VR device positioning method and VR device

Abstract

The present invention discloses a VR device positioning method and a VR device, which belongs to the field of VR device positioning. The method solves the problem of how to avoid the waste of computing resources and power consumption of a single positioning method when positioning a VR device, the inaccuracy of the positioning device of the VR device itself, and the problem of avoiding the complex fusion of the positioning methods of the internal and external positioning devices. The method uses the data of linear acceleration and angular velocity detected in real time by an accelerometer and a gyroscope built into the VR device to analyze and judge whether the VR device takes action at its detection timestamp. When an action takes place, the coordinate position of the VR device at the action timestamp is calculated by combining at least three UWB signals with receiving timestamps closest to the action timestamp transmitted by different UWB base stations, and the real-time coordinate position of the VR device at the action timestamp is acquired and mapped to the VR virtual environment.

Description

Technical Field

[0001] The present invention belongs to the field of VR device positioning, and specifically relates to a VR device positioning method and a VR device. Background Art

[0002] Virtual reality (VR) devices are electronic devices that can create and experience virtual environments. VR devices usually include head-mounted displays (HMDs) equipped with display screens, sensors, and input devices, which are used to immerse users in a computer-generated three-dimensional environment. When using VR devices, the real-time position of the VR device is obtained through the positioning device in the positioning space or the positioning sensor of the VR device itself, and then mapped to the VR virtual environment, so that users have a good immersive experience.

[0003] In the prior art, generally only one method is used to calculate and obtain the position of a VR device. For example, only a positioning device such as a base station in the positioning space of the VR device is used to calculate and obtain the real-time position of the VR device. However, when the VR device is stationary for a long time, the signal transmitted by the base station is still processed, which wastes computing resources and consumes power. For another example, only the positioning device such as an accelerometer and a gyroscope provided by the VR device is used to calculate and obtain the real-time position of the VR device. However, this method calculates the relative position, which is easy to accumulate errors, resulting in the position of the VR device becoming less and less accurate. When the VR device is stationary, the coordinate position calculation of the detected data will also waste computing resources. In the prior art, there are two methods to calculate the real-time position of the VR device, but generally the data detected by the positioning device provided by the VR device and the signal data of the positioning base station are put together and fused using machine learning or other methods, resulting in more and more complex positioning, more and more calculations, and not simple enough. To this end, the present invention proposes a VR device positioning method and a VR device. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a VR device positioning method and VR device, which solves the problem of how to avoid the waste of computing resources and power consumption of a single positioning method when positioning the VR device, the inaccurate positioning device of the VR device, and the problem of avoiding the complexity of the fusion of the positioning methods of the internal and external positioning devices.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A VR device positioning method and VR device, comprising:

[0007] Step S1: at least three UWB base stations are arranged around the VR device, each UWB base station sends a UWB signal to the VR device at a preset frequency, and the VR device is provided with a storage unit, which stores the received UWB signal;

[0008] Step S2: setting an accelerometer and a gyroscope in the VR device, analyzing the data detected in real time by the accelerometer and the gyroscope to determine whether the VR device has an action and obtain a corresponding action timestamp;

[0009] Step S3: Taking the action timestamp of the VR device as the center, extract at least three UWB signals whose receiving timestamps are closest to the action timestamp from the storage unit, and these UWB signals are transmitted by different UWB base stations. Analyze the at least three extracted UWB signals, obtain the real-time coordinate position of the VR device at the action timestamp and map it to the VR virtual environment.

[0010] Furthermore, the information carried by the UWB signal includes a unique identifier of the UWB base station, a coordinate position of the UWB base station, a UWB signal transmission timestamp, a UWB signal reception timestamp, and an RSSI value.

