the VR glasses in the iteration period.

[0112] In a possible implementation, the VR glasses are vehicle VR glasses.

[0113] In the technical scheme provided in the embodiments of the present application, the gyroscope of the VR glasses detects acceleration information of the VR glasses and sends the acceleration information to the processor of the VR glasses, and the positioning component of the VR glasses detects satellite positioning information of the VR glasses based on GNSS and sends the position information to the processor of the VR glasses. Wherein, the satellite positioning information is relatively accurate and stable in a long-time positioning scenario, and the positioning error of the gyroscope will gradually accumulate in a long-time positioning scenario, but the positioning is relatively accurate in a short-time positioning scenario, and on this basis, the processor fuses the two to obtain the position information of the VR glasses, which is also relatively accurate.

[0114] It should be noted that: the positioning device of the VR glasses provided in the above embodiments is only used as an example to illustrate the division of the above functional modules in the positioning of the VR glasses, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the VR glasses is divided into different functional modules to complete all or part of the functions described above. In addition, the positioning device of the VR glasses and the positioning method of the VR glasses provided in the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be repeated here.

[0115] Figure 4 A structural block diagram of the VR glasses 600 provided in an example embodiment of the present application is shown.

[0116] The VR glasses 600 include a processor 601 and a memory 602.

[0117] The processor 601 can include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 601 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 601 can also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also known as a CPU (Central Processing Unit), and the coprocessor being a low-power processor for processing data in a standby state. In some embodiments, the processor 601 can be integrated with a GPU (Graphics Processing Unit) for rendering and drawing content required to be displayed by the display screen. In some embodiments, the processor 601 can further include an AI (Artificial Intelligence) processor for processing machine learning related computing operations.

[0118] The memory 602 can include one or more computer-readable storage media that can be non-transitory. The memory 602 can also include a high-speed random access memory, and a nonvolatile memory such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction for being executed by the processor 601 to implement the method of the master audio generation provided by the method embodiments in the present application.

[0119] In some embodiments, the VR glasses 600 can also optionally include a peripheral device interface 603 and at least one peripheral device. The processor 601, the memory 602, and the peripheral device interface 603 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 603 through a bus, a signal line, or a circuit board. Specifically, the peripheral devices include a radio frequency circuit 604, a display screen 605, a camera assembly 606 (not shown in the figure), an audio circuit 607, a positioning assembly 608, and a power supply 609, and the like.

[0120] The peripheral interface 603 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 601 and the memory 602. In some embodiments, the processor 601, the memory 602 and the peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 601, the memory 602 and the peripheral interface 603 can be implemented on a separate chip or circuit board, and the present embodiments are not limited in this regard.

[0121] The radio frequency circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 604 communicates with a communication network and other communication devices through electromagnetic signals. The radio frequency circuit 604 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 604 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and the like. The radio frequency circuit 604 can communicate with other VR glasses through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 604 can also include NFC (Near Field Communication) related circuitry, and the present application is not limited in this regard.

[0122] The display screen 605 is used to display VR images, UIs (User Interfaces), and the like. The UI can include graphics, text, icons, video, and any combination thereof.

[0123] The camera assembly 606 is configured to capture images or videos. Optionally, the camera assembly 606 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is disposed on a front panel of the VR glasses, and the rear-facing camera is disposed on a back panel of the VR glasses. In some embodiments, the rear-facing camera is at least two, which are any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, to realize the background blur function by fusing the main camera and the depth-of-field camera, the panorama shooting and VR shooting functions by fusing the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments, the camera assembly 606 can further include a flash. The flash can be a single-color-temperature flash or a dual-color-temperature flash. The dual-color-temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0124] The audio circuit 607 can include a microphone and a speaker. The microphone is configured to capture sound waves of a user and an environment, and convert the sound waves into an electrical signal input to the processor 601 for processing or to the radio frequency circuit 604 to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, which are disposed at different parts of the VR glasses 600. The microphone can also be an array microphone or an omnidirectional collection microphone. The speaker is configured to convert an electrical signal from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker can be a traditional thin-film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert an electrical signal into a sound wave audible to humans, but also convert an electrical signal into an inaudible sound wave to humans for ranging purposes. In some embodiments, the audio circuit 607 can further include a headphone jack.

[0125] The positioning component 608 is configured to locate the current geographical position of the VR glasses 600 to realize navigation or LBS (Location Based Service). The positioning component 608 can be a positioning component based on the GPS (Global Positioning System) of the United States, the Beidou system of China, or the Galileo system of Russia.

[0126] The power supply 609 is configured to supply power to each component in the VR glasses 600. The power supply 609 can be alternating current, direct current, a disposable battery, or a rechargeable battery. When the power supply 609 includes a rechargeable battery, the rechargeable battery can be a wired charging battery or a wireless charging battery. The wired charging battery is a battery charged through a wired line, and the wireless charging battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0127] In some embodiments, the VR glasses 600 further comprise one or more sensors 610. The one or more sensors 610 include, but are not limited to, an acceleration sensor 611 and a gyroscope sensor 612.