[0011] Further, the step of analyzing the data detected in real time by the accelerometer and the gyroscope to determine whether the VR device has an action and obtaining a corresponding action timestamp specifically includes:

[0012] The accelerometer in the VR device detects linear acceleration data on each axis in real time, and the gyroscope detects angular velocity data on each axis in real time; the positioning space is a three-dimensional coordinate axis, including an x-axis, a y-axis, and a z-axis;

[0013] Calculate the total linear acceleration and total angular velocity of the VR device in the positioning space in real time. The calculation method is to sum the total linear acceleration and angular velocity on each axis by square, and then find the square root of each.

[0014] A total linear acceleration threshold and a total angular velocity threshold are preset. If the calculated total linear acceleration is greater than the total linear acceleration threshold, or the calculated total angular velocity is greater than the total angular velocity threshold, it indicates that the VR device is in motion, and the timestamp of the VR device when the linear acceleration or angular velocity is detected is extracted, and the timestamp is marked as the action timestamp.

[0015] Furthermore, the total linear acceleration threshold and the total angular velocity threshold are obtained as follows:

[0016] Collect a large amount of linear acceleration data from accelerometers and angular velocity data from gyroscopes;

[0017] Perform statistical analysis on the linear acceleration data and gyroscope angular velocity data of the VR device in a static state to determine the baseline value and noise level of the total linear acceleration and total angular velocity;

[0018] Based on the total linear acceleration and total angular velocity of the VR device, the total linear acceleration threshold and the total angular velocity threshold are calculated respectively; the calculation methods are as follows: the total linear acceleration threshold is equal to the baseline value of the total linear acceleration plus k times the noise level of the total linear acceleration, and the total angular velocity threshold is equal to the baseline value of the total angular velocity plus k times the noise level of the total angular velocity; wherein the value of k is between 2 and 3.

[0019] Furthermore, the baseline values ​​of the total linear acceleration and the total angular velocity refer to the average values ​​of the total linear acceleration and the total angular velocity of multiple timestamps when the VR device is in a stationary state; the noise levels of the total linear acceleration and the total angular velocity refer to the standard deviation of the total linear acceleration and the standard deviation of the total angular velocity in a stationary state calculated using the baseline values ​​of the total linear acceleration and the total angular velocity.

[0020] Furthermore, the method of analyzing the extracted at least three UWB signals, obtaining the real-time coordinate position of the VR device at the action timestamp and mapping it to the VR virtual environment includes:

[0021] parsing information carried by at least three acquired UWB signals;

[0022] Select one of the UWB signals as a reference signal according to the RSSI value carried by the UWB signal or the UWB signal reception timestamp;

[0023] Based on the selected reference signal, respectively calculate the arrival time difference between the reception timestamp of each UWB signal and the reception timestamp of the reference signal, by subtracting the reception timestamp of the reference signal from the reception timestamp of each UWB signal;

[0024] According to the calculated arrival time difference between each UWB signal and the reference signal, the distance difference between each UWB signal reaching the VR device and the distance difference between the reference signal reaching the VR device is calculated; the calculation method is the signal transmission speed multiplied by the arrival time difference, where the signal transmission speed is the speed of light;

[0025] According to the coordinate position of the corresponding UWB base station carried by each UWB signal, combined with the distance difference between each UWB signal reaching the VR device and the reference signal reaching the VR device, a positioning equation group of the VR device at each UWB reception timestamp is established; the calculation method is: the coordinate position of the VR device is set as the dependent variable, the distance between the VR device and each UWB base station is calculated, and the distance between the VR device and each UWB base station is subtracted from the distance between the VR device and the UWB base station to which the reference signal belongs, and the result is equal to the distance difference between each UWB signal reaching the VR device and the reference signal reaching the VR device;

[0026] By solving the VR device positioning equation, the coordinate position of the VR device at the receiving timestamp of the reference signal is obtained, the calculated coordinate position of the VR device at the receiving timestamp of the reference signal is used as the coordinate position of the action timestamp, and the obtained coordinate position of the action timestamp is mapped to the VR virtual system.

[0027] Furthermore, the method for selecting the reference signal is: if the RSSI values ​​carried by at least three extracted UWB signals are not exactly the same, then the UWB signal with the largest RSSI value is selected as the reference signal; if the RSSI values ​​carried by at least three extracted UWB signals have at least two largest and the same or all the same, then the UWB signal with a receiving timestamp closest to the action timestamp is selected as the reference signal.

[0028] Further, a VR device includes: a sensor unit, a storage unit, and a processing unit;

[0029] The sensor unit is used to detect the linear acceleration and angular velocity of the VR device in real time, and send the detected linear acceleration and angular velocity to the processing unit in real time; the sensor unit includes an accelerometer and a gyroscope; the accelerometer is used to detect the linear acceleration of the VR device in real time, and the gyroscope is used to detect the angular velocity of the VR device in real time;

[0030] The storage unit is used to store the received UWB signal;

[0031] The processing unit is used to determine whether the VR device body has taken any action and record the action timestamp based on the real-time analysis of the linear acceleration and angular velocity data, extract at least three UWB signals whose receiving timestamps are closest to the action timestamp from the storage unit, and these UWB signals are transmitted by different UWB base stations, analyze the at least three extracted UWB signals, obtain the real-time coordinate position of the VR device at the action timestamp and map it to the VR virtual environment.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] In the present invention, the linear acceleration and angular velocity data detected in real time by the accelerometer and gyroscope built into the VR device are analyzed and judged whether the VR device has taken action at its detection timestamp. When an action occurs, the coordinate position of the VR device at the action timestamp is calculated by combining at least three UWB signals with receiving timestamps closest to the action timestamp transmitted by different UWB base stations, and the real-time coordinate position of the VR device at the action timestamp is obtained and mapped to the VR virtual environment; complex UWB signal processing can be performed only when an action is detected, avoiding the processing of a large number of redundant UWB signals in a static state. processing, thereby reducing the waste of computing resources and helping to extend the battery life of the device, especially the VR device that needs to run for a long time in the present invention; and through base station positioning, there is no need to further process the linear acceleration and angular velocity or other sensor data to calculate the coordinate position of the VR device, avoiding more complex calculations and saving computing resources. The position correction is performed at the key timestamp, i.e., the action timestamp, through the UWB signal, avoiding the problem of error accumulation in positioning calculation using an accelerometer and a gyroscope, and avoiding the complex situation of fusing the data generated by the two positioning devices in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A flowchart of a method for positioning a VR device according to the present invention is shown;

[0035] Figure 2 This is a schematic diagram of the structure of a VR device of the present invention. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] like Figure 1 As shown, a VR device positioning method includes:

[0038] Step S1: at least three UWB base stations are arranged around the VR device, each UWB base station sends a UWB signal to the VR device at a preset frequency, and the VR device is provided with a storage unit, which stores the received UWB signal;

[0039] Step S2: setting an accelerometer and a gyroscope in the VR device, analyzing the data detected in real time by the accelerometer and the gyroscope to determine whether the VR device has an action and obtain a corresponding action timestamp;

[0040] Step S3: Taking the action timestamp of the VR device as the center, extracting from the storage unit at least three UWB signals whose receiving timestamps are closest to the action timestamp, and these UWB signals are transmitted by different UWB base stations, analyzing the extracted at least three UWB signals, obtaining the real-time coordinate position of the VR device at the action timestamp and mapping it to the VR virtual environment;

[0041] As a preferred embodiment, in step S1, at least three UWB base stations are arranged around the VR device, and each UWB base station sends a UWB signal to the VR device at a preset frequency; wherein the UWB base station refers to an ultra-wideband base station, which is used as a fixed reference point in the positioning space of the VR device in the embodiment of the present invention, and each UWB base station can send or receive a UWB signal; the UWB signal refers to a wireless communication signal that can achieve high-precision positioning and high-speed data transmission within a short distance; UWB base station and UWB signal are public proprietary technical terms and will not be described in detail here; in this embodiment, the information carried by the UWB signal includes a UWB base station unique identifier, a coordinate position of the UWB base station, a UWB signal transmission timestamp, a UWB signal reception timestamp, an RSSI value, etc.;