[0128] The acceleration sensor 611 can detect the acceleration magnitude in three coordinate axes of the coordinate system established by the VR glasses 600. For example, the acceleration sensor 611 can be used to detect the components of the gravitational acceleration in three coordinate axes. The processor 601 can control the display screen 605 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signals collected by the acceleration sensor 611. The acceleration sensor 611 can also be used to collect the motion data of the user or for gaming.

[0129] The gyroscope 612 can detect the body orientation, rotation angle and acceleration of the VR glasses 600. The gyroscope sensor 612 can collect the 3D motion of the user to the VR glasses 600 in cooperation with the acceleration sensor 611. The processor 601 can realize the following functions according to the data collected by the gyroscope 612: motion sensing (such as changing the UI according to the tilt operation of the user), image stabilization when shooting, game control and inertial navigation, etc.

[0130] Those skilled in the art can understand that the structure shown in the above embodiments does not constitute a limitation on the VR glasses 600, and can include more or fewer components than those shown, or combine certain components, or use different component arrangements. Figure 4

[0131] In the exemplary embodiments, a computer readable storage medium, such as a memory comprising instructions executable by a processor in the VR glasses to perform the positioning method of the VR glasses in the above embodiments, is also provided. The computer readable storage medium can be non-transitory. For example, the computer readable storage medium can be a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0132] ​It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals (including but not limited to signals transmitted between VR glasses and other devices, etc.) involved in the present application are authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions. For example, the acceleration information, position information, satellite positioning information and the like involved in the present application are obtained under full authorization.

[0133] The terms "first", "second", and the like in the present application are used to distinguish the same or similar items with substantially the same function and effect, and it should be understood that there is no logical or time sequence between "first" and "second", and the number and execution order are not limited. It should also be understood that although the following description uses the terms first, second, and the like to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another. The term "at least one" in the present application means one or more, and the term "multiple" in the present application means two or more.

[0134] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0135] The above is only an optional embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A positioning method for VR glasses, characterized in that, The method is applied to virtual reality (VR) glasses, which include a gyroscope, a positioning component, a processor, and a display screen. The positioning component is a GNSS-based positioning component. The method includes: Receive acceleration information of the VR glasses detected by the gyroscope; Receive the satellite positioning information of the VR glasses detected by the positioning component based on the GNSS; Within each iteration cycle, the acceleration information received from the gyroscope within the iteration cycle is integrated twice over time to obtain displacement information; The satellite positioning information received from the positioning component at the end of the previous iteration cycle is used as the reference position information; The reference position information and the displacement information are added together to obtain the first position information of the VR glasses within the iteration cycle; The satellite positioning information received from the positioning component during the iteration period is multiplied by a first weight to obtain the second location information; Multiply the first location information by the second weight to obtain the third location information; The second location information and the third location information are added together to obtain the target location information of the VR glasses within the iteration cycle. The target location information is used to instruct the processor to generate a VR image based on the target location information and display the VR image on the display screen.

2. The method according to claim 1, characterized in that, The VR glasses mentioned are automotive VR glasses.

3. A positioning device for VR glasses, characterized in that, The device is used in virtual reality (VR) glasses, which include a gyroscope, a positioning component, a processor, and a display screen. The positioning component is a GNSS-based positioning component. The device includes: The receiving module is configured to receive acceleration information from the VR glasses detected by the gyroscope; the receiving module is also configured to receive satellite positioning information from the VR glasses detected by the positioning component based on the GNSS. The processing module is configured to, in each iteration cycle, perform a double integration of the acceleration information received from the gyroscope within the iteration cycle with respect to time to obtain displacement information; use the satellite positioning information received at the end of the previous iteration cycle from the positioning component as reference position information; add the reference position information and the displacement information to obtain the first position information of the VR glasses within the iteration cycle; multiply the satellite positioning information received from the positioning component within the iteration cycle by a first weight to obtain second position information; multiply the first position information by a second weight to obtain third position information; and add the second position information and the third position information to obtain the target position information of the VR glasses within the iteration cycle, wherein the target position information is used to instruct the processor to generate a VR image based on the target position information and display the VR image on the display screen.

4. The apparatus according to claim 3, characterized in that, The VR glasses mentioned are automotive VR glasses.

5. A VR headset, characterized in that, The VR glasses include a gyroscope, a positioning component, a processor, a display screen, and a memory. The positioning component is a GNSS-based positioning component. The memory stores at least one instruction, which is loaded and executed by the processor to perform the operation of the VR glasses positioning method as described in claim 1 or 2.

6. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to perform the operation of the VR glasses positioning method as described in claim 1 or 2.

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