[0042] Among them, the UWB base station unique identifier refers to the unique ID of the corresponding UWB base station, so that the receiving device can distinguish the signal source; the coordinate position of the UWB base station can be a geodetic coordinate, or a local coordinate system or a custom coordinate system combined with a VR device, and the specific settings can be set by technical staff; the UWB signal transmission timestamp and the UWB signal reception timestamp refer to the transmission timestamp of the UWB signal transmitted by the UWB base station and the reception timestamp of the UWB signal by the VR device respectively; the RSSI value refers to the strength of the received UWB signal;

[0043] The VR device is provided with a storage unit, and the storage unit stores the received UWB signal; wherein in the prior art, each time the base station around the VR device transmits a UWB signal to the VR device, the VR device needs to process the received UWB signal in real time, so as to calculate the position of the VR device action in real time, but if the VR device is in a stationary state for a period of time, the UWB base station will still transmit the UWB signal, resulting in the VR device requiring a large amount of computing resources to process these UWB signals, and the obtained coordinate position of the VR device is still the original position, which will lead to a waste of computing resources for processing the UWB signal in a stationary state. For simplicity, in the embodiment of the present invention, not every received UWB signal is processed. For this reason, a storage unit is set in the processing system of the VR device to store all received UWB signals, so as to facilitate subsequent positioning calculation when the VR device is in action;

[0044] As a preferred embodiment, in step S2, an accelerometer and a gyroscope are set in the VR device. It should be noted that, generally, when a VR device is positioned, it is either positioned by a surrounding positioning device or by setting an accelerometer and a gyroscope. The positioning device may be a UWB base station or other positioning devices. When positioning a VR device, only one of the methods is often needed. However, if only the surrounding positioning devices are used for positioning, a large number of received signals will be processed. If the VR device does not move for a short time or a long time, unnecessary processing will be performed on the received signals of the VR device that is not moving, wasting computing resources. If only accelerometers and gyroscopes are used for positioning, although accelerometers and gyroscope sensors can provide high-frequency However, due to the inherent error accumulation problem, long-term use will lead to a decrease in positioning accuracy. For example, accelerometers and gyroscopes can only provide relative motion data, but cannot provide the absolute position of the VR device. Therefore, the error of the initial position will continue to accumulate in subsequent calculations, resulting in an overall positioning offset. Therefore, the present invention proposes that when the VR device is stationary, the accelerometer and gyroscope are mainly used to monitor the state of the VR device, reduce the processing of UWB signals, thereby reducing the consumption of computing resources and power consumption, and ensure positioning accuracy over a long period of time. By combining the UWB base station with the accelerometer and gyroscope for positioning, the positioning accuracy and response speed can be improved, while reducing the waste of computing resources, avoiding the decrease in positioning accuracy, adapting to complex environments, and providing an efficient and flexible VR device positioning solution.

[0045] The step of analyzing the data detected in real time by the accelerometer and the gyroscope to determine whether the VR device is in motion and obtaining the corresponding motion timestamp specifically includes:

[0046] The accelerometer in the VR device detects linear acceleration data on each axis in real time, and the gyroscope detects angular velocity data on each axis in real time; the positioning space is a three-dimensional coordinate axis, including an x-axis, a y-axis, and a z-axis;

[0047] Calculate the total linear acceleration and total angular velocity of the VR device in the positioning space in real time. The calculation method is to sum the total linear acceleration and angular velocity on each axis by square, and then find the square root of each.

[0048] For example, the linear acceleration on the x, y, and z axes are measured, marked as , then the total linear acceleration is ; and measure the angular velocity on the x, y, and z axes, respectively, marked as , then the total linear acceleration is ;

[0049] It should be noted that the amount of calculation required to determine whether the VR device is moving is much less than the processing resources required to calculate the positioning of the VR device using linear acceleration, angular velocity, and other sensor data, thus reducing the loss of internal computing resources of the VR device.

[0050] A total linear acceleration threshold and a total angular velocity threshold are preset. If the calculated total linear acceleration is greater than the total linear acceleration threshold, or the calculated total angular velocity is greater than the total angular velocity threshold, it indicates that the VR device is in motion, and the timestamp of the VR device when the linear acceleration or angular velocity is detected is extracted, and the timestamp is marked as the action timestamp;

[0051] The total linear acceleration threshold and the total angular velocity threshold are obtained as follows:

[0052] Collect a large amount of linear acceleration data from accelerometers and angular velocity data from gyroscopes;

[0053] Statistical analysis is performed on the linear acceleration data and angular velocity data of the gyroscope when the VR device is in a stationary state to determine the baseline value and noise level of the total linear acceleration and total angular velocity; wherein the baseline values ​​of the total linear acceleration and total angular velocity refer to the average values ​​of the total linear acceleration and total angular velocity of multiple time stamps when the VR device is in a stationary state, respectively. Generally, the baseline value of the total linear acceleration is the acceleration of gravity when the VR device is in a stationary state, and the baseline value of the total angular velocity is 0; the noise level of the total linear acceleration and total angular velocity refers to the standard deviation of the total linear acceleration and the standard deviation of the total angular velocity in a stationary state calculated using the baseline values ​​of the total linear acceleration and total angular velocity, respectively.

[0054] It can be clarified that the total linear acceleration refers to the average value of the total linear acceleration of multiple time stamps when the VR device is stationary, and the baseline value of the total angular velocity refers to the average value of the total angular velocity of multiple time stamps when the VR device is stationary; the noise level of the total linear acceleration refers to the standard deviation of the total linear acceleration in the stationary state calculated using the baseline value of the total linear acceleration; the noise level of the total angular velocity refers to the standard deviation of the total angular velocity in the stationary state calculated using the baseline value of the total angular velocity;

[0055] Based on the total linear acceleration and total angular velocity of the VR device, the total linear acceleration threshold and the total angular velocity threshold are calculated respectively; the calculation methods are as follows: the total linear acceleration threshold is equal to the baseline value of the total linear acceleration plus k times the noise level of the total linear acceleration, and the total angular velocity threshold is equal to the baseline value of the total angular velocity plus k times the noise level of the total angular velocity; wherein the value of k is usually between 2 and 3;

[0056] As a preferred embodiment, in step S3, the action timestamp of the VR device is taken as the center, and at least three UWB signals whose receiving timestamps are closest to the action timestamp are extracted from the storage unit, and these UWB signals are transmitted by different UWB base stations; it can be understood that when the VR device is in an action state, the VR device is positioned in real time at the moment of the action, that is, no matter how large the action amplitude of the VR device is, the coordinate position of the VR device is calculated at the moment of the action, and if the VR device is still in action at the next moment, the coordinate position of the VR device at the next moment is calculated, and the time interval between each moment is determined by the previous technical personnel, because the detection time intervals of the accelerometers and gyroscopes of different VR devices are different; wherein, The action timestamp of the VR device is centered because the receiving timestamp of the UWB signal received by the VR device is different. However, in order to obtain the UWB signal with the receiving timestamp closest to the corresponding action timestamp of the VR device, and thus calculate the coordinate position closest to the action timestamp of the VR device, the action timestamp of the VR device is taken as the center, and at least three UWB signals with the receiving timestamp closest to the action timestamp of the VR device are extracted from the storage unit. In addition, it should be noted that the time interval between the receiving timestamp of the extracted UWB signal closest to the action timestamp of the VR device and the corresponding action timestamp of the VR device cannot exceed the time interval between each moment detected by the accelerometer and the gyroscope. In fact, no matter which time interval it is, it is extremely small, and basically cannot be distinguished or felt by the naked eye.

[0057] In addition, in the embodiment of the present invention, a multilateral measurement method is used to locate the VR device through the UWB base station, and at least three base stations are required for positioning. Then, the UWB signal whose receiving timestamp is closest to the action timestamp is extracted from the storage unit, and it comes from at least three different UWB base stations; and the selection from different UWB base stations can be determined by the UWB base station unique identifier carried by the UWB signal;

[0058] The method of analyzing the extracted at least three UWB signals, obtaining the real-time coordinate position of the VR device at the action timestamp and mapping it to the VR virtual environment includes:

[0059] Parsing the information carried by the at least three acquired UWB signals, wherein in an embodiment of the present invention, the information carried by the UWB signals includes a unique identifier of a UWB base station, a coordinate position of the UWB base station, a UWB signal transmission timestamp, a UWB signal reception timestamp, an RSSI value, etc.;

[0060] According to the RSSI value carried by the UWB signal or the UWB signal reception timestamp, one of the UWB signals is selected as the reference signal; wherein, the reference signal is selected in the following manner: if the RSSI values ​​carried by the at least three extracted UWB signals are not exactly the same, then the UWB signal with the largest RSSI value is selected as the reference signal; it can be understood that the larger the RSSI value, the stronger the signal strength of the corresponding UWB signal, and the UWB signal with the strongest signal strength is selected as the reference signal because the signal is the most stable and can provide more reliable distance measurement, which helps to reduce errors caused by signal attenuation and interference, thereby improving the accuracy of positioning; if the RSSI values ​​carried by the at least three extracted UWB signals are at least two of the largest and the same or all of them are the same, then the UWB signal with the reception timestamp closest to the action timestamp is selected as the reference signal;

[0061] Based on the selected reference signal, respectively calculate the arrival time difference between the reception timestamp of each UWB signal and the reception timestamp of the reference signal, by subtracting the reception timestamp of the reference signal from the reception timestamp of each UWB signal;

[0062] According to the calculated arrival time difference between each UWB signal and the reference signal, the distance difference between each UWB signal reaching the VR device and the distance difference between the reference signal reaching the VR device is calculated; the calculation method is the signal transmission speed multiplied by the arrival time difference, where the signal transmission speed is generally taken as the speed of light;

[0063] According to the coordinate position of the corresponding UWB base station carried by each UWB signal, combined with the distance difference between each UWB signal reaching the VR device and the reference signal reaching the VR device, a positioning equation group of the VR device at each UWB reception timestamp is established; the calculation method is: the coordinate position of the VR device is set as the dependent variable, the distance between the VR device and each UWB base station is calculated, and the distance between the VR device and each UWB base station is subtracted from the distance between the VR device and the UWB base station to which the reference signal belongs, and the result is equal to the distance difference between each UWB signal reaching the VR device and the reference signal reaching the VR device;

[0064] It should be noted that the distance calculation in the present invention adopts the Euclidean distance formula, which is a prior art and will not be elaborated in detail here;

[0065] By solving the VR device positioning equation, the coordinate position of the VR device at the receiving timestamp of the reference signal is obtained, the calculated coordinate position of the VR device at the receiving timestamp of the reference signal is used as the coordinate position of the action timestamp, and the obtained coordinate position of the action timestamp is mapped to the VR virtual system;

[0066] It is understandable that in the embodiments of the present invention, the UWB base station transmits UWB signals to the VR device very densely, such as accurately to 1 millisecond. The adjacent transmission timestamps of UWB signals transmitted by the same UWB base station are very small and negligible, and are imperceptible within the human perception range, and will not affect the user experience. Even if the VR device is moving quickly, the movements of the VR device can be accurately captured.

[0067] like Figure 2 As shown, a VR device, based on a VR device positioning method, includes: a sensor unit, a storage unit and a processing unit;

[0068] The sensor unit is used to detect the linear acceleration and angular velocity of the VR device in real time, and send the detected linear acceleration and angular velocity to the processing unit in real time; the sensor unit includes an accelerometer and a gyroscope; the accelerometer is used to detect the linear acceleration of the VR device in real time, and the gyroscope is used to detect the angular velocity of the VR device in real time;

[0069] The storage unit is used to store the received UWB signal;

[0070] The processing unit is used to determine whether the VR device body has taken action according to the linear acceleration and angular velocity data in real time and record the action timestamp, extract at least three UWB signals whose receiving timestamps are closest to the action timestamp from the storage unit, and these UWB signals are transmitted by different UWB base stations, analyze the at least three extracted UWB signals, obtain the real-time coordinate position of the VR device at the action timestamp, and map it to the VR virtual environment;

[0071] In the present invention, the linear acceleration and angular velocity data detected in real time by the accelerometer and gyroscope built into the VR device are analyzed and judged whether the VR device has taken action at its detection timestamp. When an action occurs, the coordinate position of the VR device at the action timestamp is calculated by combining at least three UWB signals with receiving timestamps closest to the action timestamp transmitted by different UWB base stations, and the real-time coordinate position of the VR device at the action timestamp is obtained and mapped to the VR virtual environment; complex UWB signal processing can be performed only when an action is detected, avoiding the processing of a large number of redundant UWB signals in a static state. processing, thereby reducing the waste of computing resources and helping to extend the battery life of the device, especially the VR device that needs to run for a long time in the present invention; and through base station positioning, there is no need to further process the linear acceleration and angular velocity or other sensor data to calculate the coordinate position of the VR device, avoiding more complex calculations and saving computing resources. The position correction is performed at the key timestamp, i.e., the action timestamp, through the UWB signal, avoiding the problem of error accumulation in positioning calculation using an accelerometer and a gyroscope, and avoiding the complex situation of fusing the data generated by the two positioning devices in the prior art.

[0072] In the embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation; the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the method of this embodiment.

[0073] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A VR device positioning method, characterized in that: include: Step S1: at least three UWB base stations are arranged around the VR device, each UWB base station sends a UWB signal to the VR device at a preset frequency, and the VR device is provided with a storage unit, which stores the received UWB signal; Step S2: setting an accelerometer and a gyroscope in the VR device, analyzing the data detected in real time by the accelerometer and the gyroscope to determine whether the VR device has an action and obtain a corresponding action timestamp; Step S3: Taking the action timestamp of the VR device as the center, extracting from the storage unit at least three UWB signals whose receiving timestamps are closest to the action timestamp, and these UWB signals are transmitted by different UWB base stations, analyzing the extracted at least three UWB signals, obtaining the real-time coordinate position of the VR device at the action timestamp and mapping it to the VR virtual environment; The information carried by the UWB signal includes a unique identifier of the UWB base station, a coordinate position of the UWB base station, a UWB signal transmission timestamp, a UWB signal reception timestamp, and an RSSI value; The step of analyzing the data detected in real time by the accelerometer and the gyroscope to determine whether the VR device is in motion and obtaining the corresponding motion timestamp specifically includes: The accelerometer in the VR device detects linear acceleration data on each axis in real time, and the gyroscope detects angular velocity data on each axis in real time; the positioning space is a three-dimensional coordinate axis, including an x-axis, a y-axis, and a z-axis; Calculate the total linear acceleration and total angular velocity of the VR device in the positioning space in real time. The calculation method is to sum the total linear acceleration and angular velocity on each axis by square, and then find the square root of each. A total linear acceleration threshold and a total angular velocity threshold are preset. If the calculated total linear acceleration is greater than the total linear acceleration threshold, or the calculated total angular velocity is greater than the total angular velocity threshold, it indicates that the VR device is in motion, and the timestamp of the VR device when the linear acceleration or angular velocity is detected is extracted, and the timestamp is marked as the action timestamp; The total linear acceleration threshold and total angular velocity threshold are obtained as follows: Collect a large amount of linear acceleration data from accelerometers and angular velocity data from gyroscopes; Perform statistical analysis on the linear acceleration data and gyroscope angular velocity data of the VR device in a static state to determine the baseline value and noise level of the total linear acceleration and total angular velocity; Based on the total linear acceleration and total angular velocity of the VR device, the total linear acceleration threshold and the total angular velocity threshold are calculated respectively; the calculation methods are as follows: the total linear acceleration threshold is equal to the baseline value of the total linear acceleration plus k times the noise level of the total linear acceleration, and the total angular velocity threshold is equal to the baseline value of the total angular velocity plus k times the noise level of the total angular velocity; wherein the value of k is between 2 and 3; The baseline values ​​of total linear acceleration and total angular velocity refer to the average values ​​of total linear acceleration and total angular velocity at multiple time stamps when the VR device is stationary; the noise levels of total linear acceleration and total angular velocity refer to the standard deviation of total linear acceleration and total angular velocity in the stationary state calculated using the baseline values ​​of total linear acceleration and total angular velocity. The method of analyzing the extracted at least three UWB signals, obtaining the real-time coordinate position of the VR device at the action timestamp and mapping it to the VR virtual environment includes: parsing information carried by at least three acquired UWB signals; Select one of the UWB signals as a reference signal according to the RSSI value carried by the UWB signal or the UWB signal reception timestamp; Based on the selected reference signal, respectively calculate the arrival time difference between the reception timestamp of each UWB signal and the reception timestamp of the reference signal, by subtracting the reception timestamp of the reference signal from the reception timestamp of each UWB signal; According to the calculated arrival time difference between each UWB signal and the reference signal, the distance difference between each UWB signal reaching the VR device and the distance difference between the reference signal reaching the VR device is calculated; the calculation method is the signal transmission speed multiplied by the arrival time difference, where the signal transmission speed is the speed of light; According to the coordinate position of the corresponding UWB base station carried by each UWB signal, combined with the distance difference between each UWB signal reaching the VR device and the reference signal reaching the VR device, a positioning equation group of the VR device at each UWB reception timestamp is established; the calculation method is: the coordinate position of the VR device is set as the dependent variable, the distance between the VR device and each UWB base station is calculated, and the distance between the VR device and each UWB base station is subtracted from the distance between the VR device and the UWB base station to which the reference signal belongs, and the result is equal to the distance difference between each UWB signal reaching the VR device and the reference signal reaching the VR device; By solving the VR device positioning equation, the coordinate position of the VR device at the receiving timestamp of the reference signal is obtained, the calculated coordinate position of the VR device at the receiving timestamp of the reference signal is used as the coordinate position of the action timestamp, and the obtained coordinate position of the action timestamp is mapped to the VR virtual system; The method of selecting the reference signal is: if the RSSI values ​​carried by at least three extracted UWB signals are not exactly the same, then the UWB signal with the largest RSSI value is selected as the reference signal; if the RSSI values ​​carried by at least three extracted UWB signals have at least two largest and the same or all the same, then the UWB signal with the receiving timestamp closest to the action timestamp is selected as the reference signal.

2. A VR device, based on the implementation of a VR device positioning method according to claim 1, characterized in that: The VR device includes: a sensor unit, a storage unit and a processing unit; The sensor unit is used to detect the linear acceleration and angular velocity of the VR device in real time, and send the detected linear acceleration and angular velocity to the processing unit in real time; the sensor unit includes an accelerometer and a gyroscope; the accelerometer is used to detect the linear acceleration of the VR device in real time, and the gyroscope is used to detect the angular velocity of the VR device in real time; The storage unit is used to store the received UWB signal; The processing unit is used to determine whether the VR device body has taken any action and record the action timestamp based on the real-time analysis of the linear acceleration and angular velocity data, extract at least three UWB signals whose receiving timestamps are closest to the action timestamp from the storage unit, and these UWB signals are transmitted by different UWB base stations, analyze the at least three extracted UWB signals, obtain the real-time coordinate position of the VR device at the action timestamp and map it to the VR virtual environment.

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